/*-------------------------------------------------------------------- * The MB-system: mbr_em300raw.c 10/16/98 * $Id: mbr_em300raw.c 1998 2012-11-06 06:50:52Z caress $ * * Copyright (c) 1998-2012 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_em300raw.c contains the functions for reading and writing * multibeam data in the EM300RAW format. * These functions include: * mbr_alm_em300raw - allocate read/write memory * mbr_dem_em300raw - deallocate read/write memory * mbr_rt_em300raw - read and translate data * mbr_wt_em300raw - translate and write data * * Author: D. W. Caress * Date: October 16, 1998 * $Log: mbr_em300raw.c,v $ * Revision 5.41 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.40 2007/10/31 18:38:41 caress * Fixed handling of null sidescan values. * * Revision 5.39 2006/11/26 09:37:09 caress * Making distribution 5.1.0. * * Revision 5.38 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.37 2006/07/27 18:42:51 caress * Working towards 5.1.0 * * Revision 5.36 2006/02/14 01:57:25 caress * Added checks to handle case where Simrad multibeam constructs rawbeam3 datagram with an incorrect size. This happens when the number of transmit sectors is 3 rather than 9 in R/V Revelle data following a January 2006 firmware upgrade. * * Revision 5.35 2006/02/07 03:12:14 caress * Another shot at dealing with broken simrad sidescan records. Now we will keep the raw sidescan data but not use it to make the binned sidescan returned by the standard mbio extract functions. * * Revision 5.34 2006/02/06 16:54:50 caress * Set the Simrad i/o modules to output error messages with verbose > 0 when * sidescan is zeroed because of mismatch between bathymetry and sidescan records. * * Revision 5.33 2006/02/06 06:18:07 caress * Commented out checks for beam mismatches between bathy and sidescan records - Barry Eakins of SIO has complained of dropped pings in Revelle data. * * Revision 5.32 2006/02/03 21:08:51 caress * Working on supporting water column datagrams in Simrad formats. * * Revision 5.31 2006/02/02 19:42:09 caress * Fixed handling of unknown datagrams on little-endian systems. * * Revision 5.30 2006/02/01 18:32:05 caress * Fixed problem reading RAWBEAM3 records. * * Revision 5.29 2006/01/27 20:09:47 caress * Added support for EM3002 * * Revision 5.28 2006/01/27 19:09:38 caress * Version 5.0.8beta2 * * Revision 5.27 2006/01/06 18:27:19 caress * Working towards 5.0.8 * * Revision 5.26 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.25 2005/03/25 04:18:14 caress * Fixed problems with the debug mode being on in mbr_em300raw.c and problems with the debug output in both mbr_em300raw.c and mbr_em300mba.c. * * Revision 5.24 2005/02/08 22:37:38 caress * Heading towards 5.0.6 release. * * Revision 5.23 2004/06/20 18:40:47 caress * Fixed problem reading EM3000D data. * * Revision 5.22 2004/02/24 22:29:02 caress * Fixed errors in handling Simrad datagrams and edit save files on byteswapped machines (e.g. Intel or AMD processors). * * Revision 5.21 2003/12/04 23:10:23 caress * Fixed problems with format 54 EM12DARW due to old code assuming how internal structure was packed. Also changed handling of beamflags for formats that don't support beamflags. Now flagged beams will always be nulled in such cases. * * Revision 5.20 2003/11/24 20:44:51 caress * Fixes to more gracefully handle unsupported datagrams. * * Revision 5.19 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.18 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.17 2003/04/16 16:47:41 caress * Release 5.0.beta30 * * Revision 5.16 2002/10/02 23:55:42 caress * Release 5.0.beta24 * * Revision 5.15 2002/09/16 05:51:53 caress * Really fixed bug... * * Revision 5.14 2002/09/16 04:50:47 caress * Fixed mis-dimensioned array in rd_rawbeam functions. * * Revision 5.13 2002/08/21 00:55:46 caress * Release 5.0.beta22 * * Revision 5.12 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.11 2002/05/29 23:38:53 caress * Release 5.0.beta18 * * Revision 5.10 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.9 2001-08-03 18:00:02-07 caress * Applied mods from Gordon Keith. * * Revision 5.8 2001/07/20 00:31:11 caress * Release 5.0.beta03 * * Revision 5.7 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.6 2001/06/01 23:01:22 caress * Turned off debugging. * * Revision 5.5 2001/06/01 00:14:06 caress * Redid support for current Simrad multibeam data. * * Revision 5.4 2001/05/30 17:57:26 caress * Fixed New Simrad data handling, plus removed use of * intermediate data structure. Still need to reduce use * of #ifdefs related to byteswapping. * * Revision 5.3 2001/05/24 23:18:07 caress * Fixed handling of Revelle EM120 data (first cut). * * 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 4.10 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.9 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.8 2000/09/19 23:13:26 caress * Applied fixes from Gordon Keith at AGSO. * * Revision 4.7 2000/07/20 20:24:59 caress * First cut at supporting both EM120 and EM1002. * * Revision 4.6 2000/07/17 23:36:24 caress * Added support for EM120. * * Revision 4.5 2000/02/07 22:59:47 caress * Fixed problem with depth_offset_multiplier * * Revision 4.4 1999/04/21 05:45:32 caress * Fixed handling of bad sidescan data. * * Revision 4.3 1999/04/07 20:38:24 caress * Fixes related to building under Linux. * * Revision 4.3 1999/04/03 07:36:16 caress * Fix bugs in byteswapped code. * * Revision 4.2 1999/02/04 23:52:54 caress * MB-System version 4.6beta7 * * Revision 4.1 1999/01/01 23:41:06 caress * MB-System version 4.6beta6 * * Revision 4.0 1998/12/17 22:59:14 caress * MB-System version 4.6beta4 * * * */ /* 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_simrad2.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* turn on debug statements here */ /* #define MBR_EM300RAW_DEBUG 1 */ /* essential function prototypes */ int mbr_register_em300raw(int verbose, void *mbio_ptr, int *error); int mbr_info_em300raw(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_em300raw(int verbose, void *mbio_ptr, int *error); int mbr_dem_em300raw(int verbose, void *mbio_ptr, int *error); int mbr_rt_em300raw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_em300raw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em300raw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em300raw_chk_label(int verbose, void *mbio_ptr, char *label, short *type, short *sonar); int mbr_em300raw_rd_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short type, short sonar, int *version, int *goodend, int *error); int mbr_em300raw_rd_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_bath(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *match, short sonar, int version, int *goodend, int *error); int mbr_em300raw_rd_rawbeam(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_rawbeam2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_rawbeam3(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_rd_ss(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int length, int *match, int *goodend, int *error); int mbr_em300raw_rd_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error); int mbr_em300raw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em300raw_wr_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_bath(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int head, int *error); int mbr_em300raw_wr_rawbeam(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_rawbeam2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); int mbr_em300raw_wr_rawbeam3(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int head, int *error); int mbr_em300raw_wr_ss(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int head, int *error); int mbr_em300raw_wr_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error); static char rcs_id[]="$Id: mbr_em300raw.c 1998 2012-11-06 06:50:52Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_em300raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_em300raw"; 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_em300raw(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_em300raw; mb_io_ptr->mb_io_format_free = &mbr_dem_em300raw; mb_io_ptr->mb_io_store_alloc = &mbsys_simrad2_alloc; mb_io_ptr->mb_io_store_free = &mbsys_simrad2_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_em300raw; mb_io_ptr->mb_io_write_ping = &mbr_wt_em300raw; mb_io_ptr->mb_io_dimensions = &mbsys_simrad2_dimensions; mb_io_ptr->mb_io_pingnumber = &mbsys_simrad2_pingnumber; mb_io_ptr->mb_io_extract = &mbsys_simrad2_extract; mb_io_ptr->mb_io_insert = &mbsys_simrad2_insert; mb_io_ptr->mb_io_extract_nnav = &mbsys_simrad2_extract_nnav; mb_io_ptr->mb_io_extract_nav = &mbsys_simrad2_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_simrad2_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_simrad2_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_simrad2_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_simrad2_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_simrad2_ttimes; mb_io_ptr->mb_io_detects = &mbsys_simrad2_detects; mb_io_ptr->mb_io_gains = &mbsys_simrad2_gains; mb_io_ptr->mb_io_copyrecord = &mbsys_simrad2_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_em300raw(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_em300raw"; 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_SIMRAD2; *beams_bath_max = 254; *beams_amp_max = 254; *pixels_ss_max = 1024; strncpy(format_name, "EM300RAW", MB_NAME_LENGTH); strncpy(system_name, "SIMRAD2", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_EM300RAW\nInformal Description: Simrad current multibeam vendor format\nAttributes: Simrad EM120, EM300, EM1002, EM3000, \n bathymetry, amplitude, and sidescan,\n up to 254 beams, variable pixels, ascii + binary, Simrad.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_NO; *nav_source = MB_DATA_NAV; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_ATTITUDE; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 2.0; *beamwidth_ltrack = 2.0; /* 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_em300raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_em300raw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; int *databyteswapped; double *pixel_size; double *swath_width; /* 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 = 0; mb_io_ptr->data_structure_size = 0; status = mbsys_simrad2_alloc( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* initialize saved values */ databyteswapped = (int *) &mb_io_ptr->save10; pixel_size = &mb_io_ptr->saved1; swath_width = &mb_io_ptr->saved2; *databyteswapped = -1; *pixel_size = 0.0; *swath_width = 0.0; /* 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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_em300raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_em300raw"; 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 = mbsys_simrad2_deall( verbose,mbio_ptr, &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_rt_em300raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_em300raw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_attitude_struct *attitude; struct mbsys_simrad2_heading_struct *heading; struct mbsys_simrad2_ssv_struct *ssv; struct mbsys_simrad2_ping_struct *ping; int time_i[7]; double ntime_d, ptime_d, atime_d; double bath_time_d, ss_time_d; double rawspeed, pheading; double plon, plat, pspeed, roll, pitch, heave; double att_time_d[MBSYS_SIMRAD2_MAXATTITUDE]; double att_roll[MBSYS_SIMRAD2_MAXATTITUDE]; double att_pitch[MBSYS_SIMRAD2_MAXATTITUDE]; double att_heave[MBSYS_SIMRAD2_MAXATTITUDE]; double *pixel_size, *swath_width; 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 */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* read next data from file */ status = mbr_em300raw_rd_data(verbose,mbio_ptr,store_ptr,error); /* get pointers to data structures */ store = (struct mbsys_simrad2_struct *) store_ptr; attitude = (struct mbsys_simrad2_attitude_struct *) store->attitude; heading = (struct mbsys_simrad2_heading_struct *) store->heading; ssv = (struct mbsys_simrad2_ssv_struct *) store->ssv; ping = (struct mbsys_simrad2_ping_struct *) store->ping; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; /* save fix if nav data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV) { /* get nav time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ntime_d); /* add latest fix */ if (store->pos_longitude != EM2_INVALID_INT && store->pos_latitude != EM2_INVALID_INT) mb_navint_add(verbose, mbio_ptr, ntime_d, (double)(0.0000001 * store->pos_longitude), (double)(0.00000005 * store->pos_latitude), error); } /* save attitude if attitude data */ if (status == MB_SUCCESS && store->kind == MB_DATA_ATTITUDE) { /* get attitude time */ time_i[0] = attitude->att_date / 10000; time_i[1] = (attitude->att_date % 10000) / 100; time_i[2] = attitude->att_date % 100; time_i[3] = attitude->att_msec / 3600000; time_i[4] = (attitude->att_msec % 3600000) / 60000; time_i[5] = (attitude->att_msec % 60000) / 1000; time_i[6] = (attitude->att_msec % 1000) * 1000; mb_get_time(verbose, time_i, &atime_d); /* add latest attitude samples */ for (i=0;iatt_ndata,MBSYS_SIMRAD2_MAXATTITUDE);i++) { att_time_d[i] = (double)(atime_d + 0.001 * attitude->att_time[i]); att_heave[i] = (double)(0.01 * attitude->att_heave[i]); att_roll[i] = (double)(0.01 * attitude->att_roll[i]); att_pitch[i] = (double)(0.01 * attitude->att_pitch[i]); } mb_attint_nadd(verbose, mbio_ptr, attitude->att_ndata,att_time_d,att_heave,att_roll,att_pitch, error); } /* if no sidescan read then zero sidescan data */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && ping->png_ss_read == MB_NO) { status = mbsys_simrad2_zero_ss(verbose,store_ptr,error); } /* else check that bath and sidescan data record time stamps match for survey data - we can have bath without sidescan but not sidescan without bath */ else if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { /* get times of bath and sidescan records */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &bath_time_d); time_i[0] = ping->png_ss_date / 10000; time_i[1] = (ping->png_ss_date % 10000) / 100; time_i[2] = ping->png_ss_date % 100; time_i[3] = ping->png_ss_msec / 3600000; time_i[4] = (ping->png_ss_msec % 3600000) / 60000; time_i[5] = (ping->png_ss_msec % 60000) / 1000; time_i[6] = (ping->png_ss_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ss_time_d); /* fprintf(stderr,"Check: png_count:%d png_raw3_count:%d png_ss_count:%d Beams:%d %d %d\n", ping->png_count,ping->png_raw3_count,ping->png_ss_count,ping->png_nbeams,ping->png_raw3_nbeams,ping->png_nbeams_ss);*/ /* check for time match - if bath newer than sidescan then zero sidescan, if sidescan newer than bath then set error, if ok then check that beam ids are the same */ if (ping->png_ss_date == 0 || ping->png_nbeams_ss == 0 || bath_time_d > ss_time_d) { status = mbsys_simrad2_zero_ss(verbose,store_ptr,error); } else if (bath_time_d > ss_time_d) { if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan zeroed, bathtime:%f > sstime:%f\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], bath_time_d, ss_time_d); status = mbsys_simrad2_zero_ss(verbose,store_ptr,error); } else if (bath_time_d < ss_time_d) { if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Ping unintelligible bathtime:%f < sstime%f\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], bath_time_d, ss_time_d); *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } else { /* check for some indicators of broken records */ if (ping->png_nbeams < ping->png_nbeams_ss || ping->png_nbeams > ping->png_nbeams_ss + 1) { if (verbose > 1) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: num bath beams != num ss beams: %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], ping->png_nbeams, ping->png_nbeams_ss); } else if (ping->png_nbeams == ping->png_nbeams_ss) { for (i=0;ipng_nbeams;i++) { if (ping->png_beam_num[i] != ping->png_beam_index[i] + 1 && ping->png_beam_num[i] != ping->png_beam_index[i] - 1) { if (verbose > 1) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: bath and ss beam indexes don't match: : %d %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], i, ping->png_beam_num[i], ping->png_beam_index[i]); } } } } } if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { /*fprintf(stderr, "mode:%d absorption:%d tran_pulse:%d tran_beam:%d tran_pow:%d rec_beam:%d rec_band:%d rec_gain:%d tvg_cross:%d\n", store->run_mode, store->run_absorption, store->run_tran_pulse, store->run_tran_pow, store->run_rec_beam, store->run_rec_band, store->run_rec_gain, store->run_tvg_cross); fprintf(stderr, "max_range:%d r_zero:%d r_zero_corr:%d tvg_start:%d tvg_stop:%d bsn:%d bso:%d tx:%d tvg_crossover:%d\n", ping->png_max_range, ping->png_r_zero, ping->png_r_zero_corr, ping->png_tvg_start, ping->png_tvg_stop, ping->png_bsn, ping->png_bso, ping->png_tx, ping->png_tvg_crossover); fprintf(stderr, "mode:%d depth:%11f max_range:%d r_zero:%d r_zero_corr:%d bsn:%d bso:%d\n", store->run_mode, 0.01 * ping->png_depth_res * ping->png_depth[ping->png_nbeams/2], ping->png_max_range, ping->png_r_zero, ping->png_r_zero_corr, ping->png_bsn, ping->png_bso);*/ /* get ping time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ptime_d); /* interpolate from saved nav */ if (store->pos_speed == 0 || store->pos_speed == EM2_INVALID_SHORT) rawspeed = 0.0; else rawspeed = 0.036 * store->pos_speed; pheading = 0.01 * ping->png_heading; mb_navint_interp(verbose, mbio_ptr, ptime_d, pheading, rawspeed, &plon, &plat, &pspeed, error); if (plon == 0.0 && plat == 0.0) { ping->png_longitude = (int) EM2_INVALID_INT; ping->png_latitude = (int) EM2_INVALID_INT; } else { ping->png_longitude = (int) rint(10000000 * plon); ping->png_latitude = (int) rint(20000000 * plat); } ping->png_speed = (int) rint(pspeed / 0.036); /* interpolate from saved attitude */ mb_attint_interp(verbose, mbio_ptr, ptime_d, &heave, &roll, &pitch, error); ping->png_roll = (int) rint(roll / 0.01); ping->png_pitch = (int) rint(pitch / 0.01); ping->png_heave = (int) rint(heave / 0.01); /* generate processed sidescan */ ping->png_pixel_size = 0; ping->png_pixels_ss = 0; status = mbsys_simrad2_makess(verbose, mbio_ptr, store_ptr, MB_NO, pixel_size, MB_NO, swath_width, 0, error); } if (status == MB_SUCCESS && (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2 || store->kind == MB_DATA_NAV3)) { /* get nav time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ntime_d); /* interpolate from saved attitude */ mb_attint_interp(verbose, mbio_ptr, ntime_d, &heave, &roll, &pitch, error); store->pos_roll = (int) rint(roll / 0.01); store->pos_pitch = (int) rint(pitch / 0.01); store->pos_heave = (int) rint(heave / 0.01); } /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = store->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_wt_em300raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_em300raw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_simrad2_struct *) store_ptr; /* write next data to file */ status = mbr_em300raw_wr_data(verbose,mbio_ptr,store_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_em300raw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_em300raw_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_ping_struct *ping2; FILE *mbfp; int swap = -1; int done; int *databyteswapped; int record_size; int *record_size_save; int bytes_read; char *label; int *label_save_flag; char *record_size_char; short expect; short type; short sonar; int *version; short first_type; short *expect_save; int *expect_save_flag; short *first_type_save; short *typelast; short *sonarlast; int *nbadrec; int *length; int good_end_bytes; int match; int read_len; int skip = 0; char junk; 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 */ store = (struct mbsys_simrad2_struct *) store_ptr; ping = (struct mbsys_simrad2_ping_struct *) store->ping; ping2 = (struct mbsys_simrad2_ping_struct *) store->ping2; mbfp = mb_io_ptr->mbfp; /* get saved values */ databyteswapped = (int *) &mb_io_ptr->save10; record_size_save = (int *) &mb_io_ptr->save5; label = (char *) mb_io_ptr->save_label; version = (int *) (&mb_io_ptr->save3); label_save_flag = (int *) &mb_io_ptr->save_label_flag; expect_save_flag = (int *) &mb_io_ptr->save_flag; expect_save = (short *) &mb_io_ptr->save1; first_type_save = (short *) &mb_io_ptr->save2; typelast = (short *) &mb_io_ptr->save6; sonarlast = (short *) &mb_io_ptr->save9; nbadrec = (int *) &mb_io_ptr->save7; length = (int *) &mb_io_ptr->save8; record_size_char = (char *) &record_size; if (*expect_save_flag == MB_YES) { expect = *expect_save; first_type = *first_type_save; *expect_save_flag = MB_NO; } else { expect = EM2_NONE; first_type = EM2_NONE; if (ping != NULL) { ping->png_raw1_read = MB_NO; ping->png_raw2_read = MB_NO; ping->png_ss_read = MB_NO; ping->png_raw_nbeams = 0; ping->png_nbeams_ss = 0; } if (ping2 != NULL) { ping2->png_raw1_read = MB_NO; ping2->png_raw2_read = MB_NO; ping2->png_ss_read = MB_NO; ping2->png_raw_nbeams = 0; ping2->png_nbeams_ss = 0; } } /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; /* set flag to swap bytes if necessary */ swap = *databyteswapped; /* loop over reading data until a record is ready for return */ done = MB_NO; *error = MB_ERROR_NO_ERROR; while (done == MB_NO) { /* if no label saved get next record label */ if (*label_save_flag == MB_NO) { /* read four byte record size */ if ((read_len = fread(&record_size, 1,4,mb_io_ptr->mbfp)) != 4) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* read label */ if ((read_len = fread(label, 1,4,mb_io_ptr->mbfp)) != 4) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* check label - if not a good label read a byte at a time until a good label is found */ skip = 0; while (status == MB_SUCCESS && mbr_em300raw_chk_label(verbose, mbio_ptr, label, &type, &sonar) != MB_SUCCESS) { /* get next byte */ for (i=0;i<3;i++) record_size_char[i] = record_size_char[i+1]; record_size_char[3] = label[0]; for (i=0;i<3;i++) label[i] = label[i+1]; if ((read_len = fread(&label[3], 1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } skip++; } /* report problem */ if (skip > 0 && verbose > 0) { if (*nbadrec == 0) fprintf(stderr, "\nThe MBF_EM300RAW module skipped data between identified\n\ data records. Something is broken, most probably the data...