/*-------------------------------------------------------------------- * The MB-system: mbr_em710mba.c 2/26/2008 * $Id: mbr_em710mba.c 1964 2012-06-24 07:33:29Z caress $ * * Copyright (c) 2008-2012 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_em710mba.c contains the functions for reading and writing * multibeam data in the EM710MBA format. * These functions include: * mbr_alm_em710mba - allocate read/write memory * mbr_dem_em710mba - deallocate read/write memory * mbr_rt_em710mba - read and translate data * mbr_wt_em710mba - translate and write data * * Author: D. W. Caress * Date: February 26, 2008 * * $Log: mbr_em710mba.c,v $ * Revision 5.3 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.2 2008/11/16 21:51:18 caress * Updating all recent changes, including time lag analysis using mbeditviz and improvements to the mbgrid footprint gridding algorithm. * * Revision 5.1 2008/07/10 06:41:31 caress * Fixed support for EM122 * * Revision 5.0 2008/03/01 09:11:35 caress * Added support for Simrad EM710 multibeam in new formats 58 and 59. * * */ /* 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_simrad3.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* turn on debug statements here */ /* #define MBR_EM710MBA_DEBUG 1 */ /* essential function prototypes */ int mbr_register_em710mba(int verbose, void *mbio_ptr, int *error); int mbr_info_em710mba(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_em710mba(int verbose, void *mbio_ptr, int *error); int mbr_dem_em710mba(int verbose, void *mbio_ptr, int *error); int mbr_rt_em710mba(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_em710mba(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em710mba_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em710mba_chk_label(int verbose, void *mbio_ptr, char *label, short *type, short *sonar); int mbr_em710mba_rd_status(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *goodend, int *error); int mbr_em710mba_rd_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *version, int *goodend, int *error); int mbr_em710mba_rd_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_netattitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_bath2_mba(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *match, short sonar, int version, int *goodend, int *error); int mbr_em710mba_rd_bath3_mba(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *match, short sonar, int version, int *goodend, int *error); int mbr_em710mba_rd_rawbeam4(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_rd_ss2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *match, int *goodend, int *error); int mbr_em710mba_rd_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710mba_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em710mba_wr_status(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_netattitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_bath3_mba(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_rawbeam4(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_ss2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710mba_wr_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error); static char rcs_id[]="$Id: mbr_em710mba.c 1964 2012-06-24 07:33:29Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_em710mba(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_em710mba"; 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_em710mba(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_em710mba; mb_io_ptr->mb_io_format_free = &mbr_dem_em710mba; mb_io_ptr->mb_io_store_alloc = &mbsys_simrad3_alloc; mb_io_ptr->mb_io_store_free = &mbsys_simrad3_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_em710mba; mb_io_ptr->mb_io_write_ping = &mbr_wt_em710mba; mb_io_ptr->mb_io_dimensions = &mbsys_simrad3_dimensions; mb_io_ptr->mb_io_pingnumber = &mbsys_simrad3_pingnumber; mb_io_ptr->mb_io_extract = &mbsys_simrad3_extract; mb_io_ptr->mb_io_insert = &mbsys_simrad3_insert; mb_io_ptr->mb_io_extract_nnav = &mbsys_simrad3_extract_nnav; mb_io_ptr->mb_io_extract_nav = &mbsys_simrad3_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_simrad3_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_simrad3_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_simrad3_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_simrad3_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_simrad3_ttimes; mb_io_ptr->mb_io_detects = &mbsys_simrad3_detects; mb_io_ptr->mb_io_pulses = &mbsys_simrad3_pulses; mb_io_ptr->mb_io_gains = &mbsys_simrad3_gains; mb_io_ptr->mb_io_copyrecord = &mbsys_simrad3_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 pulses: %lu\n",(size_t)mb_io_ptr->mb_io_pulses); 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_em710mba(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_em710mba"; 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_SIMRAD3; *beams_bath_max = 400; *beams_amp_max = 400; *pixels_ss_max = 1024; strncpy(format_name, "EM710MBA", MB_NAME_LENGTH); strncpy(system_name, "SIMRAD3", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_EM710MBA\nInformal Description: Kongsberg current multibeam vendor format\nAttributes: Kongsberg EM122, EM302, EM710,\n bathymetry, amplitude, and sidescan,\n up to 400 beams, variable pixels, binary, Simrad.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_NAV; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 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_em710mba(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_em710mba"; 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_simrad3_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_em710mba(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_em710mba"; 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_simrad3_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_em710mba(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_em710mba"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_attitude_struct *attitude; struct mbsys_simrad3_netattitude_struct *netattitude; struct mbsys_simrad3_heading_struct *heading; struct mbsys_simrad3_ssv_struct *ssv; struct mbsys_simrad3_ping_struct *ping; int time_i[7]; double ntime_d, btime_d; double bath_time_d, ss_time_d; double roll, pitch, heave; double *pixel_size, *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); 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_em710mba_rd_data(verbose,mbio_ptr,store_ptr,error); /* get pointers to data structures */ store = (struct mbsys_simrad3_struct *) store_ptr; attitude = (struct mbsys_simrad3_attitude_struct *) store->attitude; netattitude = (struct mbsys_simrad3_netattitude_struct *) store->netattitude; heading = (struct mbsys_simrad3_heading_struct *) store->heading; ssv = (struct mbsys_simrad3_ssv_struct *) store->ssv; ping = (struct mbsys_simrad3_ping_struct *) store->ping; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; /* save position, heading, attitude, sonar depth if survey data */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { /* 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, &btime_d); if (ping->png_longitude != EM3_INVALID_INT && ping->png_latitude != EM3_INVALID_INT) mb_navint_add(verbose, mbio_ptr, btime_d, (double)(0.0000001 * ping->png_longitude), (double)(0.00000005 * ping->png_latitude), error); mb_hedint_add(verbose, mbio_ptr, btime_d, 0.01 * ping->png_heading, error); mb_attint_add(verbose, mbio_ptr, btime_d, 0.01 * ping->png_heave, 0.01 * ping->png_roll, 0.01 * ping->png_pitch, error); mb_depint_add(verbose, mbio_ptr, btime_d,(double)ping->png_xducer_depth, error); } /* interpolate attitude data into navigation records */ 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); } /* if no sidescan read then zero sidescan data */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && ping->png_ss2_read == MB_NO) { status = mbsys_simrad3_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_raw_count:%d png_ss_count:%d Beams:%d %d %d\n", ping->png_count,ping->png_raw_count,ping->png_ss_count,ping->png_nbeams,ping->png_raw_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_simrad3_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_simrad3_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); } } } /* 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_em710mba(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_em710mba"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_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_simrad3_struct *) store_ptr; /* write next data to file */ status = mbr_em710mba_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_em710mba_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_em710mba_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; 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 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_simrad3_struct *) store_ptr; ping = (struct mbsys_simrad3_ping_struct *) store->ping; 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; 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 = EM3_NONE; first_type = EM3_NONE; if (ping != NULL) { ping->png_raw4_read = MB_NO; ping->png_ss2_read = MB_NO; ping->png_raw_nbeams = 0; ping->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) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"\nabove mbr_em710raw_rd_data loop:\n"); fprintf(stderr,"label_save_flag:%d mbfp:%lu status:%d\n",*label_save_flag,(size_t)mb_io_ptr->mbfp,status); #endif /* 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; } #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"read record size:%d mbfp:%lu status:%d\n",record_size,(size_t)mb_io_ptr->mbfp,status); #endif /* 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; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"read label:%x%x%x%x skip:%d status:%d\n",label[0],label[1],label[2],label[3],skip,status); #endif while (status == MB_SUCCESS && mbr_em710mba_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++; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"read label:%x%x%x%x skip:%d status:%d\n",label[0],label[1],label[2],label[3],skip,status); #endif } /* report problem */ if (skip > 0 && verbose > 0) { if (*nbadrec == 0) fprintf(stderr, "\nThe MBF_EM710MBA 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_EM710MBA 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_EM710MBA_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_EM710MBA_DEBUG fprintf(stderr,"use