\n\ However, the data may include a data record type that we\n\ haven't seen yet, or there could be an error in the code.\n\ If skipped data are reported multiple times, \n\ we recommend you send a data sample and problem \n\ description to the MB-System team \n\ (caress@mbari.org and dale@ldeo.columbia.edu)\n\ Have a nice day...\n"); fprintf(stderr, "MBF_EM300RAW skipped %d bytes between records %4.4hX:%d and %4.4hX:%d\n", skip, *typelast, *typelast, type, type); (*nbadrec)++; } *typelast = type; *sonarlast = sonar; /* set flag to swap MBR_EM300RAW_DEBUGbytes if necessary */ swap = *databyteswapped; /* get record_size */ if (*databyteswapped != mb_io_ptr->byteswapped) record_size = mb_swap_int(record_size); *record_size_save = record_size; } /* else use saved label */ else { *label_save_flag = MB_NO; type = *typelast; sonar = *sonarlast; record_size = *record_size_save; } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"\nstart of mbr_em300raw_rd_data loop:\n"); fprintf(stderr,"skip:%d expect:%x type:%x first_type:%x sonar:%d recsize:%u done:%d\n", skip, expect, type, first_type, sonar, *record_size_save, done); #endif /* allocate secondary data structure for heading data if needed */ if (status == MB_SUCCESS && (type == EM2_HEADING) && store->heading == NULL) { status = mbsys_simrad2_heading_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for attitude data if needed */ if (status == MB_SUCCESS && (type == EM2_ATTITUDE) && store->attitude == NULL) { status = mbsys_simrad2_attitude_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for ssv data if needed */ if (status == MB_SUCCESS && (type == EM2_SSV) && store->ssv == NULL) { status = mbsys_simrad2_ssv_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for tilt data if needed */ if (status == MB_SUCCESS && (type == EM2_TILT) && store->tilt == NULL) { status = mbsys_simrad2_tilt_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for survey data if needed */ if (status == MB_SUCCESS && (type == EM2_BATH || type == EM2_RAWBEAM || type == EM2_RAWBEAM2 || type == EM2_RAWBEAM3 || type == EM2_SS)) { if (store->ping == NULL) status = mbsys_simrad2_survey_alloc( verbose,mbio_ptr, store_ptr,error); ping = (struct mbsys_simrad2_ping_struct *) store->ping; ping2 = (struct mbsys_simrad2_ping_struct *) store->ping2; } /* allocate secondary data structure for water column data if needed */ if (status == MB_SUCCESS && (type == EM2_WATERCOLUMN)) { if (store->wc == NULL) status = mbsys_simrad2_wc_alloc( verbose,mbio_ptr, store_ptr,error); } /* read the appropriate data records */ if (status == MB_FAILURE && expect == EM2_NONE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, read failure, no expect\n"); #endif done = MB_YES; record_size = 0; *record_size_save = record_size; } else if (status == MB_FAILURE && expect != EM2_NONE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, read failure, expect %x\n",expect); #endif done = MB_YES; *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else if (type != EM2_STOP2 && type != EM2_OFF && type != EM2_ON && type != EM2_ATTITUDE && type != EM2_CLOCK && type != EM2_BATH && type != EM2_SBDEPTH && type != EM2_RAWBEAM && type != EM2_SSV && type != EM2_HEADING && type != EM2_START && type != EM2_TILT && type != EM2_CBECHO && type != EM2_POS && type != EM2_RUN_PARAMETER && type != EM2_SS && type != EM2_TIDE && type != EM2_SVP2 && type != EM2_SVP && type != EM2_SSPINPUT && type != EM2_RAWBEAM2 && type != EM2_RAWBEAM3 && type != EM2_HEIGHT && type != EM2_STOP && type != EM2_WATERCOLUMN && type != EM2_REMOTE && type != EM2_SSP && type != EM2_BATH_MBA && type != EM2_SS_MBA) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, try again\n"); #endif done = MB_NO; } else if ((type == EM2_START || type == EM2_STOP) && expect != EM2_NONE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM2_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else if (type == EM2_START || type == EM2_STOP) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_start type %x\n",type); #endif status = mbr_em300raw_rd_start( verbose,mbfp,swap,store,type,sonar,version,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_RUN_PARAMETER) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_run_parameter type %x\n",type); #endif status = mbr_em300raw_rd_run_parameter( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_CLOCK) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_clock type %x\n",type); #endif status = mbr_em300raw_rd_clock( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_TIDE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_tide type %x\n",type); #endif status = mbr_em300raw_rd_tide( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_HEIGHT) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_height type %x\n",type); #endif status = mbr_em300raw_rd_height( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_HEADING) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_heading type %x\n",type); #endif status = mbr_em300raw_rd_heading( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_SSV) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_ssv type %x\n",type); #endif status = mbr_em300raw_rd_ssv( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_TILT) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_tilt type %x\n",type); #endif status = mbr_em300raw_rd_tilt( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_ATTITUDE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_attitude type %x\n",type); #endif status = mbr_em300raw_rd_attitude( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_POS) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_pos type %x\n",type); #endif status = mbr_em300raw_rd_pos( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_SVP) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_svp type %x\n",type); #endif status = mbr_em300raw_rd_svp( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_SVP2) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_svp2 type %x\n",type); #endif status = mbr_em300raw_rd_svp2( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM2_BATH && sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2) { if (expect == EM2_SS && store->ping->png_count == store->ping2->png_count && store->ping->png_serial != store->ping2->png_serial) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM2_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_bath type %x\n",type); #endif status = mbr_em300raw_rd_bath( verbose,mbfp,swap,store,&match,sonar,*version,&good_end_bytes,error); if (status == MB_SUCCESS) { if (first_type == EM2_NONE || match == MB_NO || store->ping->png_count != store->ping2->png_count || store->ping->png_serial != store->ping2->png_serial) { done = MB_NO; first_type = EM2_BATH; expect = EM2_SS; } else { done = MB_YES; expect = EM2_NONE; } } } } else if (type == EM2_BATH && expect == EM2_SS) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM2_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else if (type == EM2_BATH) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_bath type %x\n",type); #endif status = mbr_em300raw_rd_bath( verbose,mbfp,swap,store,&match,sonar,*version,&good_end_bytes,error); if (status == MB_SUCCESS) { if (first_type == EM2_NONE || match == MB_NO) { done = MB_NO; first_type = EM2_BATH; expect = EM2_SS; } else { done = MB_YES; expect = EM2_NONE; } } } else if (type == EM2_RAWBEAM) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_rawbeam type %x\n",type); #endif status = mbr_em300raw_rd_rawbeam( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) ping->png_raw1_read = MB_YES; if (expect == EM2_SS && ping->png_nbeams == 0) { done = MB_YES; expect = EM2_NONE; } } else if (type == EM2_RAWBEAM2) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_rawbeam2 type %x\n",type); #endif status = mbr_em300raw_rd_rawbeam2( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) ping->png_raw2_read = MB_YES; if (expect == EM2_SS && ping->png_nbeams == 0) { done = MB_YES; expect = EM2_NONE; } } else if (type == EM2_RAWBEAM3 && sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_rawbeam3 type %x\n",type); #endif status = mbr_em300raw_rd_rawbeam3( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) ping->png_raw3_read = MB_YES; } else if (type == EM2_RAWBEAM3) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_rawbeam3 type %x\n",type); #endif status = mbr_em300raw_rd_rawbeam3( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) ping->png_raw3_read = MB_YES; if (expect == EM2_SS && ping->png_nbeams == 0) { done = MB_YES; expect = EM2_NONE; } } else if (type == EM2_SS && sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_ss a type %x\n",type); #endif status = mbr_em300raw_rd_ss( verbose,mbfp,swap,store,sonar,*length,&match,&good_end_bytes,error); if (status == MB_SUCCESS) ping->png_ss_read = MB_YES; if (status == MB_SUCCESS && ping->png_count == store->ping2->png_count && ping->png_count == ping->png_raw3_count && ping->png_count == ping->png_ss_count && store->ping2->png_count == store->ping2->png_raw3_count && store->ping2->png_count == store->ping2->png_ss_count) { done = MB_YES; expect = EM2_NONE; } } else if (type == EM2_SS && expect != EM2_NONE && expect != EM2_SS) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM2_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else if (type == EM2_SS) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_ss b type %x\n",type); #endif status = mbr_em300raw_rd_ss( verbose,mbfp,swap,store,sonar,*length,&match,&good_end_bytes,error); if (status == MB_SUCCESS) { ping->png_ss_read = MB_YES; if (first_type == EM2_NONE || match == MB_NO) { done = MB_NO; first_type = EM2_SS; expect = EM2_BATH; } else { done = MB_YES; expect = EM2_NONE; } } /* salvage bath even if sidescan is corrupt */ else { if (first_type == EM2_BATH && match == MB_YES) { status = MB_SUCCESS; done = MB_YES; expect = EM2_NONE; } } } else if (type == EM2_WATERCOLUMN) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_rd_wc type %x\n",type); #endif status = mbr_em300raw_rd_wc( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM2_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"skip over %d bytes of unsupported datagram type %x\n", *record_size_save, type); #endif for (i=0;i<*record_size_save-4;i++) { if ((read_len = fread(&junk, 1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; expect = EM2_NONE; } } done = MB_NO; } /* bail out if there is an error */ if (status == MB_FAILURE) done = MB_YES; /* if necessary read over unread but expected bytes */ bytes_read = ftell(mbfp) - mb_io_ptr->file_bytes - 4; if (*label_save_flag == MB_NO && good_end_bytes == MB_NO && bytes_read < record_size) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"skip over %d unread bytes of supported datagram type %x\n", record_size - bytes_read, type); #endif for (i=0;imbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; expect = EM2_NONE; } } } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"record_size:%d bytes read:%ld file_pos old:%ld new:%ld\n", record_size, ftell(mbfp) - mb_io_ptr->file_bytes, mb_io_ptr->file_bytes, ftell(mbfp)); fprintf(stderr,"done:%d expect:%x status:%d error:%d\n", done, expect, status, *error); fprintf(stderr,"end of mbr_em300raw_rd_data loop:\n\n"); #endif /* get file position */ if (*label_save_flag == MB_YES) mb_io_ptr->file_bytes = ftell(mbfp) - 2; else 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_em300raw_chk_label(int verbose, void *mbio_ptr, char *label, short *type, short *sonar) { char *function_name = "mbr_em300raw_chk_label"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; mb_u_char startbyte; mb_u_char typebyte; short *sonar_save; short sonarunswap; short sonarswap; int swap; int *databyteswapped; int typegood; int sonargood; int sonarswapgood; int sonarunswapgood; /* 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 label: %x%x%x%x\n",label[0],label[1],label[2],label[3]); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; sonar_save = (short *) (&mb_io_ptr->save4); databyteswapped = (int *) &mb_io_ptr->save10; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "Check label: %x|%x|%x|%x\n", label[0],label[1],label[2],label[3]); #endif /* check for valid start byte and type */ startbyte = label[0]; typebyte = label[1]; if (startbyte == EM2_START_BYTE && (typebyte == EM2_ID_STOP2 || typebyte == EM2_ID_OFF || typebyte == EM2_ID_ON || typebyte == EM2_ID_ATTITUDE || typebyte == EM2_ID_CLOCK || typebyte == EM2_ID_BATH || typebyte == EM2_ID_SBDEPTH || typebyte == EM2_ID_RAWBEAM || typebyte == EM2_ID_SSV || typebyte == EM2_ID_HEADING || typebyte == EM2_ID_START || typebyte == EM2_ID_TILT || typebyte == EM2_ID_CBECHO || typebyte == EM2_ID_POS || typebyte == EM2_ID_RUN_PARAMETER || typebyte == EM2_ID_SS || typebyte == EM2_ID_TIDE || typebyte == EM2_ID_SVP2 || typebyte == EM2_ID_SVP || typebyte == EM2_ID_SSPINPUT || typebyte == EM2_ID_RAWBEAM2 || typebyte == EM2_ID_RAWBEAM3 || typebyte == EM2_ID_HEIGHT || typebyte == EM2_ID_STOP || typebyte == EM2_ID_WATERCOLUMN || typebyte == EM2_ID_REMOTE || typebyte == EM2_ID_SSP || typebyte == EM2_ID_BATH_MBA || typebyte == EM2_ID_SS_MBA)) { typegood = MB_YES; } else { typegood = MB_NO; } /* check for data byte swapping if necessary */ if (typegood == MB_YES && *databyteswapped == -1) { sonarunswap = *((short *)&label[2]); sonarswap = mb_swap_short(sonarunswap); /* check for valid sonarunswap */ if (sonarunswap == MBSYS_SIMRAD2_EM120 || sonarunswap == MBSYS_SIMRAD2_EM300 || sonarunswap == MBSYS_SIMRAD2_EM1002 || sonarunswap == MBSYS_SIMRAD2_EM2000 || sonarunswap == MBSYS_SIMRAD2_EM3000 || sonarunswap == MBSYS_SIMRAD2_EM3000D_1 || sonarunswap == MBSYS_SIMRAD2_EM3000D_2 || sonarunswap == MBSYS_SIMRAD2_EM3000D_3 || sonarunswap == MBSYS_SIMRAD2_EM3000D_4 || sonarunswap == MBSYS_SIMRAD2_EM3000D_5 || sonarunswap == MBSYS_SIMRAD2_EM3000D_6 || sonarunswap == MBSYS_SIMRAD2_EM3000D_7 || sonarunswap == MBSYS_SIMRAD2_EM3000D_8 || sonarunswap == MBSYS_SIMRAD2_EM3002 || sonarunswap == MBSYS_SIMRAD2_EM710) { sonarunswapgood = MB_YES; } else { sonarunswapgood = MB_NO; } /* check for valid sonarswap */ if (sonarswap == MBSYS_SIMRAD2_EM120 || sonarswap == MBSYS_SIMRAD2_EM300 || sonarswap == MBSYS_SIMRAD2_EM1002 || sonarswap == MBSYS_SIMRAD2_EM2000 || sonarswap == MBSYS_SIMRAD2_EM3000 || sonarswap == MBSYS_SIMRAD2_EM3000D_1 || sonarswap == MBSYS_SIMRAD2_EM3000D_2 || sonarswap == MBSYS_SIMRAD2_EM3000D_3 || sonarswap == MBSYS_SIMRAD2_EM3000D_4 || sonarswap == MBSYS_SIMRAD2_EM3000D_5 || sonarswap == MBSYS_SIMRAD2_EM3000D_6 || sonarswap == MBSYS_SIMRAD2_EM3000D_7 || sonarswap == MBSYS_SIMRAD2_EM3000D_8 || sonarswap == MBSYS_SIMRAD2_EM3002 || sonarswap == MBSYS_SIMRAD2_EM710) { sonarswapgood = MB_YES; } else { sonarswapgood = MB_NO; } if (sonarunswapgood == MB_YES && sonarswapgood == MB_NO) { if (mb_io_ptr->byteswapped == MB_YES) *databyteswapped = MB_YES; else *databyteswapped = MB_NO; } else if (sonarunswapgood == MB_NO && sonarswapgood == MB_YES) { if (mb_io_ptr->byteswapped == MB_YES) *databyteswapped = MB_NO; else *databyteswapped = MB_YES; } } /* set flag to swap bytes if necessary */ swap = *databyteswapped; *type = *((short *)&label[0]); *sonar = *((short *)&label[2]); if (mb_io_ptr->byteswapped == MB_YES) *type = mb_swap_short(*type); if (*databyteswapped != mb_io_ptr->byteswapped) { *sonar = mb_swap_short(*sonar); } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"typegood:%d mb_io_ptr->byteswapped:%d sonarswapgood:%d *databyteswapped:%d *type:%d *sonar:%d\n",typegood,mb_io_ptr->byteswapped,sonarswapgood,*databyteswapped,*type,*sonar); #endif /* check for valid sonar */ if (*sonar != MBSYS_SIMRAD2_EM120 && *sonar != MBSYS_SIMRAD2_EM300 && *sonar != MBSYS_SIMRAD2_EM1002 && *sonar != MBSYS_SIMRAD2_EM2000 && *sonar != MBSYS_SIMRAD2_EM3000 && *sonar != MBSYS_SIMRAD2_EM3000D_1 && *sonar != MBSYS_SIMRAD2_EM3000D_2 && *sonar != MBSYS_SIMRAD2_EM3000D_3 && *sonar != MBSYS_SIMRAD2_EM3000D_4 && *sonar != MBSYS_SIMRAD2_EM3000D_5 && *sonar != MBSYS_SIMRAD2_EM3000D_6 && *sonar != MBSYS_SIMRAD2_EM3000D_7 && *sonar != MBSYS_SIMRAD2_EM3000D_8 && *sonar != MBSYS_SIMRAD2_EM3002 && *sonar != MBSYS_SIMRAD2_EM710) { sonargood = MB_NO; } else { sonargood = MB_YES; } if (startbyte == EM2_START_BYTE && typegood == MB_NO && sonargood == MB_YES) { mb_notice_log_problem(verbose, mbio_ptr, MB_PROBLEM_BAD_DATAGRAM); if (verbose >= 1) fprintf(stderr, "Bad datagram type: %4.4hX %4.4hX | %d %d\n", *type, *sonar, *type, *sonar); } if (typegood != MB_YES || sonargood != MB_YES) { status = MB_FAILURE; } /* save sonar if successful */ if (status == MB_SUCCESS) *sonar_save = *sonar; /* allow exception found in some EM3000 data */ if (*type == EM2_SVP && *sonar == 0 && *sonar_save == MBSYS_SIMRAD2_EM3000) { status = MB_SUCCESS; *sonar = *sonar_save; } /* allow exception found in some data */ if (*type == EM2_SSV && *sonar == 0 && *sonar_save != 0) { status = MB_SUCCESS; *sonar = *sonar_save; } /* 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 type: %d\n",*type); fprintf(stderr,"dbg2 sonar: %d\n",*sonar); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_em300raw_rd_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short type, short sonar, int *version, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_start"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD2_BUFFER_SIZE]; short short_val; int read_len, len; int done; char *comma_ptr; int i1, i2, i3; /* 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 type: %d\n",type); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* make sure comment is initialized */ store->par_com[0] = '\0'; /* set type value */ store->type = type; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM2_START_HEADER_SIZE,mbfp); if (read_len == EM2_START_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->par_date); store->date = store->par_date; mb_get_binary_int(swap, &line[4], &store->par_msec); store->msec = store->par_msec; mb_get_binary_short(swap, &line[8], &short_val); store->par_line_num = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->par_serial_1 = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); store->par_serial_2 = (int) ((unsigned short) short_val); } /* check for dual head sonars */ if (store->par_serial_1 != 0 && store->par_serial_2 != 0) store->numberheads = 2; /* now loop over reading individual characters to handle ASCII parameter values */ done = MB_NO; len = 0; while (status == MB_SUCCESS && done == MB_NO) { read_len = fread(&line[len],1,1,mbfp); if (read_len == 1) { status = MB_SUCCESS; len++; } else { done = MB_YES; status = MB_FAILURE; *error = MB_ERROR_EOF; } if (status == MB_SUCCESS && (((mb_u_char)(line[len-1])) < 32 || ((mb_u_char)(line[len-1])) > 127) && ((mb_u_char)(line[len-1])) != '\r' && ((mb_u_char)(line[len-1])) != '\n') { done = MB_YES; if (len > 1) line[0] = line[len-1]; } else if (status == MB_SUCCESS && line[len-1] == ',' && len > 5) { line[len] = 0; if (strncmp("WLZ=", line, 4) == 0) mb_get_double(&(store->par_wlz), &line[4], len-5); else if (strncmp("SMH=", line, 4) == 0) mb_get_int(&(store->par_smh), &line[4], len-5); else if (strncmp("S1Z=", line, 4) == 0) mb_get_double(&(store->par_s1z), &line[4], len-5); else if (strncmp("S1X=", line, 4) == 0) mb_get_double(&(store->par_s1x), &line[4], len-5); else if (strncmp("S1Y=", line, 4) == 0) mb_get_double(&(store->par_s1y), &line[4], len-5); else if (strncmp("S1H=", line, 4) == 0) mb_get_double(&(store->par_s1h), &line[4], len-5); else if (strncmp("S1R=", line, 4) == 0) mb_get_double(&(store->par_s1r), &line[4], len-5); else if (strncmp("S1P=", line, 4) == 0) mb_get_double(&(store->par_s1p), &line[4], len-5); else if (strncmp("S1N=", line, 4) == 0) mb_get_int(&(store->par_s1n), &line[4], len-5); else if (strncmp("S2Z=", line, 4) == 0) mb_get_double(&(store->par_s2z), &line[4], len-5); else if (strncmp("S2X=", line, 4) == 0) mb_get_double(&(store->par_s2x), &line[4], len-5); else if (strncmp("S2Y=", line, 4) == 0) mb_get_double(&(store->par_s2y), &line[4], len-5); else if (strncmp("S2H=", line, 4) == 0) mb_get_double(&(store->par_s2h), &line[4], len-5); else if (strncmp("S2R=", line, 4) == 0) mb_get_double(&(store->par_s2r), &line[4], len-5); else if (strncmp("S2P=", line, 4) == 0) mb_get_double(&(store->par_s2p), &line[4], len-5); else if (strncmp("S2N=", line, 4) == 0) mb_get_int(&(store->par_s2n), &line[4], len-5); else if (strncmp("GO1=", line, 4) == 0) mb_get_double(&(store->par_go1), &line[4], len-5); else if (strncmp("GO2=", line, 4) == 0) mb_get_double(&(store->par_go2), &line[4], len-5); else if (strncmp("TSV=", line, 4) == 0) strncpy(store->par_tsv, &line[4], MIN(len-5, 15)); else if (strncmp("RSV=", line, 4) == 0) strncpy(store->par_rsv, &line[4], MIN(len-5, 15)); else if (strncmp("BSV=", line, 4) == 0) strncpy(store->par_bsv, &line[4], MIN(len-5, 15)); else if (strncmp("PSV=", line, 4) == 0) { /* save the processor software version to use in tracking changes to the data format */ strncpy(store->par_psv, &line[4], MIN(len-5, 15)); if (sscanf(store->par_psv, "%d.%d.%d", &i1, &i2, &i3) == 3) *version = i3 + 100 * i2 + 10000 * i1; } else if (strncmp("OSV=", line, 4) == 0) strncpy(store->par_osv, &line[4], MIN(len-5, 15)); else if (strncmp("DSD=", line, 4) == 0) mb_get_double(&(store->par_dsd), &line[4], len-5); else if (strncmp("DSO=", line, 4) == 0) mb_get_double(&(store->par_dso), &line[4], len-5); else if (strncmp("DSF=", line, 4) == 0) mb_get_double(&(store->par_dsf), &line[4], len-5); else if (strncmp("DSH=", line, 4) == 0) { store->par_dsh[0] = line[4]; store->par_dsh[1] = line[5]; } else if (strncmp("APS=", line, 4) == 0) mb_get_int(&(store->par_aps), &line[4], len-5); else if (strncmp("P1M=", line, 4) == 0) mb_get_int(&(store->par_p1m), &line[4], len-5); else if (strncmp("P1T=", line, 4) == 0) mb_get_int(&(store->par_p1t), &line[4], len-5); else if (strncmp("P1Z=", line, 4) == 0) mb_get_double(&(store->par_p1z), &line[4], len-5); else if (strncmp("P1X=", line, 4) == 0) mb_get_double(&(store->par_p1x), &line[4], len-5); else if (strncmp("P1Y=", line, 4) == 0) mb_get_double(&(store->par_p1y), &line[4], len-5); else if (strncmp("P1D=", line, 4) == 0) mb_get_double(&(store->par_p1d), &line[4], len-5); else if (strncmp("P1G=", line, 4) == 0) strncpy(store->par_p1g, &line[4], MIN(len-5, 15)); else if (strncmp("P2M=", line, 4) == 0) mb_get_int(&(store->par_p2m), &line[4], len-5); else if (strncmp("P2T=", line, 4) == 0) mb_get_int(&(store->par_p2t), &line[4], len-5); else if (strncmp("P2Z=", line, 4) == 0) mb_get_double(&(store->par_p2z), &line[4], len-5); else if (strncmp("P2X=", line, 4) == 0) mb_get_double(&(store->par_p2x), &line[4], len-5); else if (strncmp("P2Y=", line, 4) == 0) mb_get_double(&(store->par_p2y), &line[4], len-5); else if (strncmp("P2D=", line, 4) == 0) mb_get_double(&(store->par_p2d), &line[4], len-5); else if (strncmp("P2G=", line, 4) == 0) strncpy(store->par_p2g, &line[4], MIN(len-5, 15)); else if (strncmp("P3M=", line, 4) == 0) mb_get_int(&(store->par_p3m), &line[4], len-5); else if (strncmp("P3T=", line, 4) == 0) mb_get_int(&(store->par_p3t), &line[4], len-5); else if (strncmp("P3Z=", line, 4) == 0) mb_get_double(&(store->par_p3z), &line[4], len-5); else if (strncmp("P3X=", line, 4) == 0) mb_get_double(&(store->par_p3x), &line[4], len-5); else if (strncmp("P3Y=", line, 4) == 0) mb_get_double(&(store->par_p3y), &line[4], len-5); else if (strncmp("P3D=", line, 4) == 0) mb_get_double(&(store->par_p3d), &line[4], len-5); else if (strncmp("P3G=", line, 4) == 0) strncpy(store->par_p3g, &line[4], MIN(len-5, 15)); else if (strncmp("MSZ=", line, 4) == 0) mb_get_double(&(store->par_msz), &line[4], len-5); else if (strncmp("MSX=", line, 4) == 0) mb_get_double(&(store->par_msx), &line[4], len-5); else if (strncmp("MSY=", line, 4) == 0) mb_get_double(&(store->par_msy), &line[4], len-5); else if (strncmp("MRP=", line, 4) == 0) { store->par_mrp[0] = line[4]; store->par_mrp[1] = line[5]; } else if (strncmp("MSD=", line, 4) == 0) mb_get_double(&(store->par_msd), &line[4], len-5); else if (strncmp("MSR=", line, 4) == 0) mb_get_double(&(store->par_msr), &line[4], len-5); else if (strncmp("MSP=", line, 4) == 0) mb_get_double(&(store->par_msp), &line[4], len-5); else if (strncmp("MSG=", line, 4) == 0) mb_get_double(&(store->par_msg), &line[4], len-5); else if (strncmp("GCG=", line, 4) == 0) mb_get_double(&(store->par_gcg), &line[4], len-5); else if (strncmp("CPR=", line, 4) == 0) strncpy(store->par_cpr, &line[4], MIN(len-5, 3)); else if (strncmp("ROP=", line, 4) == 0) strncpy(store->par_rop, &line[4], MIN(len-5, MBSYS_SIMRAD2_COMMENT_LENGTH-1)); else if (strncmp("SID=", line, 4) == 0) strncpy(store->par_sid, &line[4], MIN(len-5, MBSYS_SIMRAD2_COMMENT_LENGTH-1)); else if (strncmp("PLL=", line, 4) == 0) strncpy(store->par_pll, &line[4], MIN(len-5, MBSYS_SIMRAD2_COMMENT_LENGTH-1)); else if (strncmp("COM=", line, 4) == 0) { strncpy(store->par_com, &line[4], MIN(len-5, MBSYS_SIMRAD2_COMMENT_LENGTH-1)); store->par_com[MIN(len-5, MBSYS_SIMRAD2_COMMENT_LENGTH-1)] = 0; /* replace caret (^) values with commas (,) to circumvent the format's inability to store commas in comments */ while ((comma_ptr = strchr(store->par_com, '^')) != NULL) { comma_ptr[0] = ','; } } len = 0; } else if (status == MB_SUCCESS && line[len-1] == ',' && len <= 5) { len = 0; } } /* now set the data kind */ if (status == MB_SUCCESS) { if (strlen(store->par_com) > 0) store->kind = MB_DATA_COMMENT; else if (store->type == EM2_START) store->kind = MB_DATA_START; else if (store->type == EM2_STOP) store->kind = MB_DATA_STOP; else if (store->type == EM2_STOP2) store->kind = MB_DATA_STOP; else if (store->type == EM2_OFF) store->kind = MB_DATA_STOP; else if (store->type == EM2_ON) store->kind = MB_DATA_START; } /* read end of record and last two check sum bytes */ if (status == MB_SUCCESS) { /* if EM2_END not yet found then the next byte should be EM2_END */ if (line[0] != EM2_END) { read_len = fread(&line[0],1,1,mbfp); } /* if EM2_END not yet found then the next byte should be EM2_END */ if (line[0] != EM2_END) { read_len = fread(&line[0],1,1,mbfp); } /* if we got the end byte then get check sum bytes */ if (line[0] == EM2_END) { if (line[0] == EM2_END) *goodend = MB_YES; read_len = fread(&line[1],2,1,mbfp); /* don't check success of read - return success here even if read fails because all of the important information in this record has already been read - next attempt to read file will return error */ #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[0], line[0], line[1], line[1], line[2], line[2]); #endif } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "\n"); #endif } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 par_date: %d\n",store->par_date); fprintf(stderr,"dbg5 par_msec: %d\n",store->par_msec); fprintf(stderr,"dbg5 par_line_num: %d\n",store->par_line_num); fprintf(stderr,"dbg5 par_serial_1: %d\n",store->par_serial_1); fprintf(stderr,"dbg5 par_serial_2: %d\n",store->par_serial_2); fprintf(stderr,"dbg5 par_wlz: %f\n",store->par_wlz); fprintf(stderr,"dbg5 par_smh: %d\n",store->par_smh); fprintf(stderr,"dbg5 par_s1z: %f\n",store->par_s1z); fprintf(stderr,"dbg5 par_s1x: %f\n",store->par_s1x); fprintf(stderr,"dbg5 par_s1y: %f\n",store->par_s1y); fprintf(stderr,"dbg5 par_s1h: %f\n",store->par_s1h); fprintf(stderr,"dbg5 par_s1r: %f\n",store->par_s1r); fprintf(stderr,"dbg5 par_s1p: %f\n",store->par_s1p); fprintf(stderr,"dbg5 par_s1n: %d\n",store->par_s1n); fprintf(stderr,"dbg5 par_s2z: %f\n",store->par_s2z); fprintf(stderr,"dbg5 par_s2x: %f\n",store->par_s2x); fprintf(stderr,"dbg5 par_s2y: %f\n",store->par_s2y); fprintf(stderr,"dbg5 par_s2h: %f\n",store->par_s2h); fprintf(stderr,"dbg5 par_s2r: %f\n",store->par_s2r); fprintf(stderr,"dbg5 par_s2p: %f\n",store->par_s2p); fprintf(stderr,"dbg5 par_s2n: %d\n",store->par_s2n); fprintf(stderr,"dbg5 par_go1: %f\n",store->par_go1); fprintf(stderr,"dbg5 par_go2: %f\n",store->par_go2); fprintf(stderr,"dbg5 par_tsv: %s\n",store->par_tsv); fprintf(stderr,"dbg5 par_rsv: %s\n",store->par_rsv); fprintf(stderr,"dbg5 par_bsv: %s\n",store->par_bsv); fprintf(stderr,"dbg5 par_psv: %s\n",store->par_psv); fprintf(stderr,"dbg5 par_osv: %s\n",store->par_osv); fprintf(stderr,"dbg5 par_dsd: %f\n",store->par_dsd); fprintf(stderr,"dbg5 par_dso: %f\n",store->par_dso); fprintf(stderr,"dbg5 par_dsf: %f\n",store->par_dsf); fprintf(stderr,"dbg5 par_dsh: %c%c\n", store->par_dsh[0],store->par_dsh[1]); fprintf(stderr,"dbg5 par_aps: %d\n",store->par_aps); fprintf(stderr,"dbg5 par_p1m: %d\n",store->par_p1m); fprintf(stderr,"dbg5 par_p1t: %d\n",store->par_p1t); fprintf(stderr,"dbg5 par_p1z: %f\n",store->par_p1z); fprintf(stderr,"dbg5 par_p1x: %f\n",store->par_p1x); fprintf(stderr,"dbg5 par_p1y: %f\n",store->par_p1y); fprintf(stderr,"dbg5 par_p1d: %f\n",store->par_p1d); fprintf(stderr,"dbg5 par_p1g: %s\n",store->par_p1g); fprintf(stderr,"dbg5 par_p2m: %d\n",store->par_p2m); fprintf(stderr,"dbg5 par_p2t: %d\n",store->par_p2t); fprintf(stderr,"dbg5 par_p2z: %f\n",store->par_p2z); fprintf(stderr,"dbg5 par_p2x: %f\n",store->par_p2x); fprintf(stderr,"dbg5 par_p2y: %f\n",store->par_p2y); fprintf(stderr,"dbg5 par_p2d: %f\n",store->par_p2d); fprintf(stderr,"dbg5 par_p2g: %s\n",store->par_p2g); fprintf(stderr,"dbg5 par_p3m: %d\n",store->par_p3m); fprintf(stderr,"dbg5 par_p3t: %d\n",store->par_p3t); fprintf(stderr,"dbg5 par_p3z: %f\n",store->par_p3z); fprintf(stderr,"dbg5 par_p3x: %f\n",store->par_p3x); fprintf(stderr,"dbg5 par_p3y: %f\n",store->par_p3y); fprintf(stderr,"dbg5 par_p3d: %f\n",store->par_p3d); fprintf(stderr,"dbg5 par_p3g: %s\n",store->par_p3g); fprintf(stderr,"dbg5 par_msz: %f\n",store->par_msz); fprintf(stderr,"dbg5 par_msx: %f\n",store->par_msx); fprintf(stderr,"dbg5 par_msy: %f\n",store->par_msy); fprintf(stderr,"dbg5 par_mrp: %c%c\n", store->par_mrp[0],store->par_mrp[1]); fprintf(stderr,"dbg5 par_msd: %f\n",store->par_msd); fprintf(stderr,"dbg5 par_msr: %f\n",store->par_msr); fprintf(stderr,"dbg5 par_msp: %f\n",store->par_msp); fprintf(stderr,"dbg5 par_msg: %f\n",store->par_msg); fprintf(stderr,"dbg5 par_gcg: %f\n",store->par_gcg); fprintf(stderr,"dbg5 par_cpr: %s\n",store->par_cpr); fprintf(stderr,"dbg5 par_rop: %s\n",store->par_rop); fprintf(stderr,"dbg5 par_sid: %s\n",store->par_sid); fprintf(stderr,"dbg5 par_pll: %s\n",store->par_pll); fprintf(stderr,"dbg5 par_com: %s\n",store->par_com); } /* 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 version: %d\n",*version); fprintf(stderr,"dbg2 goodend: %d\n",*goodend); 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_em300raw_rd_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_run_parameter"; int status = MB_SUCCESS; char line[EM2_RUN_PARAMETER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_RUN_PARAMETER; store->type = EM2_RUN_PARAMETER; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM2_RUN_PARAMETER_SIZE-4,mbfp); if (read_len == EM2_RUN_PARAMETER_SIZE-4) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->run_date); if (store->run_date != 0) store->date = store->run_date; mb_get_binary_int(swap, &line[4], &store->run_msec); if (store->run_date != 0) store->msec = store->run_msec; mb_get_binary_short(swap, &line[8], &short_val); store->run_ping_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->run_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->run_status); store->run_mode = (mb_u_char) line[16]; store->run_filter_id = (mb_u_char) line[17]; mb_get_binary_short(swap, &line[18], &short_val); store->run_min_depth = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[20], &short_val); store->run_max_depth = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); store->run_absorption = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[24], &short_val); store->run_tran_pulse = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[26], &short_val); store->run_tran_beam = (int) ((unsigned short) short_val); store->run_tran_pow = (mb_u_char) line[28]; store->run_rec_beam = (mb_u_char) line[29]; store->run_rec_band = (mb_u_char) line[30]; store->run_rec_gain = (mb_u_char) line[31]; store->run_tvg_cross = (mb_u_char) line[32]; store->run_ssv_source = (mb_u_char) line[33]; mb_get_binary_short(swap, &line[34], &short_val); store->run_max_swath = (int) ((unsigned short) short_val); store->run_beam_space = (mb_u_char) line[36]; store->run_swath_angle = (mb_u_char) line[37]; store->run_stab_mode = (mb_u_char) line[38]; for (i=0;i<6;i++) store->run_spare[i] = line[39+i]; if (line[EM2_RUN_PARAMETER_SIZE-7] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM2_RUN_PARAMETER_SIZE-7], line[EM2_RUN_PARAMETER_SIZE-7], line[EM2_RUN_PARAMETER_SIZE-6], line[EM2_RUN_PARAMETER_SIZE-6], line[EM2_RUN_PARAMETER_SIZE-5], line[EM2_RUN_PARAMETER_SIZE-5]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 run_date: %d\n",store->run_date); fprintf(stderr,"dbg5 run_msec: %d\n",store->run_msec); fprintf(stderr,"dbg5 run_ping_count: %d\n",store->run_ping_count); fprintf(stderr,"dbg5 run_serial: %d\n",store->run_serial); fprintf(stderr,"dbg5 run_status: %d\n",store->run_status); fprintf(stderr,"dbg5 run_mode: %d\n",store->run_mode); fprintf(stderr,"dbg5 run_filter_id: %d\n",store->run_filter_id); fprintf(stderr,"dbg5 run_min_depth: %d\n",store->run_min_depth); fprintf(stderr,"dbg5 run_max_depth: %d\n",store->run_max_depth); fprintf(stderr,"dbg5 run_absorption: %d\n",store->run_absorption); fprintf(stderr,"dbg5 run_tran_pulse: %d\n",store->run_tran_pulse); fprintf(stderr,"dbg5 run_tran_beam: %d\n",store->run_tran_beam); fprintf(stderr,"dbg5 run_tran_pow: %d\n",store->run_tran_pow); fprintf(stderr,"dbg5 run_rec_beam: %d\n",store->run_rec_beam); fprintf(stderr,"dbg5 run_rec_band: %d\n",store->run_rec_band); fprintf(stderr,"dbg5 run_rec_gain: %d\n",store->run_rec_gain); fprintf(stderr,"dbg5 run_tvg_cross: %d\n",store->run_tvg_cross); fprintf(stderr,"dbg5 run_ssv_source: %d\n",store->run_ssv_source); fprintf(stderr,"dbg5 run_max_swath: %d\n",store->run_max_swath); fprintf(stderr,"dbg5 run_beam_space: %d\n",store->run_beam_space); fprintf(stderr,"dbg5 run_swath_angle: %d\n",store->run_swath_angle); fprintf(stderr,"dbg5 run_stab_mode: %d\n",store->run_stab_mode); for (i=0;i<6;i++) fprintf(stderr,"dbg5 run_spare[%d]: %d\n",i,store->run_spare[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 goodend: %d\n",*goodend); 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_em300raw_rd_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_clock"; int status = MB_SUCCESS; char line[EM2_CLOCK_SIZE]; short short_val; int read_len; /* 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_CLOCK; store->type = EM2_CLOCK; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM2_CLOCK_SIZE-4,mbfp); if (read_len == EM2_CLOCK_SIZE-4) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->clk_date); store->date = store->clk_date; mb_get_binary_int(swap, &line[4], &store->clk_msec); store->msec = store->clk_msec; mb_get_binary_short(swap, &line[8], &short_val); store->clk_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->clk_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->clk_origin_date); mb_get_binary_int(swap, &line[16], &store->clk_origin_msec); store->clk_1_pps_use = (mb_u_char) line[20]; if (line[EM2_CLOCK_SIZE-7] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM2_CLOCK_SIZE-7], line[EM2_CLOCK_SIZE-7], line[EM2_CLOCK_SIZE-6], line[EM2_CLOCK_SIZE-6], line[EM2_CLOCK_SIZE-5], line[EM2_CLOCK_SIZE-5]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 clk_date: %d\n",store->clk_date); fprintf(stderr,"dbg5 clk_msec: %d\n",store->clk_msec); fprintf(stderr,"dbg5 clk_count: %d\n",store->clk_count); fprintf(stderr,"dbg5 clk_serial: %d\n",store->clk_serial); fprintf(stderr,"dbg5 clk_origin_date: %d\n",store->clk_origin_date); fprintf(stderr,"dbg5 clk_origin_msec: %d\n",store->clk_origin_msec); fprintf(stderr,"dbg5 clk_1_pps_use: %d\n",store->clk_1_pps_use); } /* 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 goodend: %d\n",*goodend); 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_em300raw_rd_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_tide"; int status = MB_SUCCESS; char line[EM2_TIDE_SIZE]; short short_val; int read_len; /* 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_TIDE; store->type = EM2_TIDE; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM2_TIDE_SIZE-4,mbfp); if (read_len == EM2_TIDE_SIZE-4) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->tid_date); store->date = store->tid_date; mb_get_binary_int(swap, &line[4], &store->tid_msec); store->msec = store->tid_msec; mb_get_binary_short(swap, &line[8], &short_val); store->tid_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->tid_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->tid_origin_date); mb_get_binary_int(swap, &line[16], &store->tid_origin_msec); mb_get_binary_short(swap, &line[20], &short_val); store->tid_tide = (int) short_val; if (line[EM2_TIDE_SIZE-7] == 0x03) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM2_TIDE_SIZE-7], line[EM2_TIDE_SIZE-7], line[EM2_TIDE_SIZE-6], line[EM2_TIDE_SIZE-6], line[EM2_TIDE_SIZE-5], line[EM2_TIDE_SIZE-5]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 tid_date: %d\n",store->tid_date); fprintf(stderr,"dbg5 tid_msec: %d\n",store->tid_msec); fprintf(stderr,"dbg5 tid_count: %d\n",store->tid_count); fprintf(stderr,"dbg5 tid_serial: %d\n",store->tid_serial); fprintf(stderr,"dbg5 tid_origin_date: %d\n",store->tid_origin_date); fprintf(stderr,"dbg5 tid_origin_msec: %d\n",store->tid_origin_msec); fprintf(stderr,"dbg5 tid_tide: %d\n",store->tid_tide); } /* 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 goodend: %d\n",*goodend); 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_em300raw_rd_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_height"; int status = MB_SUCCESS; char line[EM2_HEIGHT_SIZE]; short short_val; int read_len; /* 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_HEIGHT; store->type = EM2_HEIGHT; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM2_HEIGHT_SIZE-4,mbfp); if (read_len == EM2_HEIGHT_SIZE-4) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->hgt_date); store->date = store->hgt_date; mb_get_binary_int(swap, &line[4], &store->hgt_msec); store->msec = store->hgt_msec; mb_get_binary_short(swap, &line[8], &short_val); store->hgt_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->hgt_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->hgt_height); store->hgt_type = (mb_u_char) line[16]; if (line[EM2_HEIGHT_SIZE-7] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM2_HEIGHT_SIZE-7], line[EM2_HEIGHT_SIZE-7], line[EM2_HEIGHT_SIZE-6], line[EM2_HEIGHT_SIZE-6], line[EM2_HEIGHT_SIZE-5], line[EM2_HEIGHT_SIZE-5]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 hgt_date: %d\n",store->hgt_date); fprintf(stderr,"dbg5 hgt_msec: %d\n",store->hgt_msec); fprintf(stderr,"dbg5 hgt_count: %d\n",store->hgt_count); fprintf(stderr,"dbg5 hgt_serial: %d\n",store->hgt_serial); fprintf(stderr,"dbg5 hgt_height: %d\n",store->hgt_height); fprintf(stderr,"dbg5 hgt_type: %d\n",store->hgt_type); } /* 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 goodend: %d\n",*goodend); 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_em300raw_rd_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_heading"; int status = MB_SUCCESS; struct mbsys_simrad2_heading_struct *heading; char line[EM2_HEADING_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ heading = (struct mbsys_simrad2_heading_struct *) store->heading; /* set kind and type values */ store->kind = MB_DATA_HEADING; store->type = EM2_HEADING; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_HEADING_HEADER_SIZE,mbfp); if (read_len == EM2_HEADING_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &heading->hed_date); store->date = heading->hed_date; mb_get_binary_int(swap, &line[4], &heading->hed_msec); store->msec = heading->hed_msec; mb_get_binary_short(swap, &line[8], &short_val); heading->hed_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); heading->hed_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); heading->hed_ndata = (int) ((unsigned short) short_val); } /* read binary heading values */ if (status == MB_SUCCESS) { for (i=0;ihed_ndata && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_HEADING_SLICE_SIZE,mbfp); if (read_len == EM2_HEADING_SLICE_SIZE && i < MBSYS_SIMRAD2_MAXHEADING) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); heading->hed_time[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); heading->hed_heading[i] = (int) ((unsigned short) short_val); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } heading->hed_ndata = MIN(heading->hed_ndata, MBSYS_SIMRAD2_MAXHEADING); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; heading->hed_heading_status = (mb_u_char) line[0]; } else { /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 hed_date: %d\n",heading->hed_date); fprintf(stderr,"dbg5 hed_msec: %d\n",heading->hed_msec); fprintf(stderr,"dbg5 hed_count: %d\n",heading->hed_count); fprintf(stderr,"dbg5 hed_serial: %d\n",heading->hed_serial); fprintf(stderr,"dbg5 hed_ndata: %d\n",heading->hed_ndata); fprintf(stderr,"dbg5 count time (msec) heading (0.01 deg)\n"); fprintf(stderr,"dbg5 ----- ----------- ------------------\n"); for (i=0;ihed_ndata;i++) fprintf(stderr,"dbg5 %4d %7d %7d\n", i, heading->hed_time[i], heading->hed_heading[i]); fprintf(stderr,"dbg5 hed_heading_status: %d\n",heading->hed_heading_status); } /* 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 goodend: %d\n",*goodend); 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_em300raw_rd_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_ssv"; int status = MB_SUCCESS; struct mbsys_simrad2_ssv_struct *ssv; char line[EM2_SSV_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ssv = (struct mbsys_simrad2_ssv_struct *) store->ssv; /* set kind and type values */ store->kind = MB_DATA_SSV; store->type = EM2_SSV; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_SSV_HEADER_SIZE,mbfp); if (read_len == EM2_SSV_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ssv->ssv_date); store->date = ssv->ssv_date; mb_get_binary_int(swap, &line[4], &ssv->ssv_msec); store->msec = ssv->ssv_msec; mb_get_binary_short(swap, &line[8], &short_val); ssv->ssv_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ssv->ssv_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); ssv->ssv_ndata = (int) ((unsigned short) short_val); } /* read binary ssv values */ if (status == MB_SUCCESS) { for (i=0;issv_ndata && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_SSV_SLICE_SIZE,mbfp); if (read_len == EM2_SSV_SLICE_SIZE && i < MBSYS_SIMRAD2_MAXSSV) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ssv->ssv_time[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); ssv->ssv_ssv[i] = (int) ((unsigned short) short_val); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } ssv->ssv_ndata = MIN(ssv->ssv_ndata, MBSYS_SIMRAD2_MAXSSV); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 ssv_date: %d\n",ssv->ssv_date); fprintf(stderr,"dbg5 ssv_msec: %d\n",ssv->ssv_msec); fprintf(stderr,"dbg5 ssv_count: %d\n",ssv->ssv_count); fprintf(stderr,"dbg5 ssv_serial: %d\n",ssv->ssv_serial); fprintf(stderr,"dbg5 ssv_ndata: %d\n",ssv->ssv_ndata); fprintf(stderr,"dbg5 count time (msec) ssv (0.1 m/s)\n"); fprintf(stderr,"dbg5 ----- ----------- ------------------\n"); for (i=0;issv_ndata;i++) fprintf(stderr,"dbg5 %4d %7d %7d\n", i, ssv->ssv_time[i], ssv->ssv_ssv[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 goodend: %d\n",*goodend); 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_em300raw_rd_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_tilt"; int status = MB_SUCCESS; struct mbsys_simrad2_tilt_struct *tilt; char line[EM2_TILT_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ tilt = (struct mbsys_simrad2_tilt_struct *) store->tilt; /* set kind and type values */ store->kind = MB_DATA_TILT; store->type = EM2_TILT; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_TILT_HEADER_SIZE,mbfp); if (read_len == EM2_TILT_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &tilt->tlt_date); store->date = tilt->tlt_date; mb_get_binary_int(swap, &line[4], &tilt->tlt_msec); store->msec = tilt->tlt_msec; mb_get_binary_short(swap, &line[8], &short_val); tilt->tlt_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); tilt->tlt_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); tilt->tlt_ndata = (int) ((unsigned short) short_val); } /* read binary tilt values */ if (status == MB_SUCCESS) { for (i=0;itlt_ndata && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_TILT_SLICE_SIZE,mbfp); if (read_len == EM2_TILT_SLICE_SIZE && i < MBSYS_SIMRAD2_MAXTILT) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); tilt->tlt_time[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); tilt->tlt_tilt[i] = (int) ((unsigned short) short_val); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } tilt->tlt_ndata = MIN(tilt->tlt_ndata, MBSYS_SIMRAD2_MAXTILT); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 tlt_date: %d\n",tilt->tlt_date); fprintf(stderr,"dbg5 tlt_msec: %d\n",tilt->tlt_msec); fprintf(stderr,"dbg5 tlt_count: %d\n",tilt->tlt_count); fprintf(stderr,"dbg5 tlt_serial: %d\n",tilt->tlt_serial); fprintf(stderr,"dbg5 tlt_ndata: %d\n",tilt->tlt_ndata); fprintf(stderr,"dbg5 count time (msec) tilt (0.01 deg)\n"); fprintf(stderr,"dbg5 ----- ----------- ------------------\n"); for (i=0;itlt_ndata;i++) fprintf(stderr,"dbg5 %4d %7d %7d\n", i, tilt->tlt_time[i], tilt->tlt_tilt[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 goodend: %d\n",*goodend); 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_em300raw_rd_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_attitude"; int status = MB_SUCCESS; struct mbsys_simrad2_attitude_struct *attitude; char line[EM2_ATTITUDE_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ attitude = (struct mbsys_simrad2_attitude_struct *) store->attitude; /* set kind and type values */ store->kind = MB_DATA_ATTITUDE; store->type = EM2_ATTITUDE; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_ATTITUDE_HEADER_SIZE,mbfp); if (read_len == EM2_ATTITUDE_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &attitude->att_date); store->date = attitude->att_date; mb_get_binary_int(swap, &line[4], &attitude->att_msec); store->msec = attitude->att_msec; mb_get_binary_short(swap, &line[8], &short_val); attitude->att_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); attitude->att_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); attitude->att_ndata = (int) ((unsigned short) short_val); } /* read binary attitude values */ if (status == MB_SUCCESS) { for (i=0;iatt_ndata && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_ATTITUDE_SLICE_SIZE,mbfp); if (read_len == EM2_ATTITUDE_SLICE_SIZE && i < MBSYS_SIMRAD2_MAXATTITUDE) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); attitude->att_time[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); attitude->att_sensor_status[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[4], &short_val); attitude->att_roll[i] = (int) short_val; mb_get_binary_short(swap, &line[6], &short_val); attitude->att_pitch[i] = (int) short_val; mb_get_binary_short(swap, &line[8], &short_val); attitude->att_heave[i] = (int) short_val; mb_get_binary_short(swap, &line[10], &short_val); attitude->att_heading[i] = (int) ((unsigned short) short_val); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } attitude->att_ndata = MIN(attitude->att_ndata, MBSYS_SIMRAD2_MAXATTITUDE); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; attitude->att_heading_status = (mb_u_char) line[0]; } else { /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 att_date: %d\n",attitude->att_date); fprintf(stderr,"dbg5 att_msec: %d\n",attitude->att_msec); fprintf(stderr,"dbg5 att_count: %d\n",attitude->att_count); fprintf(stderr,"dbg5 att_serial: %d\n",attitude->att_serial); fprintf(stderr,"dbg5 att_ndata: %d\n",attitude->att_ndata); fprintf(stderr,"dbg5 cnt time roll pitch heave heading\n"); fprintf(stderr,"dbg5 -------------------------------------\n"); for (i=0;iatt_ndata;i++) fprintf(stderr,"dbg5 %3d %d %d %d %d %d\n", i, attitude->att_time[i], attitude->att_roll[i], attitude->att_pitch[i], attitude->att_heave[i], attitude->att_heading[i]); fprintf(stderr,"dbg5 att_heading_status: %d\n",attitude->att_heading_status); } /* 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 goodend: %d\n",*goodend); 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_em300raw_rd_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_pos"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD2_COMMENT_LENGTH]; short short_val; int read_len; int done; int navchannel; /* 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_NAV; store->type = EM2_POS; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_POS_HEADER_SIZE,mbfp); if (read_len == EM2_POS_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->pos_date); store->date = store->pos_date; mb_get_binary_int(swap, &line[4], &store->pos_msec); store->msec = store->pos_msec; mb_get_binary_short(swap, &line[8], &short_val); store->pos_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->pos_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->pos_latitude); mb_get_binary_int(swap, &line[16], &store->pos_longitude); mb_get_binary_short(swap, &line[20], &short_val); store->pos_quality = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); store->pos_speed = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[24], &short_val); store->pos_course = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[26], &short_val); store->pos_heading = (int) ((unsigned short) short_val); store->pos_system = (mb_u_char) line[28]; store->pos_input_size = (mb_u_char) line[29]; } /* read input position string */ if (status == MB_SUCCESS && store->pos_input_size < 256) { read_len = fread(store->pos_input,1,store->pos_input_size,mbfp); if (read_len == store->pos_input_size) { status = MB_SUCCESS; store->pos_input[store->pos_input_size] = '\0'; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* now loop over reading individual characters to get last bytes of record */ if (status == MB_SUCCESS) { done = MB_NO; while (done == MB_NO) { read_len = fread(&line[0],1,1,mbfp); if (read_len == 1 && line[0] == EM2_END) { done = MB_YES; status = MB_SUCCESS; /* get last two check sum bytes */ if (sonar != MBSYS_SIMRAD2_EM3000) read_len = fread(&line[1],2,1,mbfp); if (line[0] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG if (sonar != MBSYS_SIMRAD2_EM3000) fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[0], line[0], line[1], line[1], line[2], line[2]); #endif } else if (read_len == 1) { status = MB_SUCCESS; } else { done = MB_YES; /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "\n"); #endif } /* check for navigation source */ if (status == MB_SUCCESS) { /* "active" nav system has first bit set in store->pos_system */ if (store->pos_system & 128) { store->kind = MB_DATA_NAV; } /* otherwise its from a secondary nav system */ else { navchannel = (store->pos_system & 0x03); if (navchannel == 1) { store->kind = MB_DATA_NAV1; } else if (navchannel == 2) { store->kind = MB_DATA_NAV2; } else if (navchannel == 3) { store->kind = MB_DATA_NAV3; } /* otherwise its an error */ else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 pos_date: %d\n",store->pos_date); fprintf(stderr,"dbg5 pos_msec: %d\n",store->pos_msec); fprintf(stderr,"dbg5 pos_count: %d\n",store->pos_count); fprintf(stderr,"dbg5 pos_serial: %d\n",store->pos_serial); fprintf(stderr,"dbg5 pos_latitude: %d\n",store->pos_latitude); fprintf(stderr,"dbg5 pos_longitude: %d\n",store->pos_longitude); fprintf(stderr,"dbg5 pos_quality: %d\n",store->pos_quality); fprintf(stderr,"dbg5 pos_speed: %d\n",store->pos_speed); fprintf(stderr,"dbg5 pos_course: %d\n",store->pos_course); fprintf(stderr,"dbg5 pos_heading: %d\n",store->pos_heading); fprintf(stderr,"dbg5 pos_system: %d\n",store->pos_system); fprintf(stderr,"dbg5 pos_input_size: %d\n",store->pos_input_size); fprintf(stderr,"dbg5 pos_input:\ndbg5 %s\n",store->pos_input); } /* 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 goodend: %d\n",*goodend); 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_em300raw_rd_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_svp"; int status = MB_SUCCESS; char line[EM2_SVP_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_VELOCITY_PROFILE; store->type = EM2_SVP; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_SVP_HEADER_SIZE,mbfp); if (read_len == EM2_SVP_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->svp_use_date); store->date = store->svp_use_date; mb_get_binary_int(swap, &line[4], &store->svp_use_msec); store->msec = store->svp_use_msec; mb_get_binary_short(swap, &line[8], &short_val); store->svp_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->svp_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->svp_origin_date); mb_get_binary_int(swap, &line[16], &store->svp_origin_msec); mb_get_binary_short(swap, &line[20], &short_val); store->svp_num = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); store->svp_depth_res = (int) ((unsigned short) short_val); } /* read binary svp values */ if (status == MB_SUCCESS) { for (i=0;isvp_num && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_SVP_SLICE_SIZE,mbfp); if (read_len != EM2_SVP_SLICE_SIZE) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else if (i < MBSYS_SIMRAD2_MAXSVP) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); store->svp_depth[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); store->svp_vel[i] = (int) ((unsigned short) short_val); } } store->svp_num = MIN(store->svp_num, MBSYS_SIMRAD2_MAXSVP); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 svp_use_date: %d\n",store->svp_use_date); fprintf(stderr,"dbg5 svp_use_msec: %d\n",store->svp_use_msec); fprintf(stderr,"dbg5 svp_count: %d\n",store->svp_count); fprintf(stderr,"dbg5 svp_serial: %d\n",store->svp_serial); fprintf(stderr,"dbg5 svp_origin_date: %d\n",store->svp_origin_date); fprintf(stderr,"dbg5 svp_origin_msec: %d\n",store->svp_origin_msec); fprintf(stderr,"dbg5 svp_num: %d\n",store->svp_num); fprintf(stderr,"dbg5 svp_depth_res: %d\n",store->svp_depth_res); fprintf(stderr,"dbg5 count depth speed\n"); fprintf(stderr,"dbg5 -----------------------\n"); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 %d %d %d\n", i, store->svp_depth[i], store->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 goodend: %d\n",*goodend); 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_em300raw_rd_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_svp2"; int status = MB_SUCCESS; char line[EM2_SVP2_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* set kind and type values */ store->kind = MB_DATA_VELOCITY_PROFILE; store->type = EM2_SVP2; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_SVP_HEADER_SIZE,mbfp); if (read_len == EM2_SVP_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &store->svp_use_date); store->date = store->svp_use_date; mb_get_binary_int(swap, &line[4], &store->svp_use_msec); store->msec = store->svp_use_msec; mb_get_binary_short(swap, &line[8], &short_val); store->svp_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->svp_serial = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[12], &store->svp_origin_date); mb_get_binary_int(swap, &line[16], &store->svp_origin_msec); mb_get_binary_short(swap, &line[20], &short_val); store->svp_num = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); store->svp_depth_res = (int) ((unsigned short) short_val); } /* read binary svp values */ if (status == MB_SUCCESS) { for (i=0;isvp_num && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_SVP2_SLICE_SIZE,mbfp); if (read_len != EM2_SVP2_SLICE_SIZE) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else if (i < MBSYS_SIMRAD2_MAXSVP) { status = MB_SUCCESS; mb_get_binary_int(swap, &line[0], &store->svp_depth[i]); mb_get_binary_int(swap, &line[4], &store->svp_vel[i]); } } store->svp_num = MIN(store->svp_num, MBSYS_SIMRAD2_MAXSVP); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 svp_use_date: %d\n",store->svp_use_date); fprintf(stderr,"dbg5 svp_use_msec: %d\n",store->svp_use_msec); fprintf(stderr,"dbg5 svp_count: %d\n",store->svp_count); fprintf(stderr,"dbg5 svp_serial: %d\n",store->svp_serial); fprintf(stderr,"dbg5 svp_origin_date: %d\n",store->svp_origin_date); fprintf(stderr,"dbg5 svp_origin_msec: %d\n",store->svp_origin_msec); fprintf(stderr,"dbg5 svp_num: %d\n",store->svp_num); fprintf(stderr,"dbg5 svp_depth_res: %d\n",store->svp_depth_res); fprintf(stderr,"dbg5 count depth speed\n"); fprintf(stderr,"dbg5 -----------------------\n"); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 %d %d %d\n", i, store->svp_depth[i], store->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 goodend: %d\n",*goodend); 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_em300raw_rd_bath(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *match, short sonar, int version, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_bath"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_BATH_HEADER_SIZE]; short short_val; int png_count; int png_serial; int head; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); fprintf(stderr,"dbg2 version: %d\n",version); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; head = 0; /* set kind and type values */ store->kind = MB_DATA_DATA; store->type = EM2_BATH; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_BATH_HEADER_SIZE,mbfp); if (read_len == EM2_BATH_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* in case of dual head EM3002 check if the data are from the second head and switch ping structure if so */ if (status == MB_SUCCESS && sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2) { mb_get_binary_short(swap, &line[8], &short_val); png_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); png_serial = (int) ((unsigned short) short_val); if (png_count == ping->png_count && png_serial != ping->png_serial) { ping = (struct mbsys_simrad2_ping_struct *) store->ping2; head = 1; } } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ping->png_date); store->date = ping->png_date; mb_get_binary_int(swap, &line[4], &ping->png_msec); store->msec = ping->png_msec; mb_get_binary_short(swap, &line[8], &short_val); ping->png_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); ping->png_heading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); ping->png_ssv = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[16], &short_val); ping->png_xducer_depth = (int) ((unsigned short) short_val); ping->png_nbeams_max = (mb_u_char) line[18]; ping->png_nbeams = (mb_u_char) line[19]; ping->png_depth_res = (mb_u_char) line[20]; ping->png_distance_res = (mb_u_char) line[21]; mb_get_binary_short(swap, &line[22], &short_val); ping->png_sample_rate = (int) ((unsigned short) short_val); /*fprintf(stderr," ping->png_date:%d ping->png_msec:%d ping->png_count:%d ping->png_nbeams:%d\n", ping->png_date,ping->png_msec,ping->png_count,ping->png_nbeams);*/ } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_nbeams > ping->png_nbeams_max || ping->png_nbeams < 0 || ping->png_nbeams_max < 0 || ping->png_nbeams > MBSYS_SIMRAD2_MAXBEAMS || ping->png_nbeams_max > MBSYS_SIMRAD2_MAXBEAMS) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read binary beam values */ if (status == MB_SUCCESS) { for (i=0;ipng_nbeams && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_BATH_BEAM_SIZE,mbfp); if (read_len == EM2_BATH_BEAM_SIZE && i < MBSYS_SIMRAD2_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); if (store->sonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300) ping->png_depth[i] = (int) ((unsigned short) short_val); else ping->png_depth[i] = (int) short_val; mb_get_binary_short(swap, &line[2], &short_val); ping->png_acrosstrack[i] = (int) short_val; mb_get_binary_short(swap, &line[4], &short_val); ping->png_alongtrack[i] = (int) short_val; mb_get_binary_short(swap, &line[6], &short_val); ping->png_depression[i] = (int) short_val; mb_get_binary_short(swap, &line[8], &short_val); ping->png_azimuth[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_range[i] = (int) ((unsigned short) short_val); ping->png_quality[i] = (mb_u_char) line[12]; ping->png_window[i] = (mb_u_char) line[13]; ping->png_amp[i] = (mb_s_char) line[14]; ping->png_beam_num[i] = (mb_u_char) line[15]; if (ping->png_depth[i] == 0) ping->png_beamflag[i] = MB_FLAG_NULL; else ping->png_beamflag[i] = MB_FLAG_NONE; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; ping->png_offset_multiplier = (mb_s_char) line[0]; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* check sonar version and adjust data as necessary */ if (status == MB_SUCCESS && sonar >= MBSYS_SIMRAD2_EM3000 && version != 0 && version < 20000 ) { ping->png_offset_multiplier = 0; } /* check for some other indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_nbeams > 0 && ping->png_beam_num[0] > ping->png_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } for (i=1;ipng_nbeams;i++) { if (ping->png_beam_num[i] < ping->png_beam_num[i-1] || ping->png_beam_num[i] > ping->png_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } } /* check if bath and sidescan time tags agree - we cannot pair bath and sidescan records from different pings */ if (status == MB_SUCCESS) { if (ping->png_date == ping->png_ss_date && ping->png_msec == ping->png_ss_msec) *match = MB_YES; else *match = MB_NO; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_date: %d\n",ping->png_date); fprintf(stderr,"dbg5 png_msec: %d\n",ping->png_msec); fprintf(stderr,"dbg5 png_count: %d\n",ping->png_count); fprintf(stderr,"dbg5 png_serial: %d\n",ping->png_serial); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %d\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_offset_multiplier: %d\n",ping->png_offset_multiplier); fprintf(stderr,"dbg5 png_nbeams_max: %d\n",ping->png_nbeams_max); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_depth_res: %d\n",ping->png_depth_res); fprintf(stderr,"dbg5 png_distance_res: %d\n",ping->png_distance_res); fprintf(stderr,"dbg5 png_sample_rate: %d\n",ping->png_sample_rate); fprintf(stderr,"dbg5 cnt depth xtrack ltrack dprsn azi rng qual wnd amp num\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %6d %6d %6d %5d %5d %5d %4d %3d %3d %3d\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_quality[i], ping->png_window[i], ping->png_amp[i], ping->png_beam_num[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 match: %d\n",*match); fprintf(stderr,"dbg2 goodend: %d\n",*goodend); 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_em300raw_rd_rawbeam(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_rawbeam"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_RAWBEAM_HEADER_SIZE]; short short_val; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* read binary header values into char array */ read_len = fread(line,1,EM2_RAWBEAM_HEADER_SIZE,mbfp); if (read_len == EM2_RAWBEAM_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ping->png_raw_date); store->date = ping->png_raw_date; mb_get_binary_int(swap, &line[4], &ping->png_raw_msec); store->msec = ping->png_raw_msec; mb_get_binary_short(swap, &line[8], &short_val); ping->png_raw_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_raw_serial = (int) ((unsigned short) short_val); ping->png_raw_nbeams_max = (mb_u_char) line[12]; ping->png_raw_nbeams = (mb_u_char) line[13]; mb_get_binary_short(swap, &line[14], &short_val); ping->png_raw_ssv = (int) ((unsigned short) short_val); } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw_nbeams > ping->png_nbeams_max || ping->png_raw_nbeams < 0 || ping->png_raw_nbeams_max < 0 || ping->png_raw_nbeams > MBSYS_SIMRAD2_MAXBEAMS || ping->png_raw_nbeams_max > MBSYS_SIMRAD2_MAXBEAMS) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read binary beam values */ if (status == MB_SUCCESS) { for (i=0;ipng_raw_nbeams && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_RAWBEAM_BEAM_SIZE,mbfp); if (read_len == EM2_RAWBEAM_BEAM_SIZE && i < MBSYS_SIMRAD2_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw_rxpointangle[i] = (int) short_val; mb_get_binary_short(swap, &line[2], &short_val); ping->png_raw_rxtiltangle[i] = (int) short_val; mb_get_binary_short(swap, &line[4], &short_val); ping->png_raw_rxrange[i] = (int) ((unsigned short) short_val); ping->png_raw_rxamp[i] = (mb_s_char) line[6]; ping->png_raw_rxbeam_num[i] = (mb_u_char) line[7]; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* check for some other indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw_nbeams > 0 && ping->png_raw_rxbeam_num[0] > ping->png_raw_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } for (i=1;ipng_raw_nbeams;i++) { if (ping->png_raw_rxbeam_num[i] < ping->png_raw_rxbeam_num[i-1] || ping->png_raw_rxbeam_num[i] > ping->png_raw_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_raw_date: %d\n",ping->png_raw_date); fprintf(stderr,"dbg5 png_raw_msec: %d\n",ping->png_raw_msec); fprintf(stderr,"dbg5 png_raw_count: %d\n",ping->png_raw_count); fprintf(stderr,"dbg5 png_raw_serial: %d\n",ping->png_raw_serial); fprintf(stderr,"dbg5 png_raw_nbeams_max: %d\n",ping->png_raw_nbeams_max); fprintf(stderr,"dbg5 png_raw_nbeams: %d\n",ping->png_raw_nbeams); fprintf(stderr,"dbg5 png_raw_ssv: %d\n",ping->png_raw_ssv); fprintf(stderr,"dbg5 cnt point tilt rng amp num\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %5d %5d %3d %3d\n", i, ping->png_raw_rxpointangle[i], ping->png_raw_rxtiltangle[i], ping->png_raw_rxrange[i], ping->png_raw_rxamp[i], ping->png_raw_rxbeam_num[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 goodend: %d\n",*goodend); 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_em300raw_rd_rawbeam2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_rawbeam2"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_RAWBEAM2_HEADER_SIZE]; short short_val; int read_len; int spare; 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* read binary header values into char array */ read_len = fread(line,1,EM2_RAWBEAM2_HEADER_SIZE,mbfp); if (read_len == EM2_RAWBEAM2_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ping->png_raw_date); store->date = ping->png_raw_date; mb_get_binary_int(swap, &line[4], &ping->png_raw_msec); store->msec = ping->png_raw_msec; mb_get_binary_short(swap, &line[8], &short_val); ping->png_raw_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_raw_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); ping->png_raw_heading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); ping->png_raw_ssv = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[16], &short_val); ping->png_raw_xducer_depth = (int) ((unsigned