previously read label:%x%x%x%x skip:%d status:%d\n",label[0],label[1],label[2],label[3],skip,status); #endif } #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"\nstart of mbr_em710mba_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 == EM3_HEADING) && store->heading == NULL) { status = mbsys_simrad3_heading_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for attitude data if needed */ if (status == MB_SUCCESS && (type == EM3_ATTITUDE) && store->attitude == NULL) { status = mbsys_simrad3_attitude_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for netattitude data if needed */ if (status == MB_SUCCESS && (type == EM3_NETATTITUDE) && store->netattitude == NULL) { status = mbsys_simrad3_netattitude_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for ssv data if needed */ if (status == MB_SUCCESS && (type == EM3_SSV) && store->ssv == NULL) { status = mbsys_simrad3_ssv_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for tilt data if needed */ if (status == MB_SUCCESS && (type == EM3_TILT) && store->tilt == NULL) { status = mbsys_simrad3_tilt_alloc( verbose,mbio_ptr, store_ptr,error); } /* allocate secondary data structure for survey data if needed */ if (status == MB_SUCCESS && (type == EM3_BATH2_MBA || type == EM3_BATH3_MBA || type == EM3_RAWBEAM4 || type == EM3_SS2)) { if (store->ping == NULL) status = mbsys_simrad3_survey_alloc( verbose,mbio_ptr, store_ptr,error); ping = (struct mbsys_simrad3_ping_struct *) store->ping; } /* allocate secondary data structure for water column data if needed */ if (status == MB_SUCCESS && (type == EM3_WATERCOLUMN)) { if (store->wc == NULL) status = mbsys_simrad3_wc_alloc( verbose,mbio_ptr, store_ptr,error); } /* read the appropriate data records */ if (status == MB_FAILURE && expect == EM3_NONE) { #ifdef MBR_EM710MBA_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 != EM3_NONE) { #ifdef MBR_EM710MBA_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 != EM3_STOP2 && type != EM3_STATUS && type != EM3_OFF && type != EM3_ON && type != EM3_ATTITUDE && type != EM3_CLOCK && type != EM3_BATH && type != EM3_SBDEPTH && type != EM3_RAWBEAM && type != EM3_SSV && type != EM3_HEADING && type != EM3_START && type != EM3_TILT && type != EM3_CBECHO && type != EM3_RAWBEAM4 && type != EM3_POS && type != EM3_RUN_PARAMETER && type != EM3_SS && type != EM3_TIDE && type != EM3_SVP2 && type != EM3_SVP && type != EM3_SSPINPUT && type != EM3_BATH2 && type != EM3_SS2 && type != EM3_RAWBEAM2 && type != EM3_RAWBEAM3 && type != EM3_HEIGHT && type != EM3_STOP && type != EM3_WATERCOLUMN && type != EM3_NETATTITUDE && type != EM3_REMOTE && type != EM3_SSP && type != EM3_BATH_MBA && type != EM3_SS_MBA && type != EM3_BATH2_MBA && type != EM3_SS2_MBA && type != EM3_BATH3_MBA) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call nothing, try again\n"); #endif done = MB_NO; } else if (type == EM3_STATUS) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_status type %x\n",type); #endif status = mbr_em710mba_rd_status( verbose,mbfp,swap,store,type,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_START || type == EM3_STOP) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_start type %x\n",type); #endif status = mbr_em710mba_rd_start( verbose,mbfp,swap,store,type,sonar,version,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_RUN_PARAMETER) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_run_parameter type %x\n",type); #endif status = mbr_em710mba_rd_run_parameter( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_CLOCK) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_clock type %x\n",type); #endif status = mbr_em710mba_rd_clock( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_TIDE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_tide type %x\n",type); #endif status = mbr_em710mba_rd_tide( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_HEIGHT) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_height type %x\n",type); #endif status = mbr_em710mba_rd_height( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_HEADING) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_heading type %x\n",type); #endif status = mbr_em710mba_rd_heading( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_SSV) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_ssv type %x\n",type); #endif status = mbr_em710mba_rd_ssv( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_TILT) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_tilt type %x\n",type); #endif status = mbr_em710mba_rd_tilt( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_ATTITUDE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_attitude type %x\n",type); #endif status = mbr_em710mba_rd_attitude( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_NETATTITUDE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_netattitude type %x\n",type); #endif status = mbr_em710mba_rd_netattitude( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_POS) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_pos type %x\n",type); #endif status = mbr_em710mba_rd_pos( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_SVP) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_svp type %x\n",type); #endif status = mbr_em710mba_rd_svp( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_SVP2) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_svp2 type %x\n",type); #endif status = mbr_em710mba_rd_svp2( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else if (type == EM3_BATH2_MBA && expect == EM3_SS2) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM3_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else if (type == EM3_BATH3_MBA && expect == EM3_SS2) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM3_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else if (type == EM3_BATH2_MBA) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_bath2_mba type %x\n",type); #endif status = mbr_em710mba_rd_bath2_mba( verbose,mbfp,swap,store,&match,sonar,*version,&good_end_bytes,error); if (status == MB_SUCCESS) { if (first_type == EM3_NONE || match == MB_NO) { done = MB_NO; first_type = EM3_BATH2_MBA; expect = EM3_SS2; } else { done = MB_YES; expect = EM3_NONE; } } } else if (type == EM3_BATH3_MBA) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_bath3_mba type %x\n",type); #endif status = mbr_em710mba_rd_bath3_mba( verbose,mbfp,swap,store,&match,sonar,*version,&good_end_bytes,error); if (status == MB_SUCCESS) { if (first_type == EM3_NONE || match == MB_NO) { done = MB_NO; first_type = EM3_BATH3_MBA; expect = EM3_SS2; } else { done = MB_YES; expect = EM3_NONE; } } } else if (type == EM3_RAWBEAM4) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_rawbeam4 type %x\n",type); #endif status = mbr_em710mba_rd_rawbeam4( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) ping->png_raw4_read = MB_YES; if (expect == EM3_SS2 && ping->png_nbeams == 0) { done = MB_YES; expect = EM3_NONE; } } else if (type == EM3_SS2 && expect != EM3_NONE && expect != EM3_SS2) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,type); #endif done = MB_YES; expect = EM3_NONE; type = first_type; *label_save_flag = MB_YES; store->kind = MB_DATA_DATA; } else if (type == EM3_SS2) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_ss2 type %x\n",type); #endif status = mbr_em710mba_rd_ss2( verbose,mbfp,swap,store,sonar,&match,&good_end_bytes,error); if (status == MB_SUCCESS) { ping->png_ss2_read = MB_YES; if (first_type == EM3_NONE || match == MB_NO) { done = MB_NO; first_type = EM3_SS2; expect = EM3_BATH3_MBA; } else { done = MB_YES; expect = EM3_NONE; } } /* salvage bath even if sidescan is corrupt */ else { if (first_type == EM3_BATH2_MBA && match == MB_YES) { status = MB_SUCCESS; done = MB_YES; expect = EM3_NONE; } else if (first_type == EM3_BATH3_MBA && match == MB_YES) { status = MB_SUCCESS; done = MB_YES; expect = EM3_NONE; } } } else if (type == EM3_WATERCOLUMN) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_rd_wc type %x\n",type); #endif status = mbr_em710mba_rd_wc( verbose,mbfp,swap,store,sonar,&good_end_bytes,error); if (status == MB_SUCCESS) { done = MB_YES; if (expect != EM3_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; } else *expect_save_flag = MB_NO; } } else { #ifdef MBR_EM710MBA_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 = EM3_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_EM710MBA_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 = EM3_NONE; } } } #ifdef MBR_EM710MBA_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 label_save_flag:%d status:%d error:%d\n", done, expect, *label_save_flag, status, *error); fprintf(stderr,"end of mbr_em710mba_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_em710mba_chk_label(int verbose, void *mbio_ptr, char *label, short *type, short *sonar) { char *function_name = "mbr_em710mba_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_EM710MBA_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 == EM3_START_BYTE && (typebyte == EM3_ID_STOP2 || typebyte == EM3_ID_STATUS || typebyte == EM3_ID_OFF || typebyte == EM3_ID_ON || typebyte == EM3_ID_ATTITUDE || typebyte == EM3_ID_CLOCK || typebyte == EM3_ID_BATH || typebyte == EM3_ID_SBDEPTH || typebyte == EM3_ID_RAWBEAM || typebyte == EM3_ID_SSV || typebyte == EM3_ID_HEADING || typebyte == EM3_ID_START || typebyte == EM3_ID_TILT || typebyte == EM3_ID_CBECHO || typebyte == EM3_ID_RAWBEAM4 || typebyte == EM3_ID_POS || typebyte == EM3_ID_RUN_PARAMETER || typebyte == EM3_ID_SS || typebyte == EM3_ID_TIDE || typebyte == EM3_ID_SVP2 || typebyte == EM3_ID_SVP || typebyte == EM3_ID_SSPINPUT || typebyte == EM3_ID_BATH2 || typebyte == EM3_ID_SS2 || typebyte == EM3_ID_RAWBEAM2 || typebyte == EM3_ID_RAWBEAM3 || typebyte == EM3_ID_HEIGHT || typebyte == EM3_ID_STOP || typebyte == EM3_ID_WATERCOLUMN || typebyte == EM3_ID_NETATTITUDE || typebyte == EM3_ID_REMOTE || typebyte == EM3_ID_SSP || typebyte == EM3_ID_BATH_MBA || typebyte == EM3_ID_SS_MBA || typebyte == EM3_ID_BATH2_MBA || typebyte == EM3_ID_SS2_MBA || typebyte == EM3_ID_BATH3_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_SIMRAD3_EM710 || sonarunswap == MBSYS_SIMRAD3_EM3002 || sonarunswap == MBSYS_SIMRAD3_EM302 || sonarunswap == MBSYS_SIMRAD3_EM122 || sonarunswap == MBSYS_SIMRAD3_EM2040) { sonarunswapgood = MB_YES; } else { sonarunswapgood = MB_NO; } /* check for valid sonarswap */ if (sonarswap == MBSYS_SIMRAD3_EM710 || sonarswap == MBSYS_SIMRAD3_EM3002 || sonarswap == MBSYS_SIMRAD3_EM302 || sonarswap == MBSYS_SIMRAD3_EM122 || sonarswap == MBSYS_SIMRAD3_EM2040) { 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_EM710MBA_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_SIMRAD3_EM710 && *sonar != MBSYS_SIMRAD3_EM3002 && *sonar != MBSYS_SIMRAD3_EM302 && *sonar != MBSYS_SIMRAD3_EM122 && *sonar != MBSYS_SIMRAD3_EM2040) { sonargood = MB_NO; } else { sonargood = MB_YES; } if (startbyte == EM3_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 data */ if (*type == EM3_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_em710mba_rd_status(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_status"; int status = MB_SUCCESS; char line[EM3_STATUS_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_STATUS; store->type = EM3_STATUS; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM3_STATUS_SIZE-4,mbfp); if (read_len == EM3_STATUS_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->sts_date); if (store->sts_date != 0) store->date = store->sts_date; mb_get_binary_int(swap, &line[4], &store->sts_msec); if (store->sts_date != 0) store->msec = store->sts_msec; mb_get_binary_short(swap, &line[8], &short_val); store->sts_status_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); store->sts_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); store->sts_pingrate = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); store->sts_ping_count = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[16], &store->sts_load); mb_get_binary_int(swap, &line[20], &store->sts_udp_status); mb_get_binary_int(swap, &line[24], &store->sts_serial1_status); mb_get_binary_int(swap, &line[28], &store->sts_serial2_status); mb_get_binary_int(swap, &line[32], &store->sts_serial3_status); mb_get_binary_int(swap, &line[36], &store->sts_serial4_status); store->sts_pps_status = (mb_u_char) line[40]; store->sts_position_status = (mb_s_char) line[41]; store->sts_attitude_status = (mb_s_char) line[42]; store->sts_clock_status = (mb_s_char) line[43]; store->sts_heading_status = (mb_s_char) line[44]; store->sts_pu_status = (mb_u_char) line[45]; mb_get_binary_short(swap, &line[46], &short_val); store->sts_last_heading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[48], &short_val); store->sts_last_roll = (int) ((short) short_val); mb_get_binary_short(swap, &line[50], &short_val); store->sts_last_pitch = (int) ((short) short_val); mb_get_binary_short(swap, &line[52], &short_val); store->sts_last_heave = (int) ((short) short_val); mb_get_binary_short(swap, &line[54], &short_val); store->sts_last_ssv = (int) ((unsigned short) short_val); mb_get_binary_int(swap, &line[56], &store->sts_last_depth); mb_get_binary_int(swap, &line[60], &store->sts_spare); store->sts_bso = (mb_s_char) line[64]; store->sts_bsn = (mb_s_char) line[65]; store->sts_gain = (mb_s_char) line[66]; store->sts_dno = (mb_u_char) line[67]; mb_get_binary_short(swap, &line[68], &short_val); store->sts_rno = (int) ((unsigned short) short_val); store->sts_port = (mb_s_char) line[70]; store->sts_stbd = (mb_u_char) line[71]; mb_get_binary_short(swap, &line[72], &short_val); store->sts_ssp = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[74], &short_val); store->sts_yaw = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[76], &short_val); store->sts_port2 = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[78], &short_val); store->sts_stbd2 = (int) ((unsigned short) short_val); store->sts_spare2 = (mb_u_char) line[80]; if (line[EM3_STATUS_SIZE-7] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM3_STATUS_SIZE-7], line[EM3_STATUS_SIZE-7], line[EM3_STATUS_SIZE-6], line[EM3_STATUS_SIZE-6], line[EM3_STATUS_SIZE-5], line[EM3_STATUS_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->sts_date); fprintf(stderr,"dbg5 run_msec: %d\n",store->sts_msec); fprintf(stderr,"dbg5 sts_status_count: %d\n",store->sts_status_count); fprintf(stderr,"dbg5 run_serial: %d\n",store->sts_serial); fprintf(stderr,"dbg5 sts_pingrate: %d\n",store->sts_pingrate); fprintf(stderr,"dbg5 sts_ping_count: %d\n",store->sts_ping_count); fprintf(stderr,"dbg5 sts_load: %d\n",store->sts_load); fprintf(stderr,"dbg5 sts_udp_status: %d\n",store->sts_udp_status); fprintf(stderr,"dbg5 sts_serial1_status: %d\n",store->sts_serial1_status); fprintf(stderr,"dbg5 sts_serial2_status: %d\n",store->sts_serial2_status); fprintf(stderr,"dbg5 sts_serial3_status: %d\n",store->sts_serial3_status); fprintf(stderr,"dbg5 sts_serial4_status: %d\n",store->sts_serial4_status); fprintf(stderr,"dbg5 sts_pps_status: %d\n",store->sts_pps_status); fprintf(stderr,"dbg5 sts_position_status: %d\n",store->sts_position_status); fprintf(stderr,"dbg5 sts_attitude_status: %d\n",store->sts_attitude_status); fprintf(stderr,"dbg5 sts_clock_status: %d\n",store->sts_clock_status); fprintf(stderr,"dbg5 sts_heading_status: %d\n",store->sts_heading_status); fprintf(stderr,"dbg5 sts_pu_status: %d\n",store->sts_pu_status); fprintf(stderr,"dbg5 sts_last_heading: %d\n",store->sts_last_heading); fprintf(stderr,"dbg5 sts_last_roll: %d\n",store->sts_last_roll); fprintf(stderr,"dbg5 sts_last_pitch: %d\n",store->sts_last_pitch); fprintf(stderr,"dbg5 sts_last_heave: %d\n",store->sts_last_heave); fprintf(stderr,"dbg5 sts_last_ssv: %d\n",store->sts_last_ssv); fprintf(stderr,"dbg5 sts_last_heave: %d\n",store->sts_last_heave); fprintf(stderr,"dbg5 sts_last_depth: %d\n",store->sts_last_depth); fprintf(stderr,"dbg5 sts_spare: %d\n",store->sts_spare); fprintf(stderr,"dbg5 sts_bso: %d\n",store->sts_bso); fprintf(stderr,"dbg5 sts_bsn: %d\n",store->sts_bsn); fprintf(stderr,"dbg5 sts_gain: %d\n",store->sts_gain); fprintf(stderr,"dbg5 sts_dno: %d\n",store->sts_dno); fprintf(stderr,"dbg5 sts_rno: %d\n",store->sts_rno); fprintf(stderr,"dbg5 sts_port: %d\n",store->sts_port); fprintf(stderr,"dbg5 sts_stbd: %d\n",store->sts_stbd); fprintf(stderr,"dbg5 sts_ssp: %d\n",store->sts_ssp); fprintf(stderr,"dbg5 sts_yaw: %d\n",store->sts_yaw); fprintf(stderr,"dbg5 sts_port2: %d\n",store->sts_port2); fprintf(stderr,"dbg5 sts_stbd2: %d\n",store->sts_stbd2); fprintf(stderr,"dbg5 sts_spare2: %d\n",store->sts_spare2); } /* 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_em710mba_rd_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *version, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_start"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD3_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,EM3_START_HEADER_SIZE,mbfp); if (read_len == EM3_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); } /* 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_SIMRAD3_COMMENT_LENGTH-1)); else if (strncmp("SID=", line, 4) == 0) strncpy(store->par_sid, &line[4], MIN(len-5, MBSYS_SIMRAD3_COMMENT_LENGTH-1)); else if (strncmp("PLL=", line, 4) == 0) strncpy(store->par_pll, &line[4], MIN(len-5, MBSYS_SIMRAD3_COMMENT_LENGTH-1)); else if (strncmp("COM=", line, 4) == 0) { strncpy(store->par_com, &line[4], MIN(len-5, MBSYS_SIMRAD3_COMMENT_LENGTH-1)); store->par_com[MIN(len-5, MBSYS_SIMRAD3_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 == EM3_START) store->kind = MB_DATA_START; else if (store->type == EM3_STOP) store->kind = MB_DATA_STOP; else if (store->type == EM3_STOP2) store->kind = MB_DATA_STOP; else if (store->type == EM3_STATUS) store->kind = MB_DATA_STOP; else if (store->type == EM3_ON) store->kind = MB_DATA_START; } /* read end of record and last two check sum bytes */ if (status == MB_SUCCESS) { /* if EM3_END not yet found then the next byte should be EM3_END */ if (line[0] != EM3_END) { read_len = fread(&line[0],1,1,mbfp); } /* if EM3_END not yet found then the next byte should be EM3_END */ if (line[0] != EM3_END) { read_len = fread(&line[0],1,1,mbfp); } /* if we got the end byte then get check sum bytes */ if (line[0] == EM3_END) { if (line[0] == EM3_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_EM710MBA_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_EM710MBA_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_em710mba_rd_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_run_parameter"; int status = MB_SUCCESS; char line[EM3_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 = EM3_RUN_PARAMETER; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM3_RUN_PARAMETER_SIZE-4,mbfp); if (read_len == EM3_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[EM3_RUN_PARAMETER_SIZE-7] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM3_RUN_PARAMETER_SIZE-7], line[EM3_RUN_PARAMETER_SIZE-7], line[EM3_RUN_PARAMETER_SIZE-6], line[EM3_RUN_PARAMETER_SIZE-6], line[EM3_RUN_PARAMETER_SIZE-5], line[EM3_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_em710mba_rd_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_clock"; int status = MB_SUCCESS; char line[EM3_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 = EM3_CLOCK; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM3_CLOCK_SIZE-4,mbfp); if (read_len == EM3_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[EM3_CLOCK_SIZE-7] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM3_CLOCK_SIZE-7], line[EM3_CLOCK_SIZE-7], line[EM3_CLOCK_SIZE-6], line[EM3_CLOCK_SIZE-6], line[EM3_CLOCK_SIZE-5], line[EM3_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_em710mba_rd_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_tide"; int status = MB_SUCCESS; char line[EM3_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 = EM3_TIDE; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM3_TIDE_SIZE-4,mbfp); if (read_len == EM3_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[EM3_TIDE_SIZE-7] == 0x03) *goodend = MB_YES; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM3_TIDE_SIZE-7], line[EM3_TIDE_SIZE-7], line[EM3_TIDE_SIZE-6], line[EM3_TIDE_SIZE-6], line[EM3_TIDE_SIZE-5], line[EM3_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_em710mba_rd_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_height"; int status = MB_SUCCESS; char line[EM3_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 = EM3_HEIGHT; store->sonar = sonar; /* read binary values into char array */ read_len = fread(line,1,EM3_HEIGHT_SIZE-4,mbfp); if (read_len == EM3_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[EM3_HEIGHT_SIZE-7] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr, "End Bytes: %2.2hX %d | %2.2hX %d | %2.2hX %d\n", line[EM3_HEIGHT_SIZE-7], line[EM3_HEIGHT_SIZE-7], line[EM3_HEIGHT_SIZE-6], line[EM3_HEIGHT_SIZE-6], line[EM3_HEIGHT_SIZE-5], line[EM3_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_em710mba_rd_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_heading"; int status = MB_SUCCESS; struct mbsys_simrad3_heading_struct *heading; char line[EM3_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_simrad3_heading_struct *) store->heading; /* set kind and type values */ store->kind = MB_DATA_HEADING; store->type = EM3_HEADING; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_HEADING_HEADER_SIZE,mbfp); if (read_len == EM3_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,EM3_HEADING_SLICE_SIZE,mbfp); if (read_len == EM3_HEADING_SLICE_SIZE && i < MBSYS_SIMRAD3_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_SIMRAD3_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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_em710mba_rd_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_ssv"; int status = MB_SUCCESS; struct mbsys_simrad3_ssv_struct *ssv; char line[EM3_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_simrad3_ssv_struct *) store->ssv; /* set kind and type values */ store->kind = MB_DATA_SSV; store->type = EM3_SSV; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_SSV_HEADER_SIZE,mbfp); if (read_len == EM3_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,EM3_SSV_SLICE_SIZE,mbfp); if (read_len == EM3_SSV_SLICE_SIZE && i < MBSYS_SIMRAD3_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_SIMRAD3_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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_em710mba_rd_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_tilt"; int status = MB_SUCCESS; struct mbsys_simrad3_tilt_struct *tilt; char line[EM3_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_simrad3_tilt_struct *) store->tilt; /* set kind and type values */ store->kind = MB_DATA_TILT; store->type = EM3_TILT; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_TILT_HEADER_SIZE,mbfp); if (read_len == EM3_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,EM3_TILT_SLICE_SIZE,mbfp); if (read_len == EM3_TILT_SLICE_SIZE && i < MBSYS_SIMRAD3_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_SIMRAD3_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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_em710mba_rd_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_attitude"; int status = MB_SUCCESS; struct mbsys_simrad3_attitude_struct *attitude; char line[EM3_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_simrad3_attitude_struct *) store->attitude; /* set type values */ store->type = EM3_ATTITUDE; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_ATTITUDE_HEADER_SIZE,mbfp); if (read_len == EM3_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,EM3_ATTITUDE_SLICE_SIZE,mbfp); if (read_len == EM3_ATTITUDE_SLICE_SIZE && i < MBSYS_SIMRAD3_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_SIMRAD3_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_sensordescriptor = (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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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 } /* Set data kind */ if (status == MB_SUCCESS) { /* set data kind */ if ((attitude->att_sensordescriptor & 48) == 0) store->kind = MB_DATA_ATTITUDE; else if ((attitude->att_sensordescriptor & 48) == 16) store->kind = MB_DATA_ATTITUDE1; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",store->kind); 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_sensordescriptor: %d\n",attitude->att_sensordescriptor); } /* 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_em710mba_rd_netattitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_netattitude"; int status = MB_SUCCESS; struct mbsys_simrad3_netattitude_struct *netattitude; char line[MBSYS_SIMRAD3_BUFFER_SIZE]; short short_val; int read_len; int readcount; 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 sonar: %d\n",sonar); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ netattitude = (struct mbsys_simrad3_netattitude_struct *) store->netattitude; /* set type values */ store->type = EM3_NETATTITUDE; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_NETATTITUDE_HEADER_SIZE,mbfp); if (read_len == EM3_NETATTITUDE_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], &netattitude->nat_date); store->date = netattitude->nat_date; mb_get_binary_int(swap, &line[4], &netattitude->nat_msec); store->msec = netattitude->nat_msec; mb_get_binary_short(swap, &line[8], &short_val); netattitude->nat_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); netattitude->nat_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); netattitude->nat_ndata = (int) ((unsigned short) short_val); netattitude->nat_sensordescriptor = line[14]; } /* Set data kind */ if (status == MB_SUCCESS) { /* set data kind */ store->kind = MB_DATA_ATTITUDE2; } /* read binary netattitude values */ if (status == MB_SUCCESS) { readcount = 16; for (i=0;inat_ndata && status == MB_SUCCESS;i++) { read_len = fread(line,1,EM3_NETATTITUDE_SLICE_SIZE,mbfp); if (read_len == EM3_NETATTITUDE_SLICE_SIZE && i < MBSYS_SIMRAD3_MAXATTITUDE) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); netattitude->nat_time[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[2], &short_val); netattitude->nat_roll[i] = (int) short_val; mb_get_binary_short(swap, &line[4], &short_val); netattitude->nat_pitch[i] = (int) short_val; mb_get_binary_short(swap, &line[6], &short_val); netattitude->nat_heave[i] = (int) short_val; mb_get_binary_short(swap, &line[8], &short_val); netattitude->nat_heading[i] = (int) ((unsigned short) short_val); netattitude->nat_nbyte_raw[i] = (mb_u_char) line[10]; if (netattitude->nat_nbyte_raw[i] <= MBSYS_SIMRAD3_BUFFER_SIZE) { read_len = fread(line,1,netattitude->nat_nbyte_raw[i],mbfp); if (read_len == netattitude->nat_nbyte_raw[i]) { for (j=0;jnat_nbyte_raw[i];j++) netattitude->nat_raw[i*MBSYS_SIMRAD3_BUFFER_SIZE+j] = line[j]; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } else { for (j=0;jnat_nbyte_raw[i];j++) read_len = fread(line,1,1,mbfp); netattitude->nat_nbyte_raw[i] = 0; } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } netattitude->nat_ndata = MIN(netattitude->nat_ndata, MBSYS_SIMRAD3_MAXATTITUDE); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = fread(&line[0],1,1,mbfp); if (line[0] != EM3_END) read_len = fread(&line[1],1,1,mbfp); else line[1] = EM3_END; read_len = fread(&line[2],1,2,mbfp); if (read_len == 2) { 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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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 kind: %d\n",store->kind); 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 nat_date: %d\n",netattitude->nat_date); fprintf(stderr,"dbg5 nat_msec: %d\n",netattitude->nat_msec); fprintf(stderr,"dbg5 nat_count: %d\n",netattitude->nat_count); fprintf(stderr,"dbg5 nat_serial: %d\n",netattitude->nat_serial); fprintf(stderr,"dbg5 nat_ndata: %d\n",netattitude->nat_ndata); fprintf(stderr,"dbg5 nat_sensordescriptor: %d\n",netattitude->nat_sensordescriptor); fprintf(stderr,"dbg5 cnt time roll pitch heave heading nraw\n"); fprintf(stderr,"dbg5 -------------------------------------\n"); for (i=0;inat_ndata;i++) { fprintf(stderr,"dbg5 %3d %d %d %d %d %d %d\n", i, netattitude->nat_time[i], netattitude->nat_roll[i], netattitude->nat_pitch[i], netattitude->nat_heave[i], netattitude->nat_heading[i],netattitude->nat_nbyte_raw[i]); fprintf(stderr,"dbg5 nat_raw[%d]: ",netattitude->nat_nbyte_raw[i]); for (j=0;jnat_nbyte_raw[i];j++) fprintf(stderr,"%x",netattitude->nat_raw[i*MBSYS_SIMRAD3_BUFFER_SIZE+j]); fprintf(stderr,"\n"); } } /* 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_em710mba_rd_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_pos"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD3_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 = EM3_POS; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_POS_HEADER_SIZE,mbfp); if (read_len == EM3_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] == EM3_END) { done = MB_YES; status = MB_SUCCESS; /* get last two check sum bytes */ read_len = fread(&line[1],2,1,mbfp); if (line[0] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_EM710MBA_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_em710mba_rd_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_svp"; int status = MB_SUCCESS; char line[EM3_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 = EM3_SVP; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_SVP_HEADER_SIZE,mbfp); if (read_len == EM3_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,EM3_SVP_SLICE_SIZE,mbfp); if (read_len != EM3_SVP_SLICE_SIZE) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else if (i < MBSYS_SIMRAD3_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_SIMRAD3_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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_em710mba_rd_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_svp2"; int status = MB_SUCCESS; char line[EM3_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 = EM3_SVP2; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_SVP_HEADER_SIZE,mbfp); if (read_len == EM3_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,EM3_SVP2_SLICE_SIZE,mbfp); if (read_len != EM3_SVP2_SLICE_SIZE) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else if (i < MBSYS_SIMRAD3_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_SIMRAD3_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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_em710mba_rd_bath2_mba(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *match, short sonar, int version, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_bath2_mba"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_BATH2_MBA_HEADER_SIZE]; short short_val; float float_val; int int_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); 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_simrad3_ping_struct *) store->ping; /* set kind and type values */ store->kind = MB_DATA_DATA; store->type = EM3_BATH; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_BATH2_MBA_HEADER_SIZE,mbfp); if (read_len == EM3_BATH2_MBA_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_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_int(swap, &line[12], &int_val); ping->png_latitude = int_val; mb_get_binary_int(swap, &line[16], &int_val); ping->png_longitude = int_val; mb_get_binary_short(swap, &line[20], &short_val); ping->png_heading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); ping->png_heave = (int) ((short) short_val); mb_get_binary_short(swap, &line[24], &short_val); ping->png_roll = (int) ((short) short_val); mb_get_binary_short(swap, &line[26], &short_val); ping->png_pitch = (int) ((short) short_val); mb_get_binary_short(swap, &line[28], &short_val); ping->png_speed = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[30], &short_val); ping->png_ssv = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[32], &float_val); ping->png_xducer_depth = float_val; mb_get_binary_short(swap, &line[36], &short_val); ping->png_nbeams = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[38], &short_val); ping->png_nbeams_valid = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[40], &float_val); ping->png_sample_rate = float_val; mb_get_binary_int(swap, &line[44], &int_val); ping->png_spare = int_val; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"mbr_em710mba_rd_bath2_mba: 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); #endif } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_nbeams_valid > ping->png_nbeams || ping->png_nbeams < 0 || ping->png_nbeams_valid < 0 || ping->png_nbeams > MBSYS_SIMRAD3_MAXBEAMS || ping->png_nbeams_valid > MBSYS_SIMRAD3_MAXBEAMS) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"mbr_em710mba_rd_bath2_mba: ERROR SET: ping->png_nbeams:%d ping->png_nbeams_valid:%d MBSYS_SIMRAD3_MAXBEAMS:%d\n", ping->png_nbeams,ping->png_nbeams_valid,MBSYS_SIMRAD3_MAXBEAMS); #endif 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,EM3_BATH2_MBA_BEAM_SIZE,mbfp); if (read_len == EM3_BATH2_MBA_BEAM_SIZE && i < MBSYS_SIMRAD3_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_float(swap, &line[0], &float_val); ping->png_depth[i] = float_val; mb_get_binary_float(swap, &line[4], &float_val); ping->png_acrosstrack[i] = float_val; mb_get_binary_float(swap, &line[8], &float_val); ping->png_alongtrack[i] = float_val; mb_get_binary_short(swap, &line[12], &short_val); ping->png_window[i] = (int) ((unsigned short) short_val); ping->png_quality[i] = (int)((mb_u_char) line[14]); ping->png_iba[i] = (int)((mb_s_char) line[15]); ping->png_detection[i] = (int)((mb_u_char) line[16]); ping->png_clean[i] = (int)((mb_s_char) line[17]); mb_get_binary_short(swap, &line[18], &short_val); ping->png_amp[i] = (int) short_val; mb_get_binary_float(swap, &line[20], &float_val); ping->png_depression[i] = float_val; mb_get_binary_float(swap, &line[24], &float_val); ping->png_azimuth[i] = float_val; mb_get_binary_float(swap, &line[28], &float_val); ping->png_range[i] = float_val; ping->png_bheave[i] = 0.01 * (float)ping->png_heave; ping->png_beamflag[i] = (int)((mb_s_char) line[32]); /* ignore line[33] */ } 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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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 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_latitude: %f\n",ping->png_latitude); fprintf(stderr,"dbg5 png_longitude: %f\n",ping->png_longitude); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_heave: %d\n",ping->png_heave); fprintf(stderr,"dbg5 png_roll: %d\n",ping->png_roll); fprintf(stderr,"dbg5 png_pitch: %d\n",ping->png_pitch); fprintf(stderr,"dbg5 png_speed: %d\n",ping->png_speed); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %f\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_nbeams_valid: %d\n",ping->png_nbeams_valid); fprintf(stderr,"dbg5 png_sample_rate: %f\n",ping->png_sample_rate); fprintf(stderr,"dbg5 png_spare: %d\n",ping->png_spare); fprintf(stderr,"dbg5 cnt depth xtrack ltrack win qual iba det cln amp depression azimuth range heave flag\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %7.2f %7.2f %7.2f %5d %5d %5d %4d %3d %3d %7.2f %7.2f %7.2f %7.2f %3u\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_window[i], ping->png_quality[i], ping->png_iba[i], ping->png_detection[i], ping->png_clean[i], ping->png_amp[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_bheave[i], ping->png_beamflag[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_em710mba_rd_bath3_mba(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *match, short sonar, int version, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_bath3_mba"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_BATH3_MBA_HEADER_SIZE]; short short_val; float float_val; int int_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); 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_simrad3_ping_struct *) store->ping; /* set kind and type values */ store->kind = MB_DATA_DATA; store->type = EM3_BATH; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_BATH3_MBA_HEADER_SIZE,mbfp); if (read_len == EM3_BATH3_MBA_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_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_int(swap, &line[12], &int_val); ping->png_latitude = int_val; mb_get_binary_int(swap, &line[16], &int_val); ping->png_longitude = int_val; mb_get_binary_short(swap, &line[20], &short_val); ping->png_heading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); ping->png_heave = (int) ((short) short_val); mb_get_binary_short(swap, &line[24], &short_val); ping->png_roll = (int) ((short) short_val); mb_get_binary_short(swap, &line[26], &short_val); ping->png_pitch = (int) ((short) short_val); mb_get_binary_short(swap, &line[28], &short_val); ping->png_speed = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[30], &short_val); ping->png_ssv = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[32], &float_val); ping->png_xducer_depth = float_val; mb_get_binary_short(swap, &line[36], &short_val); ping->png_nbeams = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[38], &short_val); ping->png_nbeams_valid = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[40], &float_val); ping->png_sample_rate = float_val; mb_get_binary_int(swap, &line[44], &int_val); ping->png_spare = int_val; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"mbr_em710mba_rd_bath2_mba: 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); #endif } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_nbeams_valid > ping->png_nbeams || ping->png_nbeams < 0 || ping->png_nbeams_valid < 0 || ping->png_nbeams > MBSYS_SIMRAD3_MAXBEAMS || ping->png_nbeams_valid > MBSYS_SIMRAD3_MAXBEAMS) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"mbr_em710mba_rd_bath2_mba: ERROR SET: ping->png_nbeams:%d ping->png_nbeams_valid:%d MBSYS_SIMRAD3_MAXBEAMS:%d\n", ping->png_nbeams,ping->png_nbeams_valid,MBSYS_SIMRAD3_MAXBEAMS); #endif 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,EM3_BATH3_MBA_BEAM_SIZE,mbfp); if (read_len == EM3_BATH3_MBA_BEAM_SIZE && i < MBSYS_SIMRAD3_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_float(swap, &line[0], &float_val); ping->png_depth[i] = float_val; mb_get_binary_float(swap, &line[4], &float_val); ping->png_acrosstrack[i] = float_val; mb_get_binary_float(swap, &line[8], &float_val); ping->png_alongtrack[i] = float_val; mb_get_binary_short(swap, &line[12], &short_val); ping->png_window[i] = (int) ((unsigned short) short_val); ping->png_quality[i] = (int)((mb_u_char) line[14]); ping->png_iba[i] = (int)((mb_s_char) line[15]); ping->png_detection[i] = (int)((mb_u_char) line[16]); ping->png_clean[i] = (int)((mb_s_char) line[17]); mb_get_binary_short(swap, &line[18], &short_val); ping->png_amp[i] = (int) short_val; mb_get_binary_float(swap, &line[20], &float_val); ping->png_depression[i] = float_val; mb_get_binary_float(swap, &line[24], &float_val); ping->png_azimuth[i] = float_val; mb_get_binary_float(swap, &line[28], &float_val); ping->png_range[i] = float_val; mb_get_binary_float(swap, &line[32], &float_val); ping->png_bheave[i] = float_val; ping->png_beamflag[i] = (int)((mb_s_char) line[36]); /* fprintf(stderr,"READ ping:%d beam %d png_depression:%f ",ping->png_count,i,ping->png_depression[i]); fprintf(stderr,"png_azimuth:%f ",ping->png_azimuth[i]); fprintf(stderr,"png_range:%f ",ping->png_range[i]); fprintf(stderr,"png_bheave:%f ",ping->png_bheave[i]); fprintf(stderr,"png_beamflag:%d\n",ping->png_beamflag[i]); */ /* ignore line[37] */ } 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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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 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_latitude: %f\n",ping->png_latitude); fprintf(stderr,"dbg5 png_longitude: %f\n",ping->png_longitude); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_heave: %d\n",ping->png_heave); fprintf(stderr,"dbg5 png_roll: %d\n",ping->png_roll); fprintf(stderr,"dbg5 png_pitch: %d\n",ping->png_pitch); fprintf(stderr,"dbg5 png_speed: %d\n",ping->png_speed); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %f\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_nbeams_valid: %d\n",ping->png_nbeams_valid); fprintf(stderr,"dbg5 png_sample_rate: %f\n",ping->png_sample_rate); fprintf(stderr,"dbg5 png_spare: %d\n",ping->png_spare); fprintf(stderr,"dbg5 cnt depth xtrack ltrack win qual iba det cln amp depression azimuth range heave flag\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %7.2f %7.2f %7.2f %5d %5d %5d %4d %3d %3d %7.2f %7.2f %7.2f %7.2f %3u\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_window[i], ping->png_quality[i], ping->png_iba[i], ping->png_detection[i], ping->png_clean[i], ping->png_amp[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_bheave[i], ping->png_beamflag[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_em710mba_rd_rawbeam4(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_rawbeam4"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_RAWBEAM4_HEADER_SIZE]; short short_val; int int_val; float float_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_simrad3_ping_struct *) store->ping; /* read binary header values into char array */ read_len = fread(line,1,EM3_RAWBEAM4_HEADER_SIZE,mbfp); if (read_len == EM3_RAWBEAM4_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_ssv = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); ping->png_raw_ntx = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[16], &short_val); ping->png_raw_nbeams = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[18], &short_val); ping->png_raw_detections = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[20], &float_val); ping->png_raw_sample_rate = (int) (float_val); mb_get_binary_int(swap, &line[24], &int_val); ping->png_raw_spare = (int) (int_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_raw_date,ping->png_raw_msec,ping->png_raw_count,ping->png_raw_nbeams);*/ } /* check for some indicators of a broken record - these do happen!!!! */ if (status == MB_SUCCESS) { if (ping->png_raw_detections > ping->png_raw_nbeams || ping->png_raw_nbeams < 0 || ping->png_raw_detections < 0 || ping->png_raw_nbeams > MBSYS_SIMRAD3_MAXBEAMS || ping->png_raw_detections > MBSYS_SIMRAD3_MAXBEAMS || ping->png_raw_ntx > MBSYS_SIMRAD3_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,EM3_RAWBEAM4_TX_SIZE,mbfp); if (read_len == EM3_RAWBEAM4_TX_SIZE && i < MBSYS_SIMRAD3_MAXTX) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw_txtiltangle[i] = (int) short_val; mb_get_binary_short(swap, &line[2], &short_val); ping->png_raw_txfocus[i] = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[4], &float_val); ping->png_raw_txsignallength[i] = float_val; mb_get_binary_float(swap, &line[8], &float_val); ping->png_raw_txoffset[i] = float_val; mb_get_binary_float(swap, &line[12], &float_val); ping->png_raw_txcenter[i] = float_val; mb_get_binary_short(swap, &line[2], &short_val); ping->png_raw_txabsorption[i] = (int) ((unsigned short) short_val); ping->png_raw_txwaveform[i] = (int) line[18]; ping->png_raw_txsector[i] = (int) line[19]; mb_get_binary_float(swap, &line[20], &float_val); ping->png_raw_txbandwidth[i] = float_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,EM3_RAWBEAM4_BEAM_SIZE,mbfp); if (read_len == EM3_RAWBEAM4_BEAM_SIZE && i < MBSYS_SIMRAD3_MAXBEAMS) { status = MB_SUCCESS; mb_get_binary_short(swap, &line[0], &short_val); ping->png_raw_rxpointangle[i] = (int) short_val; ping->png_raw_rxsector[i] = (mb_u_char) line[2]; ping->png_raw_rxdetection[i] = (mb_u_char) line[3]; mb_get_binary_short(swap, &line[4], &short_val); ping->png_raw_rxwindow[i] = (int) ((unsigned short) short_val); ping->png_raw_rxquality[i] = (mb_u_char) line[6]; ping->png_raw_rxspare1[i] = (mb_s_char) line[7]; mb_get_binary_float(swap, &line[8], &float_val); ping->png_raw_rxrange[i] = float_val; mb_get_binary_short(swap, &line[12], &short_val); ping->png_raw_rxamp[i] = (int) ((short) short_val); ping->png_raw_rxcleaning[i] = (mb_s_char) line[14]; ping->png_raw_rxspare2[i] = (mb_u_char) line[15]; } 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] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710MBA_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_detections > ping->png_raw_nbeams) { 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_raw4_read: %d\n",ping->png_raw4_read); 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_ssv: %d\n",ping->png_raw_ssv); fprintf(stderr,"dbg5 png_raw_ntx: %d\n",ping->png_raw_ntx); fprintf(stderr,"dbg5 png_raw_nbeams: %d\n",ping->png_raw_nbeams); fprintf(stderr,"dbg5 png_raw_detections: %d\n",ping->png_raw_detections); fprintf(stderr,"dbg5 png_raw_sample_rate: %f\n",ping->png_raw_sample_rate); fprintf(stderr,"dbg5 png_raw_spare: %d\n",ping->png_raw_spare); 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_raw_ntx;i++) fprintf(stderr,"dbg5 %3d %5d %5d %f %f %f %4d %4d %4d %f\n", i, ping->png_raw_txtiltangle[i], ping->png_raw_txfocus[i], ping->png_raw_txsignallength[i], ping->png_raw_txoffset[i], ping->png_raw_txcenter[i], ping->png_raw_txabsorption[i], ping->png_raw_txwaveform[i], ping->png_raw_txsector[i], ping->png_raw_txbandwidth[i]); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); fprintf(stderr,"dbg5 beam values:\n"); fprintf(stderr,"dbg5 beam angle sector detect win quality spare range amp clean spare\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_raw_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %3d %3d %4d %3d %5d %f %5d %5d %5d\n", i, ping->png_raw_rxpointangle[i], ping->png_raw_rxsector[i], ping->png_raw_rxdetection[i], ping->png_raw_rxwindow[i], ping->png_raw_rxquality[i], ping->png_raw_rxspare1[i], ping->png_raw_rxrange[i],ping->png_raw_rxamp[i], ping->png_raw_rxcleaning[i],ping->png_raw_rxspare2[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_em710mba_rd_ss2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *match, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_ss2"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[2 * MBSYS_SIMRAD3_BUFFER_SIZE]; short short_val; int int_val; float float_val; int read_len; int done; int junk_bytes; int offset; 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_simrad3_ping_struct *) store->ping; /* set kind and type values */ store->kind = MB_DATA_DATA; store->type = EM3_SS2; store->sonar = sonar; /* read binary header values into char array */ read_len = fread(line,1,EM3_SS2_MBA_HEADER_SIZE,mbfp); if (read_len == EM3_SS2_MBA_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_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_float(swap, &line[12], &float_val); ping->png_ss_sample_rate = float_val; mb_get_binary_short(swap, &line[16], &short_val); ping->png_r_zero = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[18], &short_val); ping->png_bsn = (int) ((short) short_val); mb_get_binary_short(swap, &line[20], &short_val); ping->png_bso = (int) ((short) short_val); mb_get_binary_short(swap, &line[22], &short_val); ping->png_tx = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[24], &short_val); ping->png_tvg_crossover = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[26], &short_val); ping->png_nbeams_ss = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[28], &float_val); ping->png_pixel_size = float_val; mb_get_binary_int(swap, &line[32], &int_val); ping->png_pixels_ss = int_val; /*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_SIMRAD3_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,EM3_SS2_MBA_BEAM_SIZE,mbfp); if (read_len == EM3_SS2_MBA_BEAM_SIZE && i < MBSYS_SIMRAD3_MAXBEAMS) { status = MB_SUCCESS; ping->png_sort_direction[i] = (mb_s_char) line[0]; ping->png_ssdetection[i] = (mb_u_char) line[1]; mb_get_binary_short(swap, &line[2], &short_val); ping->png_beam_samples[i] = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[4], &short_val); ping->png_center_sample[i] = (int) ((unsigned short) short_val); ping->png_start_sample[i] = ping->png_npixels; ping->png_npixels += ping->png_beam_samples[i]; if (ping->png_npixels > MBSYS_SIMRAD3_MAXRAWPIXELS) { ping->png_beam_samples[i] -= (ping->png_npixels - MBSYS_SIMRAD3_MAXRAWPIXELS); if (ping->png_beam_samples[i] < 0) ping->png_beam_samples[i] = 0; } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* check for too much pixel data */ if (ping->png_npixels > MBSYS_SIMRAD3_MAXRAWPIXELS) { if (verbose > 0) fprintf(stderr, "WARNING: Simrad multibeam sidescan pixels %d exceed maximum %d!\n", ping->png_npixels, MBSYS_SIMRAD3_MAXRAWPIXELS); junk_bytes = ping->png_npixels - MBSYS_SIMRAD3_MAXRAWPIXELS; ping->png_npixels = MBSYS_SIMRAD3_MAXRAWPIXELS; status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } else junk_bytes = 0; } /* read binary sidescan values */ if (status == MB_SUCCESS) { read_len = fread(ping->png_ssraw,1, sizeof(short) * ping->png_npixels,mbfp); if (read_len == sizeof(short) * 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_ss[i] = 0; } read_len = fread(line, 1, ping->png_pixels_ss * sizeof(short),mbfp); if (read_len == ping->png_pixels_ss * sizeof(short)) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* get processed sidescan data */ if (status == MB_SUCCESS) { offset = (MBSYS_SIMRAD3_MAXPIXELS - ping->png_pixels_ss) / 2; for (i=0;ipng_pixels_ss;i++) { mb_get_binary_short(swap, &line[2*i], &short_val); ping->png_ss[offset+i] = (short) short_val; } } /* read processed sidescan alongtrack data */ if (status == MB_SUCCESS) { for (i=0;ipng_ssalongtrack[i] = 0; } read_len = fread(line,1, ping->png_pixels_ss * sizeof(short),mbfp); if (read_len == ping->png_pixels_ss * sizeof(short)) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* get processed sidescan alongtrack data */ if (status == MB_SUCCESS) { offset = (MBSYS_SIMRAD3_MAXPIXELS - ping->png_pixels_ss) / 2; for (i=0;ipng_pixels_ss;i++) { mb_get_binary_short(swap, &line[2*i], &short_val); ping->png_ssalongtrack[offset+i] = (short) short_val; } } /* 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] == EM3_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_EM710MBA_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_EM710MBA_DEBUG fprintf(stderr, "\n"); #endif } /* 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_latitude: %f\n",ping->png_latitude); fprintf(stderr,"dbg5 png_longitude: %f\n",ping->png_longitude); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_heave: %d\n",ping->png_heave); fprintf(stderr,"dbg5 png_roll: %d\n",ping->png_roll); fprintf(stderr,"dbg5 png_pitch: %d\n",ping->png_pitch); fprintf(stderr,"dbg5 png_speed: %d\n",ping->png_speed); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %f\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_nbeams_valid: %d\n",ping->png_nbeams_valid); fprintf(stderr,"dbg5 png_sample_rate: %f\n",ping->png_sample_rate); fprintf(stderr,"dbg5 png_spare: %d\n",ping->png_spare); fprintf(stderr,"dbg5 cnt depth xtrack ltrack win qual iba det cln amp depression azimuth range heave flag\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %7.2f %7.2f %7.2f %5d %5d %5d %4d %3d %3d %7.2f %7.2f %7.2f %7.2f %3u\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_window[i], ping->png_quality[i], ping->png_iba[i], ping->png_detection[i], ping->png_clean[i], ping->png_amp[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_bheave[i], ping->png_beamflag[i]); 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_ss_sample_rate: %f\n",ping->png_ss_sample_rate); fprintf(stderr,"dbg5 png_r_zero: %d\n",ping->png_r_zero); 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_pixel_size: %f\n",ping->png_pixel_size); fprintf(stderr,"dbg5 png_pixels_ss: %d\n",ping->png_pixels_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 %2d %4d %4d %4d %4d\n", i, ping->png_sort_direction[i], ping->png_ssdetection[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]); fprintf(stderr,"dbg5 cnt ss ssalongtrack\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (i=0;ipng_pixels_ss;i++) fprintf(stderr,"dbg5 %d %d %d\n", i, ping->png_ss[i], ping->png_ssalongtrack[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_em710mba_rd_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710mba_rd_wc"; int