short) short_val); ping->png_raw_nbeams_max = (mb_u_char) line[18]; ping->png_raw_nbeams = (mb_u_char) line[19]; ping->png_raw_depth_res = (mb_u_char) line[20]; ping->png_raw_distance_res = (mb_u_char) line[21]; mb_get_binary_short(swap, &line[22], &short_val); ping->png_raw_sample_rate = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[24], &ping->png_raw_status); mb_get_binary_short(swap, &line[28], &short_val); ping->png_raw_rangenormal = (int) ((unsigned short) short_val); ping->png_raw_normalbackscatter = (mb_s_char) line[30]; ping->png_raw_obliquebackscatter = (mb_s_char) line[31]; ping->png_raw_fixedgain = (mb_u_char) line[32]; ping->png_raw_txpower = (mb_s_char) line[33]; ping->png_raw_mode = (mb_u_char) line[34]; ping->png_raw_coverage = (mb_u_char) line[35]; mb_get_binary_short(swap, &line[36], &short_val); ping->png_raw_yawstabheading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[38], &short_val); ping->png_raw_ntx = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[40], &short_val); spare = (int) ((unsigned short) short_val); } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw_nbeams > ping->png_raw_nbeams_max || ping->png_raw_nbeams < 0 || ping->png_raw_nbeams_max < 0 || ping->png_raw_nbeams > MBSYS_SIMRAD2_MAXBEAMS || ping->png_raw_nbeams_max > MBSYS_SIMRAD2_MAXBEAMS || ping->png_raw_ntx > MBSYS_SIMRAD2_MAXTX) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read binary tx values */ if (status == MB_SUCCESS) { for (i=0;ipng_raw_ntx && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_RAWBEAM2_TX_SIZE,mbfp); if (read_len == EM2_RAWBEAM2_TX_SIZE && i < MBSYS_SIMRAD2_MAXTX) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw_txlastbeam[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); ping->png_raw_txtiltangle[i] = (int) short_val; mb_get_binary_short(swap, &line[4], &short_val); ping->png_raw_txheading[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[6], &short_val); ping->png_raw_txroll[i] = (int) short_val; mb_get_binary_short(swap, &line[8], &short_val); ping->png_raw_txpitch[i] = (int) short_val; mb_get_binary_short(swap, &line[10], &short_val); ping->png_raw_txheave[i] = (int) short_val; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* read binary beam values */ if (status == MB_SUCCESS) { for (i=0;ipng_raw_nbeams && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_RAWBEAM2_BEAM_SIZE,mbfp); if (read_len == EM2_RAWBEAM2_BEAM_SIZE && i < MBSYS_SIMRAD2_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw_rxrange[i] = (int) ((unsigned short) short_val); ping->png_raw_rxquality[i] = (mb_u_char) line[2]; ping->png_raw_rxwindow[i] = (mb_u_char) line[3]; ping->png_raw_rxamp[i] = (mb_s_char) line[4]; ping->png_raw_rxbeam_num[i] = (mb_u_char) line[5]; mb_get_binary_short(swap, &line[6], &short_val); ping->png_raw_rxpointangle[i] = (int) short_val; mb_get_binary_short(swap, &line[8], &short_val); ping->png_raw_rxheading[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_raw_rxroll[i] = (int) short_val; mb_get_binary_short(swap, &line[12], &short_val); ping->png_raw_rxpitch[i] = (int) short_val; mb_get_binary_short(swap, &line[14], &short_val); ping->png_raw_rxheave[i] = (int) short_val; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* check for some other indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw_nbeams > 0 && ping->png_raw_rxbeam_num[0] > ping->png_raw_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } for (i=1;ipng_raw_nbeams;i++) { if (ping->png_raw_rxbeam_num[i] < ping->png_raw_rxbeam_num[i-1] || ping->png_raw_rxbeam_num[i] > ping->png_raw_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_raw_date: %d\n",ping->png_raw_date); fprintf(stderr,"dbg5 png_raw_msec: %d\n",ping->png_raw_msec); fprintf(stderr,"dbg5 png_raw_count: %d\n",ping->png_raw_count); fprintf(stderr,"dbg5 png_raw_serial: %d\n",ping->png_raw_serial); fprintf(stderr,"dbg5 png_raw_heading: %d\n",ping->png_raw_heading); fprintf(stderr,"dbg5 png_raw_ssv: %d\n",ping->png_raw_ssv); fprintf(stderr,"dbg5 png_raw_xducer_depth: %d\n",ping->png_raw_xducer_depth); fprintf(stderr,"dbg5 png_raw_nbeams_max: %d\n",ping->png_raw_nbeams_max); fprintf(stderr,"dbg5 png_raw_nbeams: %d\n",ping->png_raw_nbeams); fprintf(stderr,"dbg5 png_raw_depth_res: %d\n",ping->png_raw_depth_res); fprintf(stderr,"dbg5 png_raw_distance_res: %d\n",ping->png_raw_distance_res); fprintf(stderr,"dbg5 png_raw_sample_rate: %d\n",ping->png_raw_sample_rate); fprintf(stderr,"dbg5 png_raw_status: %d\n",ping->png_raw_status); fprintf(stderr,"dbg5 png_raw_rangenormal: %d\n",ping->png_raw_rangenormal); fprintf(stderr,"dbg5 png_raw_normalbackscatter: %d\n",ping->png_raw_normalbackscatter); fprintf(stderr,"dbg5 png_raw_obliquebackscatter: %d\n",ping->png_raw_obliquebackscatter); fprintf(stderr,"dbg5 png_raw_fixedgain: %d\n",ping->png_raw_fixedgain); fprintf(stderr,"dbg5 png_raw_txpower: %d\n",ping->png_raw_txpower); fprintf(stderr,"dbg5 png_raw_mode: %d\n",ping->png_raw_mode); fprintf(stderr,"dbg5 png_raw_coverage: %d\n",ping->png_raw_coverage); fprintf(stderr,"dbg5 png_raw_yawstabheading: %d\n",ping->png_raw_yawstabheading); fprintf(stderr,"dbg5 png_raw_ntx: %d\n",ping->png_raw_ntx); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 transmit pulse values:\n"); fprintf(stderr,"dbg5 cnt lastbeam tiltangle heading roll pitch heave\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_ntx;i++) fprintf(stderr,"dbg5 %3d %3d %4d %5d %4d %4d %4d\n", i, ping->png_raw_txlastbeam[i], ping->png_raw_txtiltangle[i], ping->png_raw_txheading[i], ping->png_raw_txroll[i], ping->png_raw_txpitch[i], ping->png_raw_txheave[i]); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 beam values:\n"); fprintf(stderr,"dbg5 cnt range quality window amp beam angle heading roll pitch heave\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %3d %3d %4d %3d %5d %5d %4d %4d %4d\n", i, ping->png_raw_rxrange[i], ping->png_raw_rxquality[i], ping->png_raw_rxwindow[i], ping->png_raw_rxamp[i], ping->png_raw_rxbeam_num[i], ping->png_raw_rxpointangle[i], ping->png_raw_rxheading[i], ping->png_raw_rxroll[i], ping->png_raw_rxpitch[i], ping->png_raw_rxheave[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 goodend: %d\n",*goodend); 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_em300raw_rd_rawbeam3(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_rawbeam3"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_RAWBEAM3_HEADER_SIZE]; short short_val; int int_val; int png_raw3_count; int png_raw3_serial; int head; int read_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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; head = 0; /* read binary header values into char array */ read_len = fread(line,1,EM2_RAWBEAM3_HEADER_SIZE,mbfp); if (read_len == EM2_RAWBEAM3_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* in case of dual head EM3002 check if the data are from the second head and if so switch ping structure */ if (status == MB_SUCCESS && sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2) { mb_get_binary_short(swap, &line[8], &short_val); png_raw3_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); png_raw3_serial = (int) ((unsigned short) short_val); if (png_raw3_count == ping->png_raw3_count && png_raw3_serial != ping->png_raw3_serial) { ping = (struct mbsys_simrad2_ping_struct *) store->ping2; head = 1; } } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ping->png_raw3_date); store->date = ping->png_raw3_date; mb_get_binary_int(swap, &line[4], &ping->png_raw3_msec); store->msec = ping->png_raw3_msec; mb_get_binary_short(swap, &line[8], &short_val); ping->png_raw3_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_raw3_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); ping->png_raw3_ntx = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); ping->png_raw3_nbeams = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[16], &int_val); ping->png_raw3_sample_rate = (int) (int_val); mb_get_binary_int(swap, &line[20], &int_val); ping->png_raw3_xducer_depth = (int) (int_val); mb_get_binary_short(swap, &line[24], &short_val); ping->png_raw3_ssv = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[26], &short_val); ping->png_raw3_nbeams_max = (int) ((unsigned short) short_val); /*fprintf(stderr,"ping->png_raw_date:%d ping->png_raw_msec:%d ping->png_raw_count:%d ping->png_raw_nbeams:%d\n", ping->png_raw3_date,ping->png_raw3_msec,ping->png_raw3_count,ping->png_raw3_nbeams);*/ } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw3_nbeams > ping->png_raw3_nbeams_max || ping->png_raw3_nbeams < 0 || ping->png_raw3_nbeams_max < 0 || ping->png_raw3_nbeams > MBSYS_SIMRAD2_MAXBEAMS || ping->png_raw3_nbeams_max > MBSYS_SIMRAD2_MAXBEAMS || ping->png_raw3_ntx > MBSYS_SIMRAD2_MAXTX) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read binary tx values */ if (status == MB_SUCCESS) { for (i=0;ipng_raw3_ntx && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_RAWBEAM3_TX_SIZE,mbfp); if (read_len == EM2_RAWBEAM3_TX_SIZE && i < MBSYS_SIMRAD2_MAXTX) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw3_txtiltangle[i] = (int) short_val; mb_get_binary_short(swap, &line[2], &short_val); ping->png_raw3_txfocus[i] = (int) short_val; mb_get_binary_int(swap, &line[4], &int_val); ping->png_raw3_txsignallength[i] = int_val; mb_get_binary_int(swap, &line[8], &int_val); ping->png_raw3_txoffset[i] = int_val; mb_get_binary_int(swap, &line[12], &int_val); ping->png_raw3_txcenter[i] = int_val; mb_get_binary_short(swap, &line[16], &short_val); ping->png_raw3_txbandwidth[i] = (int) short_val; ping->png_raw3_txwaveform[i] = (int) line[18]; ping->png_raw3_txsector[i] = (int) line[19]; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* read binary beam values */ if (status == MB_SUCCESS) { for (i=0;ipng_raw3_nbeams && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_RAWBEAM3_BEAM_SIZE,mbfp); if (read_len == EM2_RAWBEAM3_BEAM_SIZE && i < MBSYS_SIMRAD2_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw3_rxpointangle[i] = (int) short_val; mb_get_binary_short(swap, &line[2], &short_val); ping->png_raw3_rxrange[i] = (int) ((unsigned short) short_val); ping->png_raw3_rxsector[i] = (mb_u_char) line[4]; ping->png_raw3_rxamp[i] = (mb_s_char) line[5]; ping->png_raw3_rxquality[i] = (mb_u_char) line[6]; ping->png_raw3_rxwindow[i] = (mb_u_char) line[7]; mb_get_binary_short(swap, &line[8], &short_val); ping->png_raw3_rxbeam_num[i] = (int) ((short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_raw3_rxspare[i] = (int) ((unsigned short) short_val); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,4,mbfp); if (read_len == 4) { status = MB_SUCCESS; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } if (line[1] == EM2_END) *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[1], line[1], line[2], line[2], line[3], line[3]); #endif } /* check for some other indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw3_nbeams > 0 && ping->png_raw3_rxbeam_num[0] > ping->png_raw3_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } for (i=1;ipng_raw3_nbeams;i++) { if (ping->png_raw3_rxbeam_num[i] < ping->png_raw3_rxbeam_num[i-1] || ping->png_raw3_rxbeam_num[i] > ping->png_raw3_nbeams_max) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_raw3_date: %d\n",ping->png_raw3_date); fprintf(stderr,"dbg5 png_raw3_msec: %d\n",ping->png_raw3_msec); fprintf(stderr,"dbg5 png_raw3_count: %d\n",ping->png_raw3_count); fprintf(stderr,"dbg5 png_raw3_serial: %d\n",ping->png_raw3_serial); fprintf(stderr,"dbg5 png_raw3_ntx: %d\n",ping->png_raw3_ntx); fprintf(stderr,"dbg5 png_raw3_nbeams: %d\n",ping->png_raw3_nbeams); fprintf(stderr,"dbg5 png_raw3_sample_rate: %d\n",ping->png_raw3_sample_rate); fprintf(stderr,"dbg5 png_raw3_xducer_depth: %d\n",ping->png_raw3_xducer_depth); fprintf(stderr,"dbg5 png_raw3_ssv: %d\n",ping->png_raw3_ssv); fprintf(stderr,"dbg5 png_raw3_nbeams_max: %d\n",ping->png_raw3_nbeams_max); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 transmit pulse values:\n"); fprintf(stderr,"dbg5 tiltangle focus length offset center bandwidth waveform sector\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw3_ntx;i++) fprintf(stderr,"dbg5 %3d %5d %5d %6d %4d %4d %4d %4d %4d\n", i, ping->png_raw3_txtiltangle[i], ping->png_raw3_txfocus[i], ping->png_raw3_txsignallength[i], ping->png_raw3_txoffset[i], ping->png_raw3_txcenter[i], ping->png_raw3_txbandwidth[i], ping->png_raw3_txwaveform[i], ping->png_raw3_txsector[i]); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 beam values:\n"); fprintf(stderr,"dbg5 angle range sector amp quality window beam\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw3_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %3d %3d %4d %3d %5d %5d %5d\n", i, ping->png_raw3_rxpointangle[i], ping->png_raw3_rxrange[i], ping->png_raw3_rxsector[i], ping->png_raw3_rxamp[i], ping->png_raw3_rxquality[i], ping->png_raw3_rxwindow[i], ping->png_raw3_rxbeam_num[i],ping->png_raw3_rxspare[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 goodend: %d\n",*goodend); 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_em300raw_rd_ss(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int length, int *match, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_ss"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_SS_HEADER_SIZE]; short short_val; int png_ss_count; int png_ss_serial; int head; int read_len; int done; int junk_bytes; 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); fprintf(stderr,"dbg2 length: %d\n",length); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; head = 0; /* set kind and type values */ store->kind = MB_DATA_DATA; store->type = EM2_SS; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM2_SS_HEADER_SIZE,mbfp); if (read_len == EM2_SS_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* in case of dual head EM3002 check if the data are from the second head and if so switch ping structure */ if (status == MB_SUCCESS && sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2) { mb_get_binary_short(swap, &line[8], &short_val); png_ss_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); png_ss_serial = (int) ((unsigned short) short_val); if ((png_ss_count == ping->png_ss_count && png_ss_serial != ping->png_ss_serial) || (png_ss_count == store->ping2->png_count && png_ss_serial == store->ping2->png_serial)) { ping = (struct mbsys_simrad2_ping_struct *) store->ping2; head = 1; } } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ping->png_ss_date); store->date = ping->png_ss_date; mb_get_binary_int(swap, &line[4], & ping->png_ss_msec); store->msec = ping->png_ss_msec; mb_get_binary_short(swap, &line[8], &short_val); ping->png_ss_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_ss_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); ping->png_max_range = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); ping->png_r_zero = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[16], &short_val); ping->png_r_zero_corr = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[18], &short_val); ping->png_tvg_start = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[20], &short_val); ping->png_tvg_stop = (int) ((unsigned short) short_val); ping->png_bsn = (mb_s_char) line[22]; ping->png_bso = (mb_s_char) line[23]; mb_get_binary_short(swap, &line[24], &short_val); ping->png_tx = (int) ((unsigned short) short_val); ping->png_tvg_crossover = (mb_u_char) line[26]; ping->png_nbeams_ss = (mb_u_char) line[27]; /*fprintf(stderr," ping->png_ss_date:%d ping->png_ss_msec:%d ping->png_ss_count:%d ping->png_nbeams_ss:%d\n", ping->png_ss_date,ping->png_ss_msec,ping->png_ss_count,ping->png_nbeams_ss);*/ } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_nbeams_ss < 0 || ping->png_nbeams_ss > MBSYS_SIMRAD2_MAXBEAMS) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read binary beam values */ if (status == MB_SUCCESS) { ping->png_npixels = 0; for (i=0;ipng_nbeams_ss && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_SS_BEAM_SIZE,mbfp); if (read_len == EM2_SS_BEAM_SIZE && i < MBSYS_SIMRAD2_MAXBEAMS) { status = MB_SUCCESS; ping->png_beam_index[i] = (mb_u_char) line[0]; ping->png_sort_direction[i] = (mb_s_char) line[1]; mb_get_binary_short(swap, &line[2], &short_val); ping->png_beam_samples[i] = (int) ((unsigned short) short_val); ping->png_start_sample[i] = ping->png_npixels; mb_get_binary_short(swap, &line[4], &short_val); ping->png_center_sample[i] = (int) ((unsigned short) short_val); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } ping->png_npixels += ping->png_beam_samples[i]; if (ping->png_npixels > MBSYS_SIMRAD2_MAXRAWPIXELS) { ping->png_beam_samples[i] -= (ping->png_npixels - MBSYS_SIMRAD2_MAXRAWPIXELS); if (ping->png_beam_samples[i] < 0) ping->png_beam_samples[i] = 0; } } /* check for no pixel data - frequently occurs with EM1002 */ if (length == EM2_SS_HEADER_SIZE + ping->png_nbeams_ss * EM2_SS_BEAM_SIZE + 8) { if (verbose > 0) fprintf(stderr, "WARNING: No Simrad multibeam sidescan pixels in data record!\n"); junk_bytes = 0; ping->png_npixels = 0; } /* check for too much pixel data */ if (ping->png_npixels > MBSYS_SIMRAD2_MAXRAWPIXELS) { if (verbose > 0) fprintf(stderr, "WARNING: Simrad multibeam sidescan pixels %d exceed maximum %d!\n", ping->png_npixels, MBSYS_SIMRAD2_MAXRAWPIXELS); junk_bytes = ping->png_npixels - MBSYS_SIMRAD2_MAXRAWPIXELS; ping->png_npixels = MBSYS_SIMRAD2_MAXRAWPIXELS; status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } else junk_bytes = 0; } /* check for some other indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_nbeams_ss > 0 && ping->png_beam_index[0] > MBSYS_SIMRAD2_MAXBEAMS) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } for (i=1;ipng_nbeams_ss;i++) { if (ping->png_beam_index[i] < ping->png_beam_index[i-1] || ping->png_beam_index[0] > MBSYS_SIMRAD2_MAXBEAMS) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } } /* read binary sidescan values */ if (status == MB_SUCCESS) { read_len = fread(ping->png_ssraw,1,ping->png_npixels,mbfp); if (read_len == ping->png_npixels ) { status = MB_SUCCESS; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* read any leftover binary sidescan values */ if (status == MB_SUCCESS) { for (i=0;ipng_date == ping->png_ss_date && ping->png_msec == ping->png_ss_msec) *match = MB_YES; else *match = MB_NO; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_date: %d\n",ping->png_date); fprintf(stderr,"dbg5 png_msec: %d\n",ping->png_msec); fprintf(stderr,"dbg5 png_ss_date: %d\n",ping->png_ss_date); fprintf(stderr,"dbg5 png_ss_msec: %d\n",ping->png_ss_msec); fprintf(stderr,"dbg5 png_ss_count: %d\n",ping->png_ss_count); fprintf(stderr,"dbg5 png_ss_serial: %d\n",ping->png_ss_serial); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %d\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_offset_multiplier: %d\n",ping->png_offset_multiplier); fprintf(stderr,"dbg5 png_nbeams_max: %d\n",ping->png_nbeams_max); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_depth_res: %d\n",ping->png_depth_res); fprintf(stderr,"dbg5 png_distance_res: %d\n",ping->png_distance_res); fprintf(stderr,"dbg5 png_sample_rate: %d\n",ping->png_sample_rate); fprintf(stderr,"dbg5 cnt depth xtrack ltrack dprsn azi rng qual wnd amp num\n"); fprintf(stderr,"dbg5 ----------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %6d %6d %6d %5d %5d %5d %4d %3d %3d %3d\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_quality[i], ping->png_window[i], ping->png_amp[i], ping->png_beam_num[i]); fprintf(stderr,"dbg5 png_max_range: %d\n",ping->png_max_range); fprintf(stderr,"dbg5 png_r_zero: %d\n",ping->png_r_zero); fprintf(stderr,"dbg5 png_r_zero_corr: %d\n",ping->png_r_zero_corr); fprintf(stderr,"dbg5 png_tvg_start: %d\n",ping->png_tvg_start); fprintf(stderr,"dbg5 png_tvg_stop: %d\n",ping->png_tvg_stop); fprintf(stderr,"dbg5 png_bsn: %d\n",ping->png_bsn); fprintf(stderr,"dbg5 png_bso: %d\n",ping->png_bso); fprintf(stderr,"dbg5 png_tx: %d\n",ping->png_tx); fprintf(stderr,"dbg5 png_tvg_crossover: %d\n",ping->png_tvg_crossover); fprintf(stderr,"dbg5 png_nbeams_ss: %d\n",ping->png_nbeams_ss); fprintf(stderr,"dbg5 png_npixels: %d\n",ping->png_npixels); fprintf(stderr,"dbg5 cnt index sort samples start center\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (i=0;ipng_nbeams_ss;i++) fprintf(stderr,"dbg5 %4d %3d %2d %4d %4d %4d\n", i, ping->png_beam_index[i], ping->png_sort_direction[i], ping->png_beam_samples[i], ping->png_start_sample[i], ping->png_center_sample[i]); fprintf(stderr,"dbg5 cnt ss\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (i=0;ipng_npixels;i++) fprintf(stderr,"dbg5 %d %d\n", i, ping->png_ssraw[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 match: %d\n",*match); fprintf(stderr,"dbg2 goodend: %d\n",*goodend); 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_em300raw_rd_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em300raw_rd_wc"; int status = MB_SUCCESS; struct mbsys_simrad2_watercolumn_struct *wc; char line[EM2_WC_HEADER_SIZE]; short short_val; int read_len; int done; int file_bytes; 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 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ wc = (struct mbsys_simrad2_watercolumn_struct *) store->wc; /* set kind and type values */ store->kind = MB_DATA_WATER_COLUMN; store->type = EM2_WATERCOLUMN; store->sonar = sonar; file_bytes = ftell(mbfp); /* read binary header values into char array */ read_len = fread(line,1,EM2_WC_HEADER_SIZE,mbfp); if (read_len == EM2_WC_HEADER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &wc->wtc_date); store->date = wc->wtc_date; mb_get_binary_int(swap, &line[4], & wc->wtc_msec); store->msec = wc->wtc_msec; mb_get_binary_short(swap, &line[8], &short_val); wc->wtc_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); wc->wtc_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); wc->wtc_ndatagrams = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); wc->wtc_datagram = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[16], &short_val); wc->wtc_ntx = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[18], &short_val); wc->wtc_nrx = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[20], &short_val); wc->wtc_nbeam = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); wc->wtc_ssv = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[24], &(wc->wtc_sfreq)); mb_get_binary_short(swap, &line[28], &short_val); wc->wtc_heave = (int) ((short) short_val); mb_get_binary_short(swap, &line[30], &short_val); wc->wtc_spare1 = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[32], &short_val); wc->wtc_spare2 = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[34], &short_val); wc->wtc_spare3 = (int) ((unsigned short) short_val); } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (wc->wtc_nbeam < 0 || wc->wtc_nbeam > MBSYS_SIMRAD2_MAXBEAMS || wc->wtc_ntx < 0 || wc->wtc_ntx > MBSYS_SIMRAD2_MAXTX) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read binary beam values */ if (status == MB_SUCCESS) { for (i=0;iwtc_ntx && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_WC_TX_SIZE,mbfp); if (read_len == EM2_WC_TX_SIZE && i < MBSYS_SIMRAD2_MAXTX) { mb_get_binary_short(swap, &line[0], &short_val); wc->wtc_txtiltangle[i] = (int) (short_val); mb_get_binary_short(swap, &line[2], &short_val); wc->wtc_txcenter[i] = (int) (short_val); wc->wtc_txsector[i] = (int) ((mb_u_char) line[4]); } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } for (i=0;iwtc_nbeam && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM2_WC_BEAM_SIZE,mbfp); if (read_len == EM2_WC_BEAM_SIZE && i < MBSYS_SIMRAD2_MAXBEAMS) { mb_get_binary_short(swap, &line[0], &short_val); wc->beam[i].wtc_rxpointangle = (int) (short_val); mb_get_binary_short(swap, &line[2], &short_val); wc->beam[i].wtc_start_sample = (int) (short_val); mb_get_binary_short(swap, &line[4], &short_val); wc->beam[i].wtc_beam_samples = (int) (unsigned short)(short_val); mb_get_binary_short(swap, &line[6], &short_val); wc->beam[i].wtc_beam_spare = (int) (unsigned short)(short_val); wc->beam[i].wtc_sector = (int) (mb_u_char) (line[8]); wc->beam[i].wtc_beam = (int) (mb_u_char) (line[9]); } read_len = fread(wc->beam[i].wtc_amp,1,wc->beam[i].wtc_beam_samples,mbfp); } } /* now loop over reading individual characters to get last bytes of record */ if (status == MB_SUCCESS) { done = MB_NO; while (done == MB_NO) { read_len = fread(&line[0],1,1,mbfp); if (read_len == 1 && line[0] == EM2_END) { done = MB_YES; status = MB_SUCCESS; /* get last two check sum bytes */ read_len = fread(&line[1],2,1,mbfp); *goodend = MB_YES; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[0], line[0], line[1], line[1], line[2], line[2]); #endif } else if (read_len == 1) { status = MB_SUCCESS; } else { done = MB_YES; /* return success here because all of the important information in this record has already been read - next attempt to read file will return error */ status = MB_SUCCESS; } } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr, "\n"); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 wtc_date: %d\n",wc->wtc_date); fprintf(stderr,"dbg5 wtc_msec: %d\n",wc->wtc_msec); fprintf(stderr,"dbg5 wtc_count: %d\n",wc->wtc_count); fprintf(stderr,"dbg5 wtc_serial: %d\n",wc->wtc_serial); fprintf(stderr,"dbg5 wtc_ndatagrams: %d\n",wc->wtc_ndatagrams); fprintf(stderr,"dbg5 wtc_datagram: %d\n",wc->wtc_datagram); fprintf(stderr,"dbg5 wtc_ntx: %d\n",wc->wtc_ntx); fprintf(stderr,"dbg5 wtc_nrx: %d\n",wc->wtc_nrx); fprintf(stderr,"dbg5 wtc_nbeam: %d\n",wc->wtc_nbeam); fprintf(stderr,"dbg5 wtc_ssv: %d\n",wc->wtc_ssv); fprintf(stderr,"dbg5 wtc_sfreq: %d\n",wc->wtc_sfreq); fprintf(stderr,"dbg5 wtc_heave: %d\n",wc->wtc_heave); fprintf(stderr,"dbg5 wtc_spare1: %d\n",wc->wtc_spare1); fprintf(stderr,"dbg5 wtc_spare2: %d\n",wc->wtc_spare2); fprintf(stderr,"dbg5 wtc_spare3: %d\n",wc->wtc_spare3); fprintf(stderr,"dbg5 ---------------------------\n"); fprintf(stderr,"dbg5 cnt tilt center sector\n"); fprintf(stderr,"dbg5 ---------------------------\n"); for (i=0;iwtc_ntx;i++) fprintf(stderr,"dbg5 %3d %6d %6d %6d\n", i, wc->wtc_txtiltangle[i], wc->wtc_txcenter[i], wc->wtc_txsector[i]); for (i=0;iwtc_nbeam;i++) { fprintf(stderr,"dbg5 --------------------------------------------------\n"); fprintf(stderr,"dbg5 cnt angle start samples unknown sector beam\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); fprintf(stderr,"dbg5 %4d %3d %2d %4d %4d %4d %4d\n", i, wc->beam[i].wtc_rxpointangle, wc->beam[i].wtc_start_sample, wc->beam[i].wtc_beam_samples, wc->beam[i].wtc_beam_spare, wc->beam[i].wtc_sector, wc->beam[i].wtc_beam); /* fprintf(stderr,"dbg5 --------------------------------------------------\n"); fprintf(stderr,"dbg5 beam[%d]: sample amplitude\n",i); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (j=0;jbeam[i].wtc_beam_samples;j++) fprintf(stderr,"dbg5 %4d %4d\n", j, wc->beam[i].wtc_amp[j]);*/ } } /* 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 goodend: %d\n",*goodend); 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_em300raw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_em300raw_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; FILE *mbfp; int swap; /* 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 */ store = (struct mbsys_simrad2_struct *) store_ptr; ping = (struct mbsys_simrad2_ping_struct *) store->ping; mbfp = mb_io_ptr->mbfp; #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"\nstart of mbr_em300raw_wr_data:\n"); fprintf(stderr,"kind:%d %d type:%x\n", store->kind, mb_io_ptr->new_kind, store->type); #endif /* set swap flag */ swap = MB_NO; if (store->kind == MB_DATA_COMMENT || store->kind == MB_DATA_START || store->kind == MB_DATA_STOP) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_start kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_start(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_RUN_PARAMETER) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_run_parameter kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_run_parameter(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_CLOCK) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_clock kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_clock(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_TIDE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_tide kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_tide(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_HEIGHT) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_height kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_height(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_HEADING) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_heading kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_heading(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_SSV) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_ssv kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_ssv(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_TILT) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_tilt kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_tilt(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_ATTITUDE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_attitude kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_attitude(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2 || store->kind == MB_DATA_NAV3) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_pos kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_pos(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_VELOCITY_PROFILE) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_svp kind:%d type %x\n",store->kind,store->type); #endif if (store->type == EM2_SVP) status = mbr_em300raw_wr_svp(verbose,mbfp,swap,store,error); else status = mbr_em300raw_wr_svp2(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_DATA) { /* write out data from first head for all sonars */ #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_bath kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_bath(verbose,mbfp,swap,store,0,error); if (ping->png_raw1_read == MB_YES) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_rawbeam kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_rawbeam(verbose,mbfp,swap,store,error); } if (ping->png_raw2_read == MB_YES) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_rawbeam2 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_rawbeam2(verbose,mbfp,swap,store,error); } if (ping->png_raw3_read == MB_YES) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_rawbeam3 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_rawbeam3(verbose,mbfp,swap,store,0,error); } #ifdef MBR_EM300RAW_DEBUG if (ping->png_raw1_read == MB_NO && ping->png_raw2_read == MB_NO && ping->png_raw3_read == MB_NO) fprintf(stderr,"NOT call mbr_em300raw_wr_rawbeam kind:%d type %x\n",store->kind,store->type); #endif if (ping->png_ss_read == MB_YES) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_ss kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_ss(verbose,mbfp,swap,store,0,error); } #ifdef MBR_EM300RAW_DEBUG else fprintf(stderr,"NOT call mbr_em300raw_wr_ss kind:%d type %x\n",store->kind,store->type); #endif /* write out data from second head for EM3002 */ if (store->sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2 && store->ping2 != NULL && store->ping2->png_count ==store->ping->png_count) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_bath kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_bath(verbose,mbfp,swap,store,1,error); if (ping->png_raw3_read == MB_YES) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_rawbeam3 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_rawbeam3(verbose,mbfp,swap,store,1,error); } #ifdef MBR_EM300RAW_DEBUG if (ping->png_raw3_read == MB_NO) fprintf(stderr,"NOT call mbr_em300raw_wr_rawbeam kind:%d type %x\n",store->kind,store->type); #endif if (ping->png_ss_read == MB_YES) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_ss kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_ss(verbose,mbfp,swap,store,1,error); } #ifdef MBR_EM300RAW_DEBUG else fprintf(stderr,"NOT call mbr_em300raw_wr_ss kind:%d type %x\n",store->kind,store->type); #endif } } else if (store->kind == MB_DATA_WATER_COLUMN) { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call mbr_em300raw_wr_wc kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em300raw_wr_wc(verbose,mbfp,swap,store,error); } else { #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"call nothing bad kind: %d type %x\n", store->kind, store->type); #endif status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } #ifdef MBR_EM300RAW_DEBUG fprintf(stderr,"status:%d error:%d\n", status, *error); fprintf(stderr,"end of mbr_em300raw_wr_data:\n"); #endif /* 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",store->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_em300raw_wr_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_start"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD2_BUFFER_SIZE], *buff; int buff_len, write_len; int write_size; unsigned short checksum; char *comma_ptr; mb_u_char *uchar_ptr; int j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 par_date: %d\n",store->par_date); fprintf(stderr,"dbg5 par_msec: %d\n",store->par_msec); fprintf(stderr,"dbg5 par_line_num: %d\n",store->par_line_num); fprintf(stderr,"dbg5 par_serial_1: %d\n",store->par_serial_1); fprintf(stderr,"dbg5 par_serial_2: %d\n",store->par_serial_2); fprintf(stderr,"dbg5 par_wlz: %f\n",store->par_wlz); fprintf(stderr,"dbg5 par_smh: %d\n",store->par_smh); fprintf(stderr,"dbg5 par_s1z: %f\n",store->par_s1z); fprintf(stderr,"dbg5 par_s1x: %f\n",store->par_s1x); fprintf(stderr,"dbg5 par_s1y: %f\n",store->par_s1y); fprintf(stderr,"dbg5 par_s1h: %f\n",store->par_s1h); fprintf(stderr,"dbg5 par_s1r: %f\n",store->par_s1r); fprintf(stderr,"dbg5 par_s1p: %f\n",store->par_s1p); fprintf(stderr,"dbg5 par_s1n: %d\n",store->par_s1n); fprintf(stderr,"dbg5 par_s2z: %f\n",store->par_s2z); fprintf(stderr,"dbg5 par_s2x: %f\n",store->par_s2x); fprintf(stderr,"dbg5 par_s2y: %f\n",store->par_s2y); fprintf(stderr,"dbg5 par_s2h: %f\n",store->par_s2h); fprintf(stderr,"dbg5 par_s2r: %f\n",store->par_s2r); fprintf(stderr,"dbg5 par_s2p: %f\n",store->par_s2p); fprintf(stderr,"dbg5 par_s2n: %d\n",store->par_s2n); fprintf(stderr,"dbg5 par_go1: %f\n",store->par_go1); fprintf(stderr,"dbg5 par_go2: %f\n",store->par_go2); fprintf(stderr,"dbg5 par_tsv: %s\n",store->par_tsv); fprintf(stderr,"dbg5 par_rsv: %s\n",store->par_rsv); fprintf(stderr,"dbg5 par_bsv: %s\n",store->par_bsv); fprintf(stderr,"dbg5 par_psv: %s\n",store->par_psv); fprintf(stderr,"dbg5 par_osv: %s\n",store->par_osv); fprintf(stderr,"dbg5 par_dsd: %f\n",store->par_dsd); fprintf(stderr,"dbg5 par_dso: %f\n",store->par_dso); fprintf(stderr,"dbg5 par_dsf: %f\n",store->par_dsf); fprintf(stderr,"dbg5 par_dsh: %c%c\n", store->par_dsh[0],store->par_dsh[1]); fprintf(stderr,"dbg5 par_aps: %d\n",store->par_aps); fprintf(stderr,"dbg5 par_p1m: %d\n",store->par_p1m); fprintf(stderr,"dbg5 par_p1t: %d\n",store->par_p1t); fprintf(stderr,"dbg5 par_p1z: %f\n",store->par_p1z); fprintf(stderr,"dbg5 par_p1x: %f\n",store->par_p1x); fprintf(stderr,"dbg5 par_p1y: %f\n",store->par_p1y); fprintf(stderr,"dbg5 par_p1d: %f\n",store->par_p1d); fprintf(stderr,"dbg5 par_p1g: %s\n",store->par_p1g); fprintf(stderr,"dbg5 par_p2m: %d\n",store->par_p2m); fprintf(stderr,"dbg5 par_p2t: %d\n",store->par_p2t); fprintf(stderr,"dbg5 par_p2z: %f\n",store->par_p2z); fprintf(stderr,"dbg5 par_p2x: %f\n",store->par_p2x); fprintf(stderr,"dbg5 par_p2y: %f\n",store->par_p2y); fprintf(stderr,"dbg5 par_p2d: %f\n",store->par_p2d); fprintf(stderr,"dbg5 par_p2g: %s\n",store->par_p2g); fprintf(stderr,"dbg5 par_p3m: %d\n",store->par_p3m); fprintf(stderr,"dbg5 par_p3t: %d\n",store->par_p3t); fprintf(stderr,"dbg5 par_p3z: %f\n",store->par_p3z); fprintf(stderr,"dbg5 par_p3x: %f\n",store->par_p3x); fprintf(stderr,"dbg5 par_p3y: %f\n",store->par_p3y); fprintf(stderr,"dbg5 par_p3d: %f\n",store->par_p3d); fprintf(stderr,"dbg5 par_p3g: %s\n",store->par_p3g); fprintf(stderr,"dbg5 par_msz: %f\n",store->par_msz); fprintf(stderr,"dbg5 par_msx: %f\n",store->par_msx); fprintf(stderr,"dbg5 par_msy: %f\n",store->par_msy); fprintf(stderr,"dbg5 par_mrp: %c%c\n", store->par_mrp[0],store->par_mrp[1]); fprintf(stderr,"dbg5 par_msd: %f\n",store->par_msd); fprintf(stderr,"dbg5 par_msr: %f\n",store->par_msr); fprintf(stderr,"dbg5 par_msp: %f\n",store->par_msp); fprintf(stderr,"dbg5 par_msg: %f\n",store->par_msg); fprintf(stderr,"dbg5 par_gcg: %f\n",store->par_gcg); fprintf(stderr,"dbg5 par_cpr: %s\n",store->par_cpr); fprintf(stderr,"dbg5 par_rop: %s\n",store->par_rop); fprintf(stderr,"dbg5 par_sid: %s\n",store->par_sid); fprintf(stderr,"dbg5 par_pll: %s\n",store->par_pll); fprintf(stderr,"dbg5 par_com: %s\n",store->par_com); } /* zero checksum */ checksum = 0; /* if data type not set - use start */ if (store->type == EM2_NONE) store->type = EM2_START; /* if sonar not set use EM300 */ if (store->sonar == 0) store->sonar = MBSYS_SIMRAD2_EM300; /* set up start of output buffer - we handle this record differently because of the ascii data */ memset(line, 0, MBSYS_SIMRAD2_BUFFER_SIZE); /* put binary header data into buffer */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) store->type, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->sonar, (void *) &line[6]); mb_put_binary_int(swap, (int) store->par_date, (void *) &line[8]); mb_put_binary_int(swap, (int) store->par_msec, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) store->par_line_num, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) store->par_serial_1, (void *) &line[18]); mb_put_binary_short(swap, (unsigned short) store->par_serial_2, (void *) &line[20]); } /* construct ASCII parameter buffer */ buff = &line[22]; sprintf(&buff[0], "WLZ=%.2f,", store->par_wlz); buff_len = strlen(buff); sprintf(&buff[buff_len], "SMH=%d,", store->par_smh); buff_len = strlen(buff); sprintf(&buff[buff_len], "S1Z=%.2f,", store->par_s1z); buff_len = strlen(buff); sprintf(&buff[buff_len], "S1X=%.2f,", store->par_s1x); buff_len = strlen(buff); sprintf(&buff[buff_len], "S1Y=%.2f,", store->par_s1y); buff_len = strlen(buff); sprintf(&buff[buff_len], "S1H=%.2f,", store->par_s1h); buff_len = strlen(buff); sprintf(&buff[buff_len], "S1R=%.2f,", store->par_s1r); buff_len = strlen(buff); sprintf(&buff[buff_len], "S1P=%.2f,", store->par_s1p); buff_len = strlen(buff); if (store->par_s1n > 0) { sprintf(&buff[buff_len], "S1N=%d,", store->par_s1n); buff_len = strlen(buff); } sprintf(&buff[buff_len], "S2Z=%.2f,", store->par_s2z); buff_len = strlen(buff); sprintf(&buff[buff_len], "S2X=%.2f,", store->par_s2x); buff_len = strlen(buff); sprintf(&buff[buff_len], "S2Y=%.2f,", store->par_s2y); buff_len = strlen(buff); sprintf(&buff[buff_len], "S2H=%.2f,", store->par_s2h); buff_len = strlen(buff); sprintf(&buff[buff_len], "S2R=%.2f,", store->par_s2r); buff_len = strlen(buff); sprintf(&buff[buff_len], "S2P=%.2f,", store->par_s2p); buff_len = strlen(buff); if (store->par_s2n > 0) { sprintf(&buff[buff_len], "S2N=%d,", store->par_s2n); buff_len = strlen(buff); } if (store->par_go1 != 0.0) { sprintf(&buff[buff_len], "GO1=%.2f,", store->par_go1); buff_len = strlen(buff); } if (store->par_go2 != 0.0) { sprintf(&buff[buff_len], "GO2=%.2f,", store->par_go2); buff_len = strlen(buff); } sprintf(&buff[buff_len], "TSV=%s,", store->par_tsv); buff_len = strlen(buff); if (strlen(store->par_rsv) > 0) { sprintf(&buff[buff_len], "RSV=%s,", store->par_rsv); buff_len = strlen(buff); } sprintf(&buff[buff_len], "BSV=%s,", store->par_bsv); buff_len = strlen(buff); sprintf(&buff[buff_len], "PSV=%s,", store->par_tsv); buff_len = strlen(buff); sprintf(&buff[buff_len], "OSV=%s,", store->par_osv); buff_len = strlen(buff); if (store->par_dsd != 0.0) { sprintf(&buff[buff_len], "DSD=%.1f,", store->par_dsd); buff_len = strlen(buff); } else { sprintf(&buff[buff_len], "DSD=,"); buff_len = strlen(buff); } sprintf(&buff[buff_len], "DSO=%.6f,", store->par_dso); buff_len = strlen(buff); sprintf(&buff[buff_len], "DSF=%.6f,", store->par_dsf); buff_len = strlen(buff); sprintf(&buff[buff_len], "DSH=%c%c,", store->par_dsh[0], store->par_dsh[1]); buff_len = strlen(buff); sprintf(&buff[buff_len], "APS=%d,",store->par_aps); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1M=%d,",store->par_p1m); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1T=%d,",store->par_p1t); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1Z=%.2f,", store->par_p1z); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1X=%.2f,", store->par_p1x); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1Y=%.2f,", store->par_p1y); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1D=%.1f,", store->par_p1d); buff_len = strlen(buff); sprintf(&buff[buff_len], "P1G=%s,", store->par_p1g); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2M=%d,",store->par_p2m); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2T=%d,",store->par_p2t); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2Z=%.2f,", store->par_p2z); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2X=%.2f,", store->par_p2x); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2Y=%.2f,", store->par_p2y); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2D=%.1f,", store->par_p2d); buff_len = strlen(buff); sprintf(&buff[buff_len], "P2G=%s,", store->par_p2g); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3M=%d,",store->par_p3m); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3T=%d,",store->par_p3t); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3Z=%.2f,", store->par_p3z); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3X=%.2f,", store->par_p3x); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3Y=%.2f,", store->par_p3y); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3D=%.1f,", store->par_p3d); buff_len = strlen(buff); sprintf(&buff[buff_len], "P3G=%s,", store->par_p3g); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSZ=%.2f,", store->par_msz); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSX=%.2f,", store->par_msx); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSY=%.2f,", store->par_msy); buff_len = strlen(buff); sprintf(&buff[buff_len], "MRP=%c%c,", store->par_mrp[0], store->par_mrp[1]); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSD=%.2f,", store->par_msd); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSR=%.2f,", store->par_msr); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSP=%.2f,", store->par_msp); buff_len = strlen(buff); sprintf(&buff[buff_len], "MSG=%.2f,", store->par_msg); buff_len = strlen(buff); sprintf(&buff[buff_len], "GCG=%.2f,", store->par_gcg); buff_len = strlen(buff); if (strlen(store->par_cpr) > 0) { sprintf(&buff[buff_len], "CPR=%s,", store->par_cpr); buff_len = strlen(buff); } if (strlen(store->par_rop) > 0) { sprintf(&buff[buff_len], "ROP=%s,", store->par_rop); buff_len = strlen(buff); } if (strlen(store->par_sid) > 0) { sprintf(&buff[buff_len], "SID=%s,", store->par_sid); buff_len = strlen(buff); } if (strlen(store->par_pll) > 0) { sprintf(&buff[buff_len], "PLL=%s,", store->par_pll); buff_len = strlen(buff); } if (strlen(store->par_com) > 0) { /* replace commas (,) with caret (^) values to circumvent the format's inability to store commas in comments */ while ((comma_ptr = strchr(store->par_com, ',')) != NULL) { comma_ptr[0] = '^'; } sprintf(&buff[buff_len], "COM=%s,", store->par_com); buff_len = strlen(buff); } buff[buff_len] = ','; buff_len++; if (buff_len % 2 == 0) buff_len++; /* put end of record in buffer */ line[buff_len + 22] = EM2_END; /* get size of record */ write_size = 25 + buff_len; mb_put_binary_int(swap, (int) (write_size - 4), (void *) &line[0]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=5;j= 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_em300raw_wr_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_run_parameter"; int status = MB_SUCCESS; char line[EM2_RUN_PARAMETER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 run_date: %d\n",store->run_date); fprintf(stderr,"dbg5 run_msec: %d\n",store->run_msec); fprintf(stderr,"dbg5 run_ping_count: %d\n",store->run_ping_count); fprintf(stderr,"dbg5 run_serial: %d\n",store->run_serial); fprintf(stderr,"dbg5 run_status: %d\n",store->run_status); fprintf(stderr,"dbg5 run_mode: %d\n",store->run_mode); fprintf(stderr,"dbg5 run_filter_id: %d\n",store->run_filter_id); fprintf(stderr,"dbg5 run_min_depth: %d\n",store->run_min_depth); fprintf(stderr,"dbg5 run_max_depth: %d\n",store->run_max_depth); fprintf(stderr,"dbg5 run_absorption: %d\n",store->run_absorption); fprintf(stderr,"dbg5 run_tran_pulse: %d\n",store->run_tran_pulse); fprintf(stderr,"dbg5 run_tran_beam: %d\n",store->run_tran_beam); fprintf(stderr,"dbg5 run_tran_pow: %d\n",store->run_tran_pow); fprintf(stderr,"dbg5 run_rec_beam: %d\n",store->run_rec_beam); fprintf(stderr,"dbg5 run_rec_band: %d\n",store->run_rec_band); fprintf(stderr,"dbg5 run_rec_gain: %d\n",store->run_rec_gain); fprintf(stderr,"dbg5 run_tvg_cross: %d\n",store->run_tvg_cross); fprintf(stderr,"dbg5 run_ssv_source: %d\n",store->run_ssv_source); fprintf(stderr,"dbg5 run_max_swath: %d\n",store->run_max_swath); fprintf(stderr,"dbg5 run_beam_space: %d\n",store->run_beam_space); fprintf(stderr,"dbg5 run_swath_angle: %d\n",store->run_swath_angle); fprintf(stderr,"dbg5 run_stab_mode: %d\n",store->run_stab_mode); for (i=0;i<6;i++) fprintf(stderr,"dbg5 run_spare[%d]: %d\n",i,store->run_spare[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_RUN_PARAMETER_SIZE), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_RUN_PARAMETER), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* construct binary data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->run_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->run_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->run_ping_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->run_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->run_status, (void *) &line[12]); line[16] = store->run_mode; line[17] = store->run_filter_id; mb_put_binary_short(swap, (unsigned short) store->run_min_depth, (void *) &line[18]); mb_put_binary_short(swap, (unsigned short) store->run_max_depth, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) store->run_absorption, (void *) &line[22]); mb_put_binary_short(swap, (unsigned short) store->run_tran_pulse, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) store->run_tran_beam, (void *) &line[26]); line[28] = store->run_tran_pow; line[29] = store->run_rec_beam; line[30] = store->run_rec_band; line[31] = store->run_rec_gain; line[32] = store->run_tvg_cross; line[33] = store->run_ssv_source; mb_put_binary_short(swap, (unsigned short) store->run_max_swath, (void *) &line[34]); line[36] = store->run_beam_space; line[37] = store->run_swath_angle; line[38] = store->run_stab_mode; for (i=0;i<6;i++) line[39+i] = store->run_spare[i]; line[EM2_RUN_PARAMETER_SIZE-7] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_clock"; int status = MB_SUCCESS; char line[EM2_CLOCK_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 clk_date: %d\n",store->clk_date); fprintf(stderr,"dbg5 clk_msec: %d\n",store->clk_msec); fprintf(stderr,"dbg5 clk_count: %d\n",store->clk_count); fprintf(stderr,"dbg5 clk_serial: %d\n",store->clk_serial); fprintf(stderr,"dbg5 clk_origin_date: %d\n",store->clk_origin_date); fprintf(stderr,"dbg5 clk_origin_msec: %d\n",store->clk_origin_msec); fprintf(stderr,"dbg5 clk_1_pps_use: %d\n",store->clk_1_pps_use); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_CLOCK_SIZE), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_CLOCK), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* construct binary data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->clk_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->clk_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->clk_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->clk_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->clk_origin_date, (void *) &line[12]); mb_put_binary_int(swap, (int) store->clk_origin_msec, (void *) &line[16]); line[20] = store->clk_1_pps_use; line[EM2_CLOCK_SIZE-7] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_tide"; int status = MB_SUCCESS; char line[EM2_TIDE_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 tid_date: %d\n",store->tid_date); fprintf(stderr,"dbg5 tid_msec: %d\n",store->tid_msec); fprintf(stderr,"dbg5 tid_count: %d\n",store->tid_count); fprintf(stderr,"dbg5 tid_serial: %d\n",store->tid_serial); fprintf(stderr,"dbg5 tid_origin_date: %d\n",store->tid_origin_date); fprintf(stderr,"dbg5 tid_origin_msec: %d\n",store->tid_origin_msec); fprintf(stderr,"dbg5 tid_tide: %d\n",store->tid_tide); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_TIDE_SIZE), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_TIDE), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* construct binary data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->tid_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->tid_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->tid_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->tid_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->tid_origin_date, (void *) &line[12]); mb_put_binary_int(swap, (int) store->tid_origin_msec, (void *) &line[16]); mb_put_binary_short(swap, (short) store->tid_tide, (void *) &line[20]); line[EM2_TIDE_SIZE-8] = '\0'; line[EM2_TIDE_SIZE-7] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_height"; int status = MB_SUCCESS; char line[EM2_HEIGHT_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 hgt_date: %d\n",store->hgt_date); fprintf(stderr,"dbg5 hgt_msec: %d\n",store->hgt_msec); fprintf(stderr,"dbg5 hgt_count: %d\n",store->hgt_count); fprintf(stderr,"dbg5 hgt_serial: %d\n",store->hgt_serial); fprintf(stderr,"dbg5 hgt_height: %d\n",store->hgt_height); fprintf(stderr,"dbg5 hgt_type: %d\n",store->hgt_type); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_HEIGHT_SIZE), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_HEIGHT), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* construct binary data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->hgt_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->hgt_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->hgt_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->hgt_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->hgt_height, (void *) &line[12]); line[16] = (mb_u_char) store->hgt_type; line[EM2_HEIGHT_SIZE-7] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_heading"; int status = MB_SUCCESS; struct mbsys_simrad2_heading_struct *heading; char line[EM2_HEADING_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ heading = (struct mbsys_simrad2_heading_struct *) store->heading; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 hed_date: %d\n",heading->hed_date); fprintf(stderr,"dbg5 hed_msec: %d\n",heading->hed_msec); fprintf(stderr,"dbg5 hed_count: %d\n",heading->hed_count); fprintf(stderr,"dbg5 hed_serial: %d\n",heading->hed_serial); fprintf(stderr,"dbg5 hed_ndata: %d\n",heading->hed_ndata); fprintf(stderr,"dbg5 count time (msec) heading (0.01 deg)\n"); fprintf(stderr,"dbg5 ----- ----------- ------------------\n"); for (i=0;ihed_ndata;i++) fprintf(stderr,"dbg5 %4d %7d %7d\n", i, heading->hed_time[i], heading->hed_heading[i]); fprintf(stderr,"dbg5 hed_heading_status: %d\n",heading->hed_heading_status); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_HEADING_HEADER_SIZE + EM2_HEADING_SLICE_SIZE * heading->hed_ndata + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_HEADING), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) heading->hed_date, (void *) &line[0]); mb_put_binary_int(swap, (int) heading->hed_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) heading->hed_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) heading->hed_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) heading->hed_ndata, (void *) &line[12]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jhed_ndata;i++) { mb_put_binary_short(swap, (unsigned short) heading->hed_time[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) heading->hed_heading[i], (void *) &line[2]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jhed_heading_status; line[1] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; checksum += uchar_ptr[0]; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ write_len = fwrite(line,1,4,mbfp); if (write_len != 4) { *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_em300raw_wr_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_ssv"; int status = MB_SUCCESS; struct mbsys_simrad2_ssv_struct *ssv; char line[EM2_SSV_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ ssv = (struct mbsys_simrad2_ssv_struct *) store->ssv; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 ssv_date: %d\n",ssv->ssv_date); fprintf(stderr,"dbg5 ssv_msec: %d\n",ssv->ssv_msec); fprintf(stderr,"dbg5 ssv_count: %d\n",ssv->ssv_count); fprintf(stderr,"dbg5 ssv_serial: %d\n",ssv->ssv_serial); fprintf(stderr,"dbg5 ssv_ndata: %d\n",ssv->ssv_ndata); fprintf(stderr,"dbg5 count time (msec) ssv (0.1 m/s)\n"); fprintf(stderr,"dbg5 ----- ----------- ------------------\n"); for (i=0;issv_ndata;i++) fprintf(stderr,"dbg5 %4d %7d %7d\n", i, ssv->ssv_time[i], ssv->ssv_ssv[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_SSV_HEADER_SIZE + EM2_SSV_SLICE_SIZE * ssv->ssv_ndata + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_SSV), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ssv->ssv_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ssv->ssv_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ssv->ssv_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ssv->ssv_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) ssv->ssv_ndata, (void *) &line[12]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jssv_ndata;i++) { mb_put_binary_short(swap, (unsigned short) ssv->ssv_time[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) ssv->ssv_ssv[i], (void *) &line[2]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_tilt"; int status = MB_SUCCESS; struct mbsys_simrad2_tilt_struct *tilt; char line[EM2_TILT_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ tilt = (struct mbsys_simrad2_tilt_struct *) store->tilt; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 tlt_date: %d\n",tilt->tlt_date); fprintf(stderr,"dbg5 tlt_msec: %d\n",tilt->tlt_msec); fprintf(stderr,"dbg5 tlt_count: %d\n",tilt->tlt_count); fprintf(stderr,"dbg5 tlt_serial: %d\n",tilt->tlt_serial); fprintf(stderr,"dbg5 tlt_ndata: %d\n",tilt->tlt_ndata); fprintf(stderr,"dbg5 count time (msec) tilt (0.01 deg)\n"); fprintf(stderr,"dbg5 ----- ----------- ------------------\n"); for (i=0;itlt_ndata;i++) fprintf(stderr,"dbg5 %4d %7d %7d\n", i, tilt->tlt_time[i], tilt->tlt_tilt[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_TILT_HEADER_SIZE + EM2_TILT_SLICE_SIZE * tilt->tlt_ndata + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_TILT), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) tilt->tlt_date, (void *) &line[0]); mb_put_binary_int(swap, (int) tilt->tlt_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) tilt->tlt_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) tilt->tlt_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) tilt->tlt_ndata, (void *) &line[12]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jtlt_ndata;i++) { mb_put_binary_short(swap, (unsigned short) tilt->tlt_time[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) tilt->tlt_tilt[i], (void *) &line[2]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_attitude"; int status = MB_SUCCESS; struct mbsys_simrad2_attitude_struct *attitude; char line[EM2_ATTITUDE_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ attitude = (struct mbsys_simrad2_attitude_struct *) store->attitude; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 att_date: %d\n",attitude->att_date); fprintf(stderr,"dbg5 att_msec: %d\n",attitude->att_msec); fprintf(stderr,"dbg5 att_count: %d\n",attitude->att_count); fprintf(stderr,"dbg5 att_serial: %d\n",attitude->att_serial); fprintf(stderr,"dbg5 att_ndata: %d\n",attitude->att_ndata); fprintf(stderr,"dbg5 cnt time roll pitch heave heading\n"); fprintf(stderr,"dbg5 -------------------------------------\n"); for (i=0;iatt_ndata;i++) fprintf(stderr,"dbg5 %3d %d %d %d %d %d\n", i, attitude->att_time[i], attitude->att_roll[i], attitude->att_pitch[i], attitude->att_heave[i], attitude->att_heading[i]); fprintf(stderr,"dbg5 att_heading_status: %d\n",attitude->att_heading_status); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_ATTITUDE_HEADER_SIZE + EM2_ATTITUDE_SLICE_SIZE * attitude->att_ndata + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_ATTITUDE), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) attitude->att_date, (void *) &line[0]); mb_put_binary_int(swap, (int) attitude->att_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) attitude->att_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) attitude->att_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) attitude->att_ndata, (void *) &line[12]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jatt_ndata;i++) { mb_put_binary_short(swap, (unsigned short) attitude->att_time[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) attitude->att_sensor_status[i], (void *) &line[2]); mb_put_binary_short(swap, (short) attitude->att_roll[i], (void *) &line[4]); mb_put_binary_short(swap, (short) attitude->att_pitch[i], (void *) &line[6]); mb_put_binary_short(swap, (short) attitude->att_heave[i], (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) attitude->att_heading[i], (void *) &line[10]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jatt_heading_status; line[1] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; checksum += uchar_ptr[0]; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ write_len = fwrite(line,1,4,mbfp); if (write_len != 4) { *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_em300raw_wr_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_pos"; int status = MB_SUCCESS; char line[EM2_POS_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 pos_date: %d\n",store->pos_date); fprintf(stderr,"dbg5 pos_msec: %d\n",store->pos_msec); fprintf(stderr,"dbg5 pos_count: %d\n",store->pos_count); fprintf(stderr,"dbg5 pos_serial: %d\n",store->pos_serial); fprintf(stderr,"dbg5 pos_latitude: %d\n",store->pos_latitude); fprintf(stderr,"dbg5 pos_longitude: %d\n",store->pos_longitude); fprintf(stderr,"dbg5 pos_quality: %d\n",store->pos_quality); fprintf(stderr,"dbg5 pos_speed: %d\n",store->pos_speed); fprintf(stderr,"dbg5 pos_course: %d\n",store->pos_course); fprintf(stderr,"dbg5 pos_heading: %d\n",store->pos_heading); fprintf(stderr,"dbg5 pos_system: %d\n",store->pos_system); fprintf(stderr,"dbg5 pos_input_size: %d\n",store->pos_input_size); fprintf(stderr,"dbg5 pos_input:\ndbg5 %s\n",store->pos_input); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_POS_HEADER_SIZE + store->pos_input_size - (store->pos_input_size % 2) + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_POS), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->pos_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->pos_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->pos_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->pos_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->pos_latitude, (void *) &line[12]); mb_put_binary_int(swap, (int) store->pos_longitude, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) store->pos_quality, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) store->pos_speed, (void *) &line[22]); mb_put_binary_short(swap, (unsigned short) store->pos_course, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) store->pos_heading, (void *) &line[26]); line[28] = (mb_u_char) store->pos_system; line[29] = (mb_u_char) store->pos_input_size; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpos_input_size - (store->pos_input_size % 2) + 1; /* compute checksum */ uchar_ptr = (mb_u_char *) store->pos_input; for (j=0;jpos_input,1,write_size,mbfp); if (write_len != write_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* output end of record */ if (status == MB_SUCCESS) { line[1] = 0x03; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ write_len = fwrite(&line[1],1,3,mbfp); if (write_len != 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_em300raw_wr_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_svp"; int status = MB_SUCCESS; char line[EM2_SVP_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 svp_use_date: %d\n",store->svp_use_date); fprintf(stderr,"dbg5 svp_use_msec: %d\n",store->svp_use_msec); fprintf(stderr,"dbg5 svp_count: %d\n",store->svp_count); fprintf(stderr,"dbg5 svp_serial: %d\n",store->svp_serial); fprintf(stderr,"dbg5 svp_origin_date: %d\n",store->svp_origin_date); fprintf(stderr,"dbg5 svp_origin_msec: %d\n",store->svp_origin_msec); fprintf(stderr,"dbg5 svp_num: %d\n",store->svp_num); fprintf(stderr,"dbg5 svp_depth_res: %d\n",store->svp_depth_res); fprintf(stderr,"dbg5 count depth speed\n"); fprintf(stderr,"dbg5 -----------------------\n"); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 %d %d %d\n", i, store->svp_depth[i], store->svp_vel[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_SVP_HEADER_SIZE + EM2_SVP_SLICE_SIZE * store->svp_num + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_SVP), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->svp_use_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->svp_use_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->svp_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->svp_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->svp_origin_date, (void *) &line[12]); mb_put_binary_int(swap, (int) store->svp_origin_msec, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) store->svp_num, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) store->svp_depth_res, (void *) &line[22]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jsvp_num;i++) { mb_put_binary_short(swap, (unsigned short) store->svp_depth[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) store->svp_vel[i], (void *) &line[4]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_svp2"; int status = MB_SUCCESS; char line[EM2_SVP2_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 svp_use_date: %d\n",store->svp_use_date); fprintf(stderr,"dbg5 svp_use_msec: %d\n",store->svp_use_msec); fprintf(stderr,"dbg5 svp_count: %d\n",store->svp_count); fprintf(stderr,"dbg5 svp_serial: %d\n",store->svp_serial); fprintf(stderr,"dbg5 svp_origin_date: %d\n",store->svp_origin_date); fprintf(stderr,"dbg5 svp_origin_msec: %d\n",store->svp_origin_msec); fprintf(stderr,"dbg5 svp_num: %d\n",store->svp_num); fprintf(stderr,"dbg5 svp_depth_res: %d\n",store->svp_depth_res); fprintf(stderr,"dbg5 count depth speed\n"); fprintf(stderr,"dbg5 -----------------------\n"); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 %d %d %d\n", i, store->svp_depth[i], store->svp_vel[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_SVP2_HEADER_SIZE + EM2_SVP2_SLICE_SIZE * store->svp_num + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_SVP2), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) store->svp_use_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->svp_use_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->svp_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->svp_serial, (void *) &line[10]); mb_put_binary_int(swap, (int) store->svp_origin_date, (void *) &line[12]); mb_put_binary_int(swap, (int) store->svp_origin_msec, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) store->svp_num, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) store->svp_depth_res, (void *) &line[22]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jsvp_num;i++) { mb_put_binary_int(swap, (int) store->svp_depth[i], (void *) &line[0]); mb_put_binary_int(swap, (int) store->svp_vel[i], (void *) &line[4]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_bath(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int head, int *error) { char *function_name = "mbr_em300raw_wr_bath"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_BATH_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 head: %d\n",head); } /* get storage structure */ if (store->sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2 && head == 1) ping = (struct mbsys_simrad2_ping_struct *) store->ping2; else ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_date: %d\n",ping->png_date); fprintf(stderr,"dbg5 png_msec: %d\n",ping->png_msec); fprintf(stderr,"dbg5 png_count: %d\n",ping->png_count); fprintf(stderr,"dbg5 png_serial: %d\n",ping->png_serial); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %d\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_offset_multiplier: %d\n",ping->png_offset_multiplier); fprintf(stderr,"dbg5 png_nbeams_max: %d\n",ping->png_nbeams_max); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_depth_res: %d\n",ping->png_depth_res); fprintf(stderr,"dbg5 png_distance_res: %d\n",ping->png_distance_res); fprintf(stderr,"dbg5 png_sample_rate: %d\n",ping->png_sample_rate); fprintf(stderr,"dbg5 cnt depth xtrack ltrack dprsn azi rng qual wnd amp num\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %6d %6d %6d %5d %5d %5d %4d %3d %3d %3d\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_quality[i], ping->png_window[i], ping->png_amp[i], ping->png_beam_num[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_BATH_HEADER_SIZE + EM2_BATH_BEAM_SIZE * ping->png_nbeams + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_BATH), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ping->png_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ping->png_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ping->png_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) ping->png_heading, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_ssv, (void *) &line[14]); mb_put_binary_short(swap, (unsigned short) ping->png_xducer_depth, (void *) &line[16]); line[18] = (mb_u_char) ping->png_nbeams_max; line[19] = (mb_u_char) ping->png_nbeams; line[20] = (mb_u_char) ping->png_depth_res; line[21] = (mb_u_char) ping->png_distance_res; mb_put_binary_short(swap, (unsigned short) ping->png_sample_rate, (void *) &line[22]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_nbeams;i++) { if (!mb_beam_ok(ping->png_beamflag[i])) ping->png_depth[i] = 0; if (store->sonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300) mb_put_binary_short(swap, (unsigned short) ping->png_depth[i], (void *) &line[0]); else mb_put_binary_short(swap, (short) ping->png_depth[i], (void *) &line[0]); mb_put_binary_short(swap, (short) ping->png_acrosstrack[i], (void *) &line[2]); mb_put_binary_short(swap, (short) ping->png_alongtrack[i], (void *) &line[4]); mb_put_binary_short(swap, (short) ping->png_depression[i], (void *) &line[6]); mb_put_binary_short(swap, (unsigned short) ping->png_azimuth[i], (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_range[i], (void *) &line[10]); line[12] = (mb_u_char) ping->png_quality[i]; line[13] = (mb_u_char) ping->png_window[i]; line[14] = (mb_s_char) ping->png_amp[i]; line[15] = (mb_u_char) ping->png_beam_num[i]; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_offset_multiplier; line[1] = 0x03; /* compute checksum */ uchar_ptr = (mb_u_char *) line; checksum += uchar_ptr[0]; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ write_len = fwrite(line,1,4,mbfp); if (write_len != 4) { *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_em300raw_wr_rawbeam(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_rawbeam"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_RAWBEAM_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_raw_date: %d\n",ping->png_raw_date); fprintf(stderr,"dbg5 png_raw_msec: %d\n",ping->png_raw_msec); fprintf(stderr,"dbg5 png_raw_count: %d\n",ping->png_raw_count); fprintf(stderr,"dbg5 png_raw_serial: %d\n",ping->png_raw_serial); fprintf(stderr,"dbg5 png_raw_nbeams_max: %d\n",ping->png_raw_nbeams_max); fprintf(stderr,"dbg5 png_raw_nbeams: %d\n",ping->png_raw_nbeams); fprintf(stderr,"dbg5 png_raw_ssv: %d\n",ping->png_raw_ssv); fprintf(stderr,"dbg5 cnt point tilt rng amp num\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %5d %5d %3d %3d\n", i, ping->png_raw_rxpointangle[i], ping->png_raw_rxtiltangle[i], ping->png_raw_rxrange[i], ping->png_raw_rxamp[i], ping->png_raw_rxbeam_num[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_RAWBEAM_HEADER_SIZE + EM2_RAWBEAM_BEAM_SIZE * ping->png_raw_nbeams + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_RAWBEAM), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ping->png_raw_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ping->png_raw_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_serial, (void *) &line[10]); line[12] = (mb_u_char) ping->png_raw_nbeams_max; line[13] = (mb_u_char) ping->png_raw_nbeams; mb_put_binary_short(swap, (unsigned short) ping->png_raw_ssv, (void *) &line[14]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_raw_nbeams;i++) { mb_put_binary_short(swap, (short) ping->png_raw_rxpointangle[i], (void *) &line[0]); mb_put_binary_short(swap, (short) ping->png_raw_rxtiltangle[i], (void *) &line[2]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_rxrange[i], (void *) &line[4]); line[6] = (mb_s_char) ping->png_raw_rxamp[i]; line[7] = (mb_u_char) ping->png_raw_rxbeam_num[i]; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_rawbeam2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_rawbeam2"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_RAWBEAM2_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_raw_date: %d\n",ping->png_raw_date); fprintf(stderr,"dbg5 png_raw_msec: %d\n",ping->png_raw_msec); fprintf(stderr,"dbg5 png_raw_count: %d\n",ping->png_raw_count); fprintf(stderr,"dbg5 png_raw_serial: %d\n",ping->png_raw_serial); fprintf(stderr,"dbg5 png_raw_heading: %d\n",ping->png_raw_heading); fprintf(stderr,"dbg5 png_raw_ssv: %d\n",ping->png_raw_ssv); fprintf(stderr,"dbg5 png_raw_xducer_depth: %d\n",ping->png_raw_xducer_depth); fprintf(stderr,"dbg5 png_raw_nbeams_max: %d\n",ping->png_raw_nbeams_max); fprintf(stderr,"dbg5 png_raw_nbeams: %d\n",ping->png_raw_nbeams); fprintf(stderr,"dbg5 png_raw_depth_res: %d\n",ping->png_raw_depth_res); fprintf(stderr,"dbg5 png_raw_distance_res: %d\n",ping->png_raw_distance_res); fprintf(stderr,"dbg5 png_raw_sample_rate: %d\n",ping->png_raw_sample_rate); fprintf(stderr,"dbg5 png_raw_status: %d\n",ping->png_raw_status); fprintf(stderr,"dbg5 png_raw_rangenormal: %d\n",ping->png_raw_rangenormal); fprintf(stderr,"dbg5 png_raw_normalbackscatter: %d\n",ping->png_raw_normalbackscatter); fprintf(stderr,"dbg5 png_raw_obliquebackscatter: %d\n",ping->png_raw_obliquebackscatter); fprintf(stderr,"dbg5 png_raw_fixedgain: %d\n",ping->png_raw_fixedgain); fprintf(stderr,"dbg5 png_raw_txpower: %d\n",ping->png_raw_txpower); fprintf(stderr,"dbg5 png_raw_mode: %d\n",ping->png_raw_mode); fprintf(stderr,"dbg5 png_raw_coverage: %d\n",ping->png_raw_coverage); fprintf(stderr,"dbg5 png_raw_yawstabheading: %d\n",ping->png_raw_yawstabheading); fprintf(stderr,"dbg5 png_raw_ntx: %d\n",ping->png_raw_ntx); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 transmit pulse values:\n"); fprintf(stderr,"dbg5 cnt lastbeam tiltangle heading roll pitch heave\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_ntx;i++) fprintf(stderr,"dbg5 %3d %3d %4d %5d %4d %4d %4d\n", i, ping->png_raw_txlastbeam[i], ping->png_raw_txtiltangle[i], ping->png_raw_txheading[i], ping->png_raw_txroll[i], ping->png_raw_txpitch[i], ping->png_raw_txheave[i]); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 beam values:\n"); fprintf(stderr,"dbg5 cnt range quality window amp beam angle heading roll pitch heave\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %3d %3d %4d %3d %5d %5d %4d %4d %4d\n", i, ping->png_raw_rxrange[i], ping->png_raw_rxquality[i], ping->png_raw_rxwindow[i], ping->png_raw_rxamp[i], ping->png_raw_rxbeam_num[i], ping->png_raw_rxpointangle[i], ping->png_raw_rxheading[i], ping->png_raw_rxroll[i], ping->png_raw_rxpitch[i], ping->png_raw_rxheave[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_RAWBEAM2_HEADER_SIZE + EM2_RAWBEAM2_TX_SIZE * ping->png_raw_ntx + EM2_RAWBEAM2_BEAM_SIZE * ping->png_raw_nbeams + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_RAWBEAM2), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ping->png_raw_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ping->png_raw_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_heading, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_ssv, (void *) &line[14]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_xducer_depth, (void *) &line[16]); line[18] = (mb_u_char) ping->png_raw_nbeams_max; line[19] = (mb_u_char) ping->png_raw_nbeams; line[20] = (mb_u_char) ping->png_raw_depth_res; line[21] = (mb_u_char) ping->png_raw_distance_res; mb_put_binary_short(swap, (unsigned short) ping->png_raw_sample_rate, (void *) &line[22]); mb_put_binary_int(swap, (int) ping->png_raw_status, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_rangenormal, (void *) &line[28]); line[30] = (mb_s_char) ping->png_raw_normalbackscatter; line[31] = (mb_s_char) ping->png_raw_obliquebackscatter; line[32] = (mb_u_char) ping->png_raw_fixedgain; line[33] = (mb_s_char) ping->png_raw_txpower; line[34] = (mb_u_char) ping->png_raw_mode; line[35] = (mb_u_char) ping->png_raw_coverage; mb_put_binary_short(swap, (unsigned short) ping->png_raw_yawstabheading, (void *) &line[36]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_ntx, (void *) &line[38]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_raw_ntx;i++) { mb_put_binary_short(swap, (unsigned short) ping->png_raw_txlastbeam[i], (void *) &line[0]); mb_put_binary_short(swap, (short) ping->png_raw_txtiltangle[i], (void *) &line[2]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_txheading[i], (void *) &line[4]); mb_put_binary_short(swap, (short) ping->png_raw_txroll[i], (void *) &line[6]); mb_put_binary_short(swap, (short) ping->png_raw_txpitch[i], (void *) &line[8]); mb_put_binary_short(swap, (short) ping->png_raw_txheave[i], (void *) &line[10]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_raw_nbeams;i++) { mb_put_binary_short(swap, (unsigned short) ping->png_raw_rxrange[i], (void *) &line[0]); line[2] = (mb_u_char) ping->png_raw_rxquality[i]; line[3] = (mb_u_char) ping->png_raw_rxwindow[i]; line[4] = (mb_s_char) ping->png_raw_rxamp[i]; line[5] = (mb_u_char) ping->png_raw_rxbeam_num[i]; mb_put_binary_short(swap, (short) ping->png_raw_rxpointangle[i], (void *) &line[6]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_rxheading[i], (void *) &line[8]); mb_put_binary_short(swap, (short) ping->png_raw_rxroll[i], (void *) &line[10]); mb_put_binary_short(swap, (short) ping->png_raw_rxpitch[i], (void *) &line[12]); mb_put_binary_short(swap, (short) ping->png_raw_rxheave[i], (void *) &line[14]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_rawbeam3(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int head, int *error) { char *function_name = "mbr_em300raw_wr_rawbeam3"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_RAWBEAM3_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 head: %d\n",head); } /* get storage structure */ if (store->sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2 && head == 1) ping = (struct mbsys_simrad2_ping_struct *) store->ping2; else ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_raw3_date: %d\n",ping->png_raw3_date); fprintf(stderr,"dbg5 png_raw3_msec: %d\n",ping->png_raw3_msec); fprintf(stderr,"dbg5 png_raw3_count: %d\n",ping->png_raw3_count); fprintf(stderr,"dbg5 png_raw3_serial: %d\n",ping->png_raw3_serial); fprintf(stderr,"dbg5 png_raw3_ntx: %d\n",ping->png_raw3_ntx); fprintf(stderr,"dbg5 png_raw3_nbeams: %d\n",ping->png_raw3_nbeams); fprintf(stderr,"dbg5 png_raw3_sample_rate: %d\n",ping->png_raw3_sample_rate); fprintf(stderr,"dbg5 png_raw3_xducer_depth: %d\n",ping->png_raw3_xducer_depth); fprintf(stderr,"dbg5 png_raw3_ssv: %d\n",ping->png_raw3_ssv); fprintf(stderr,"dbg5 png_raw3_nbeams_max: %d\n",ping->png_raw3_nbeams_max); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 transmit pulse values:\n"); fprintf(stderr,"dbg5 tiltangle focus length offset center bandwidth waveform sector\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw3_ntx;i++) fprintf(stderr,"dbg5 %3d %5d %5d %6d %4d %4d %4d %4d %4d\n", i, ping->png_raw3_txtiltangle[i], ping->png_raw3_txfocus[i], ping->png_raw3_txsignallength[i], ping->png_raw3_txoffset[i], ping->png_raw3_txcenter[i], ping->png_raw3_txbandwidth[i], ping->png_raw3_txwaveform[i], ping->png_raw3_txsector[i]); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 beam values:\n"); fprintf(stderr,"dbg5 angle range sector amp quality window beam\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw3_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %3d %3d %4d %3d %5d %5d %5d\n", i, ping->png_raw3_rxpointangle[i], ping->png_raw3_rxrange[i], ping->png_raw3_rxsector[i], ping->png_raw3_rxamp[i], ping->png_raw3_rxquality[i], ping->png_raw3_rxwindow[i], ping->png_raw3_rxbeam_num[i],ping->png_raw3_rxspare[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_RAWBEAM3_HEADER_SIZE + EM2_RAWBEAM3_TX_SIZE * ping->png_raw3_ntx + EM2_RAWBEAM3_BEAM_SIZE * ping->png_raw3_nbeams + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_RAWBEAM3), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } /* write the sonar id */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ping->png_raw3_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ping->png_raw3_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_ntx, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_nbeams, (void *) &line[14]); mb_put_binary_int(swap, (unsigned int) ping->png_raw3_sample_rate, (void *) &line[16]); mb_put_binary_int(swap, (int) ping->png_raw3_xducer_depth, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_ssv, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_nbeams_max, (void *) &line[26]); mb_put_binary_short(swap, (unsigned short) 0, (void *) &line[28]); mb_put_binary_short(swap, (unsigned short) 0, (void *) &line[30]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_raw3_ntx;i++) { mb_put_binary_short(swap, (short) ping->png_raw3_txtiltangle[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_txfocus[i], (void *) &line[2]); mb_put_binary_int(swap, (int) ping->png_raw3_txsignallength[i], (void *) &line[4]); mb_put_binary_int(swap, (int) ping->png_raw3_txoffset[i], (void *) &line[8]); mb_put_binary_int(swap, (int) ping->png_raw3_txcenter[i], (void *) &line[12]); mb_put_binary_short(swap, (short) ping->png_raw3_txbandwidth[i], (void *) &line[16]); line[18] = (mb_u_char) ping->png_raw3_txwaveform[i]; line[19] = (mb_u_char) ping->png_raw3_txsector[i]; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_raw3_nbeams;i++) { mb_put_binary_short(swap, (short) ping->png_raw3_rxpointangle[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_rxrange[i], (void *) &line[2]); line[4] = (mb_u_char) ping->png_raw3_rxsector[i]; line[5] = (mb_s_char) ping->png_raw3_rxamp[i]; line[6] = (mb_u_char) ping->png_raw3_rxquality[i]; line[7] = (mb_u_char) ping->png_raw3_rxwindow[i]; mb_put_binary_short(swap, (short) ping->png_raw3_rxbeam_num[i], (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_raw3_rxspare[i], (void *) &line[10]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;j= 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_em300raw_wr_ss(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int head, int *error) { char *function_name = "mbr_em300raw_wr_ss"; int status = MB_SUCCESS; struct mbsys_simrad2_ping_struct *ping; char line[EM2_SS_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 head: %d\n",head); } /* get storage structure */ if (store->sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2 && head == 1) ping = (struct mbsys_simrad2_ping_struct *) store->ping2; else ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_ss_date: %d\n",ping->png_ss_date); fprintf(stderr,"dbg5 png_ss_msec: %d\n",ping->png_ss_msec); fprintf(stderr,"dbg5 png_ss_count: %d\n",ping->png_ss_count); fprintf(stderr,"dbg5 png_ss_serial %d\n",ping->png_ss_serial); fprintf(stderr,"dbg5 png_max_range: %d\n",ping->png_max_range); fprintf(stderr,"dbg5 png_r_zero: %d\n",ping->png_r_zero); fprintf(stderr,"dbg5 png_r_zero_corr: %d\n",ping->png_r_zero_corr); fprintf(stderr,"dbg5 png_tvg_start: %d\n",ping->png_tvg_start); fprintf(stderr,"dbg5 png_tvg_stop: %d\n",ping->png_tvg_stop); fprintf(stderr,"dbg5 png_bsn: %d\n",ping->png_bsn); fprintf(stderr,"dbg5 png_bso: %d\n",ping->png_bso); fprintf(stderr,"dbg5 png_tx: %d\n",ping->png_tx); fprintf(stderr,"dbg5 png_tvg_crossover: %d\n",ping->png_tvg_crossover); fprintf(stderr,"dbg5 png_nbeams_ss: %d\n",ping->png_nbeams_ss); fprintf(stderr,"dbg5 png_npixels: %d\n",ping->png_npixels); fprintf(stderr,"dbg5 cnt index sort samples start center\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (i=0;ipng_nbeams_ss;i++) fprintf(stderr,"dbg5 %4d %3d %2d %4d %4d %4d\n", i, ping->png_beam_index[i], ping->png_sort_direction[i], ping->png_beam_samples[i], ping->png_start_sample[i], ping->png_center_sample[i]); fprintf(stderr,"dbg5 cnt ss\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (i=0;ipng_npixels;i++) fprintf(stderr,"dbg5 %d %d\n", i, ping->png_ssraw[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM2_SS_HEADER_SIZE + EM2_SS_BEAM_SIZE * ping->png_nbeams_ss + ping->png_npixels - (ping->png_npixels % 2) + 8), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_SS), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ping->png_ss_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ping->png_ss_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ping->png_ss_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_ss_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) ping->png_max_range, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_r_zero, (void *) &line[14]); mb_put_binary_short(swap, (unsigned short) ping->png_r_zero_corr, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) ping->png_tvg_start, (void *) &line[18]); mb_put_binary_short(swap, (unsigned short) ping->png_tvg_stop, (void *) &line[20]); line[22] = (mb_s_char) ping->png_bsn; line[23] = (mb_s_char) ping->png_bso; mb_put_binary_short(swap, (unsigned short) ping->png_tx, (void *) &line[24]); line[26] = (mb_u_char) ping->png_tvg_crossover; line[27] = (mb_u_char) ping->png_nbeams_ss; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_nbeams_ss;i++) { line[0] = (mb_u_char) ping->png_beam_index[i]; line[1] = (mb_s_char) ping->png_sort_direction[i]; mb_put_binary_short(swap, (unsigned short) ping->png_beam_samples[i], (void *) &line[2]); mb_put_binary_short(swap, (unsigned short) ping->png_center_sample[i], (void *) &line[4]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_npixels + 1 - (ping->png_npixels % 2); if (ping->png_npixels % 2 == 0) ping->png_ssraw[ping->png_npixels] = 0; /* compute checksum */ uchar_ptr = (mb_u_char *) ping->png_ssraw; for (j=0;jpng_ssraw,1,write_size,mbfp); if (write_len != write_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* output end of record */ if (status == MB_SUCCESS) { line[1] = 0x03; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ write_len = fwrite(&line[1],1,3,mbfp); if (write_len != 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_em300raw_wr_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad2_struct *store, int *error) { char *function_name = "mbr_em300raw_wr_wc"; int status = MB_SUCCESS; struct mbsys_simrad2_watercolumn_struct *wc; char line[EM2_WC_HEADER_SIZE]; short label; int write_len; int write_size; unsigned short checksum; mb_u_char *uchar_ptr; int record_size; int pad; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get storage structure */ wc = (struct mbsys_simrad2_watercolumn_struct *) store->wc; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 wtc_date: %d\n",wc->wtc_date); fprintf(stderr,"dbg5 wtc_msec: %d\n",wc->wtc_msec); fprintf(stderr,"dbg5 wtc_count: %d\n",wc->wtc_count); fprintf(stderr,"dbg5 wtc_serial: %d\n",wc->wtc_serial); fprintf(stderr,"dbg5 wtc_ndatagrams: %d\n",wc->wtc_ndatagrams); fprintf(stderr,"dbg5 wtc_datagram: %d\n",wc->wtc_datagram); fprintf(stderr,"dbg5 wtc_ntx: %d\n",wc->wtc_ntx); fprintf(stderr,"dbg5 wtc_nrx: %d\n",wc->wtc_nrx); fprintf(stderr,"dbg5 wtc_nbeam: %d\n",wc->wtc_nbeam); fprintf(stderr,"dbg5 wtc_ssv: %d\n",wc->wtc_ssv); fprintf(stderr,"dbg5 wtc_sfreq: %d\n",wc->wtc_sfreq); fprintf(stderr,"dbg5 wtc_heave: %d\n",wc->wtc_heave); fprintf(stderr,"dbg5 wtc_spare1: %d\n",wc->wtc_spare1); fprintf(stderr,"dbg5 wtc_spare2: %d\n",wc->wtc_spare2); fprintf(stderr,"dbg5 wtc_spare3: %d\n",wc->wtc_spare3); fprintf(stderr,"dbg5 ---------------------------\n"); fprintf(stderr,"dbg5 cnt tilt center sector\n"); fprintf(stderr,"dbg5 ---------------------------\n"); for (i=0;iwtc_ntx;i++) fprintf(stderr,"dbg5 %3d %6d %6d %6d\n", i, wc->wtc_txtiltangle[i], wc->wtc_txcenter[i], wc->wtc_txsector[i]); for (i=0;iwtc_nbeam;i++) { fprintf(stderr,"dbg5 --------------------------------------------------\n"); fprintf(stderr,"dbg5 cnt angle start samples unknown sector beam\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); fprintf(stderr,"dbg5 %4d %3d %2d %4d %4d %4d %4d\n", i, wc->beam[i].wtc_rxpointangle, wc->beam[i].wtc_start_sample, wc->beam[i].wtc_beam_samples, wc->beam[i].wtc_beam_spare, wc->beam[i].wtc_sector, wc->beam[i].wtc_beam); /* fprintf(stderr,"dbg5 --------------------------------------------------\n"); fprintf(stderr,"dbg5 beam[%d]: sample amplitude\n",i); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (j=0;jbeam[i].wtc_beam_samples;j++) fprintf(stderr,"dbg5 %4d %4d\n", j, wc->beam[i].wtc_amp[j]);*/ } } /* zero checksum */ checksum = 0; /* write the record size */ record_size = EM2_WC_HEADER_SIZE + EM2_WC_BEAM_SIZE * wc->wtc_nbeam + EM2_WC_TX_SIZE * wc->wtc_ntx + 8; for (i=0;iwtc_nbeam;i++) { record_size += wc->beam[i].wtc_beam_samples; } pad = (record_size % 2); record_size += pad; mb_put_binary_int(swap, record_size, (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM2_WATERCOLUMN), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[1]; } if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (store->sonar), (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) wc->wtc_date, (void *) &line[0]); mb_put_binary_int(swap, (int) wc->wtc_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) wc->wtc_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) wc->wtc_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) wc->wtc_ndatagrams, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) wc->wtc_datagram, (void *) &line[14]); mb_put_binary_short(swap, (unsigned short) wc->wtc_ntx, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) wc->wtc_nrx, (void *) &line[18]); mb_put_binary_short(swap, (unsigned short) wc->wtc_nbeam, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) wc->wtc_ssv, (void *) &line[22]); mb_put_binary_int(swap, (int) wc->wtc_sfreq, (void *) &line[24]); mb_put_binary_short(swap, (short) wc->wtc_heave, (void *) &line[28]); mb_put_binary_short(swap, (unsigned short) wc->wtc_spare1, (void *) &line[30]); mb_put_binary_short(swap, (unsigned short) wc->wtc_spare2, (void *) &line[32]); mb_put_binary_short(swap, (unsigned short) wc->wtc_spare3, (void *) &line[34]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jwtc_ntx;i++) { mb_put_binary_short(swap, (short) wc->wtc_txtiltangle[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) wc->wtc_txcenter[i], (void *) &line[2]); line[4] = (mb_u_char) wc->wtc_txsector[i]; line[5] = (mb_u_char) 0; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jwtc_nbeam;i++) { mb_put_binary_short(swap, (short) wc->beam[i].wtc_rxpointangle, (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) wc->beam[i].wtc_start_sample, (void *) &line[2]); mb_put_binary_short(swap, (unsigned short) wc->beam[i].wtc_beam_samples, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) wc->beam[i].wtc_beam_spare, (void *) &line[6]); line[8] = (mb_u_char) wc->beam[i].wtc_sector; line[9] = (mb_u_char) wc->beam[i].wtc_beam; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jbeam[i].wtc_amp; for (j=0;jbeam[i].wtc_beam_samples;j++) checksum += uchar_ptr[j]; /* write out data */ write_len = fwrite(wc->beam[i].wtc_amp,1,wc->beam[i].wtc_beam_samples,mbfp); if (write_len != wc->beam[i].wtc_beam_samples) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } } /* output end of record */ if (status == MB_SUCCESS) { if (pad == 1) { line[0] = 0; checksum += line[0]; } line[1] = 0x03; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ write_len = fwrite(&line[!pad],1,3+pad,mbfp); if (write_len != 3+pad) { *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); } /*--------------------------------------------------------------------*/