status = MB_SUCCESS; struct mbsys_simrad3_watercolumn_struct *wc; char line[EM3_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_simrad3_watercolumn_struct *) store->wc; /* set kind and type values */ store->kind = MB_DATA_WATER_COLUMN; store->type = EM3_WATERCOLUMN; store->sonar = sonar; file_bytes = ftell(mbfp); /* read binary header values into char array */ read_len = fread(line,1,EM3_WC_HEADER_SIZE,mbfp); if (read_len == EM3_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_SIMRAD3_MAXBEAMS || wc->wtc_ntx < 0 || wc->wtc_ntx > MBSYS_SIMRAD3_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,EM3_WC_TX_SIZE,mbfp); if (read_len == EM3_WC_TX_SIZE && i < MBSYS_SIMRAD3_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,EM3_WC_BEAM_SIZE,mbfp); if (read_len == EM3_WC_BEAM_SIZE && i < MBSYS_SIMRAD3_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] == EM3_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_EM710MBA_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_EM710MBA_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_em710mba_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_em710mba_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_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_simrad3_struct *) store_ptr; ping = (struct mbsys_simrad3_ping_struct *) store->ping; mbfp = mb_io_ptr->mbfp; #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"\nstart of mbr_em710mba_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_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_start kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_start(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_STATUS) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_status kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_status(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_RUN_PARAMETER) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_run_parameter kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_run_parameter(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_CLOCK) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_clock kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_clock(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_TIDE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_tide kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_tide(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_HEIGHT) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_height kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_height(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_HEADING) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_heading kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_heading(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_SSV) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_ssv kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_ssv(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_TILT) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_tilt kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_tilt(verbose,mbfp,swap,store,error); } else if ((store->kind == MB_DATA_ATTITUDE || store->kind == MB_DATA_ATTITUDE1) && store->type == EM3_ATTITUDE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_attitude kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_attitude(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_ATTITUDE2 && store->type == EM3_NETATTITUDE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_netattitude kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_netattitude(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_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_pos kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_pos(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_VELOCITY_PROFILE) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_svp kind:%d type %x\n",store->kind,store->type); #endif if (store->type == EM3_SVP) status = mbr_em710mba_wr_svp(verbose,mbfp,swap,store,error); else status = mbr_em710mba_wr_svp2(verbose,mbfp,swap,store,error); } else if (store->kind == MB_DATA_DATA) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_bath3_mba kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_bath3_mba(verbose,mbfp,swap,store,error); if (ping->png_raw4_read == MB_YES) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_rawbeam4 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_rawbeam4(verbose,mbfp,swap,store,error); } #ifdef MBR_EM710MBA_DEBUG if (ping->png_raw4_read == MB_NO) fprintf(stderr,"NOT call mbr_em710mba_wr_rawbeam4 kind:%d type %x\n",store->kind,store->type); #endif if (ping->png_ss2_read == MB_YES) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_ss2 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_ss2(verbose,mbfp,swap,store,error); } #ifdef MBR_EM710MBA_DEBUG else fprintf(stderr,"NOT call mbr_em710mba_wr_ss2 kind:%d type %x\n",store->kind,store->type); #endif } else if (store->kind == MB_DATA_WATER_COLUMN) { #ifdef MBR_EM710MBA_DEBUG fprintf(stderr,"call mbr_em710mba_wr_wc kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710mba_wr_wc(verbose,mbfp,swap,store,error); } else { #ifdef MBR_EM710MBA_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_EM710MBA_DEBUG fprintf(stderr,"status:%d error:%d\n", status, *error); fprintf(stderr,"end of mbr_em710mba_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_em710mba_wr_start(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_start"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD3_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 == EM3_NONE) store->type = EM3_START; /* if sonar not set use EM710 */ if (store->sonar == 0) store->sonar = MBSYS_SIMRAD3_EM710; /* set up start of output buffer - we handle this record differently because of the ascii data */ memset(line, 0, MBSYS_SIMRAD3_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] = EM3_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_em710mba_wr_status(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_status"; int status = MB_SUCCESS; char line[EM3_STATUS_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 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->sts_date); fprintf(stderr,"dbg5 run_msec: %d\n",store->sts_msec); fprintf(stderr,"dbg5 sts_status_count: %d\n",store->sts_status_count); fprintf(stderr,"dbg5 run_serial: %d\n",store->sts_serial); fprintf(stderr,"dbg5 sts_pingrate: %d\n",store->sts_pingrate); fprintf(stderr,"dbg5 sts_ping_count: %d\n",store->sts_ping_count); fprintf(stderr,"dbg5 sts_load: %d\n",store->sts_load); fprintf(stderr,"dbg5 sts_udp_status: %d\n",store->sts_udp_status); fprintf(stderr,"dbg5 sts_serial1_status: %d\n",store->sts_serial1_status); fprintf(stderr,"dbg5 sts_serial2_status: %d\n",store->sts_serial2_status); fprintf(stderr,"dbg5 sts_serial3_status: %d\n",store->sts_serial3_status); fprintf(stderr,"dbg5 sts_serial4_status: %d\n",store->sts_serial4_status); fprintf(stderr,"dbg5 sts_pps_status: %d\n",store->sts_pps_status); fprintf(stderr,"dbg5 sts_position_status: %d\n",store->sts_position_status); fprintf(stderr,"dbg5 sts_attitude_status: %d\n",store->sts_attitude_status); fprintf(stderr,"dbg5 sts_clock_status: %d\n",store->sts_clock_status); fprintf(stderr,"dbg5 sts_heading_status: %d\n",store->sts_heading_status); fprintf(stderr,"dbg5 sts_pu_status: %d\n",store->sts_pu_status); fprintf(stderr,"dbg5 sts_last_heading: %d\n",store->sts_last_heading); fprintf(stderr,"dbg5 sts_last_roll: %d\n",store->sts_last_roll); fprintf(stderr,"dbg5 sts_last_pitch: %d\n",store->sts_last_pitch); fprintf(stderr,"dbg5 sts_last_heave: %d\n",store->sts_last_heave); fprintf(stderr,"dbg5 sts_last_ssv: %d\n",store->sts_last_ssv); fprintf(stderr,"dbg5 sts_last_heave: %d\n",store->sts_last_heave); fprintf(stderr,"dbg5 sts_last_depth: %d\n",store->sts_last_depth); fprintf(stderr,"dbg5 sts_spare: %d\n",store->sts_spare); fprintf(stderr,"dbg5 sts_bso: %d\n",store->sts_bso); fprintf(stderr,"dbg5 sts_bsn: %d\n",store->sts_bsn); fprintf(stderr,"dbg5 sts_gain: %d\n",store->sts_gain); fprintf(stderr,"dbg5 sts_dno: %d\n",store->sts_dno); fprintf(stderr,"dbg5 sts_rno: %d\n",store->sts_rno); fprintf(stderr,"dbg5 sts_port: %d\n",store->sts_port); fprintf(stderr,"dbg5 sts_stbd: %d\n",store->sts_stbd); fprintf(stderr,"dbg5 sts_ssp: %d\n",store->sts_ssp); fprintf(stderr,"dbg5 sts_yaw: %d\n",store->sts_yaw); fprintf(stderr,"dbg5 sts_port2: %d\n",store->sts_port2); fprintf(stderr,"dbg5 sts_stbd2: %d\n",store->sts_stbd2); fprintf(stderr,"dbg5 sts_spare2: %d\n",store->sts_spare2); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_STATUS_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) (EM3_STATUS), (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->sts_date, (void *) &line[0]); mb_put_binary_int(swap, (int) store->sts_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) store->sts_status_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) store->run_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) store->sts_pingrate, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) store->sts_ping_count, (void *) &line[14]); mb_put_binary_int(swap, (int) store->sts_load, (void *) &line[16]); mb_put_binary_int(swap, (int) store->sts_udp_status, (void *) &line[20]); mb_put_binary_int(swap, (int) store->sts_serial1_status, (void *) &line[24]); mb_put_binary_int(swap, (int) store->sts_serial2_status, (void *) &line[28]); mb_put_binary_int(swap, (int) store->sts_serial3_status, (void *) &line[32]); mb_put_binary_int(swap, (int) store->sts_serial3_status, (void *) &line[36]); line[40] = store->sts_pps_status; line[41] = store->sts_position_status; line[42] = store->sts_attitude_status; line[43] = store->sts_clock_status; line[44] = store->sts_heading_status; line[45] = store->sts_pu_status; mb_put_binary_short(swap, (unsigned short) store->sts_last_heading, (void *) &line[46]); mb_put_binary_short(swap, (short) store->sts_last_roll, (void *) &line[48]); mb_put_binary_short(swap, (short) store->sts_last_pitch, (void *) &line[50]); mb_put_binary_short(swap, (short) store->sts_last_heave, (void *) &line[52]); mb_put_binary_short(swap, (unsigned short) store->sts_last_ssv, (void *) &line[54]); mb_put_binary_int(swap, (int) store->sts_last_depth, (void *) &line[56]); mb_put_binary_int(swap, (int) store->sts_spare, (void *) &line[60]); line[64] = store->sts_bso; line[65] = store->sts_bsn; line[66] = store->sts_gain; line[67] = store->sts_dno; mb_put_binary_short(swap, (unsigned short) store->sts_rno, (void *) &line[68]); line[70] = store->sts_port; line[71] = store->sts_stbd; mb_put_binary_short(swap, (unsigned short) store->sts_ssp, (void *) &line[72]); mb_put_binary_short(swap, (unsigned short) store->sts_yaw, (void *) &line[74]); mb_put_binary_short(swap, (unsigned short) store->sts_port2, (void *) &line[76]); mb_put_binary_short(swap, (unsigned short) store->sts_stbd2, (void *) &line[78]); line[80] = store->sts_spare2; line[EM3_STATUS_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_em710mba_wr_run_parameter(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_run_parameter"; int status = MB_SUCCESS; char line[EM3_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) (EM3_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) (EM3_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[EM3_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_em710mba_wr_clock(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_clock"; int status = MB_SUCCESS; char line[EM3_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) (EM3_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) (EM3_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[EM3_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_em710mba_wr_tide(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_tide"; int status = MB_SUCCESS; char line[EM3_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) (EM3_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) (EM3_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[EM3_TIDE_SIZE-8] = '\0'; line[EM3_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_em710mba_wr_height(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_height"; int status = MB_SUCCESS; char line[EM3_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) (EM3_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) (EM3_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[EM3_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_em710mba_wr_heading(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_heading"; int status = MB_SUCCESS; struct mbsys_simrad3_heading_struct *heading; char line[EM3_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_simrad3_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) (EM3_HEADING_HEADER_SIZE + EM3_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) (EM3_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_em710mba_wr_ssv(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_ssv"; int status = MB_SUCCESS; struct mbsys_simrad3_ssv_struct *ssv; char line[EM3_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_simrad3_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) (EM3_SSV_HEADER_SIZE + EM3_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) (EM3_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_em710mba_wr_tilt(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_tilt"; int status = MB_SUCCESS; struct mbsys_simrad3_tilt_struct *tilt; char line[EM3_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_simrad3_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) (EM3_TILT_HEADER_SIZE + EM3_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) (EM3_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_em710mba_wr_attitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_attitude"; int status = MB_SUCCESS; struct mbsys_simrad3_attitude_struct *attitude; char line[EM3_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_simrad3_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_sensordescriptor: %d\n",attitude->att_sensordescriptor); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_ATTITUDE_HEADER_SIZE + EM3_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) (EM3_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_sensordescriptor; 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_em710mba_wr_netattitude(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_netattitude"; int status = MB_SUCCESS; struct mbsys_simrad3_netattitude_struct *netattitude; char line[EM3_NETATTITUDE_SLICE_SIZE+MBSYS_SIMRAD3_BUFFER_SIZE]; short label; int write_len; int write_size; int extrabyte; 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 */ netattitude = (struct mbsys_simrad3_netattitude_struct *) store->netattitude; /* 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 nat_date: %d\n",netattitude->nat_date); fprintf(stderr,"dbg5 nat_msec: %d\n",netattitude->nat_msec); fprintf(stderr,"dbg5 nat_count: %d\n",netattitude->nat_count); fprintf(stderr,"dbg5 nat_serial: %d\n",netattitude->nat_serial); fprintf(stderr,"dbg5 nat_ndata: %d\n",netattitude->nat_ndata); fprintf(stderr,"dbg5 nat_sensordescriptor: %d\n",netattitude->nat_sensordescriptor); fprintf(stderr,"dbg5 cnt time roll pitch heave heading\n"); fprintf(stderr,"dbg5 -------------------------------------\n"); for (i=0;inat_ndata;i++) { fprintf(stderr,"dbg5 %3d %d %d %d %d %d %d\n", i, netattitude->nat_time[i], netattitude->nat_roll[i], netattitude->nat_pitch[i], netattitude->nat_heave[i], netattitude->nat_heading[i],netattitude->nat_nbyte_raw[i]); fprintf(stderr,"dbg5 nat_raw[%d]: ",netattitude->nat_nbyte_raw[i]); for (j=0;jnat_nbyte_raw[i];j++) fprintf(stderr,"%x",netattitude->nat_raw[i*MBSYS_SIMRAD3_BUFFER_SIZE+j]); fprintf(stderr,"\n"); } } /* zero checksum */ checksum = 0; /* write the record size */ write_size = EM3_NETATTITUDE_HEADER_SIZE + 8; for (i=0;inat_ndata;i++) { write_size += EM3_NETATTITUDE_SLICE_SIZE + netattitude->nat_nbyte_raw[i]; } extrabyte = 0; if (write_size%2) { extrabyte++; write_size++; } mb_put_binary_int(swap, (int)write_size, (void *) line); write_len = fwrite(line,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) (EM3_NETATTITUDE), (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) netattitude->nat_date, (void *) &line[0]); mb_put_binary_int(swap, (int) netattitude->nat_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) netattitude->nat_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) netattitude->nat_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) netattitude->nat_ndata, (void *) &line[12]); line[14] = (mb_u_char) netattitude->nat_sensordescriptor; line[15] = (mb_u_char) 0; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jnat_ndata;i++) { mb_put_binary_short(swap, (unsigned short) netattitude->nat_time[i], (void *) &line[0]); mb_put_binary_short(swap, (short) netattitude->nat_roll[i], (void *) &line[2]); mb_put_binary_short(swap, (short) netattitude->nat_pitch[i], (void *) &line[4]); mb_put_binary_short(swap, (short) netattitude->nat_heave[i], (void *) &line[6]); mb_put_binary_short(swap, (unsigned short) netattitude->nat_heading[i], (void *) &line[8]); line[10] = (mb_u_char) netattitude->nat_nbyte_raw[i]; for (j=0;jnat_nbyte_raw[i];j++) line[i+11] = netattitude->nat_raw[i*MBSYS_SIMRAD3_BUFFER_SIZE+j]; /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jnat_nbyte_raw[i];j++) checksum += uchar_ptr[j]; /* write out data */ write_len = fwrite(line,1,EM3_NETATTITUDE_SLICE_SIZE+netattitude->nat_nbyte_raw[i],mbfp); if (write_len != EM3_NETATTITUDE_SLICE_SIZE+netattitude->nat_nbyte_raw[i]) { *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[0] = 0; line[1] = 0x03; /* set checksum */ mb_put_binary_short(swap, (unsigned short) checksum, (void *) &line[2]); /* write out data */ if (extrabyte) { write_len = fwrite(&line[0],1,4,mbfp); if (write_len != 4) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } else { 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_em710mba_wr_pos(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_pos"; int status = MB_SUCCESS; char line[EM3_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) (EM3_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) (EM3_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_em710mba_wr_svp(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_svp"; int status = MB_SUCCESS; char line[EM3_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) (EM3_SVP_HEADER_SIZE + EM3_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) (EM3_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_em710mba_wr_svp2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_svp2"; int status = MB_SUCCESS; char line[EM3_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) (EM3_SVP2_HEADER_SIZE + EM3_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) (EM3_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_em710mba_wr_bath3_mba(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_bath3_mba"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_BATH3_MBA_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_simrad3_ping_struct *) store->ping; /* 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_latitude: %f\n",ping->png_latitude); fprintf(stderr,"dbg5 png_longitude: %f\n",ping->png_longitude); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_heave: %d\n",ping->png_heave); fprintf(stderr,"dbg5 png_roll: %d\n",ping->png_roll); fprintf(stderr,"dbg5 png_pitch: %d\n",ping->png_pitch); fprintf(stderr,"dbg5 png_speed: %d\n",ping->png_speed); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %f\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_nbeams_valid: %d\n",ping->png_nbeams_valid); fprintf(stderr,"dbg5 png_sample_rate: %f\n",ping->png_sample_rate); fprintf(stderr,"dbg5 png_spare: %d\n",ping->png_spare); fprintf(stderr,"dbg5 cnt depth xtrack ltrack win qual iba det cln amp depression azimuth range heave flag\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %7.2f %7.2f %7.2f %5d %5d %5d %4d %3d %3d %7.2f %7.2f %7.2f %7.2f %3u\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_window[i], ping->png_quality[i], ping->png_iba[i], ping->png_detection[i], ping->png_clean[i], ping->png_amp[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_bheave[i], ping->png_beamflag[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_BATH3_MBA_HEADER_SIZE + EM3_BATH3_MBA_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) (EM3_BATH3_MBA), (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_int(swap, (int) ping->png_latitude, (void *) &line[12]); mb_put_binary_int(swap, (int) ping->png_longitude, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) ping->png_heading, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) ping->png_heave, (void *) &line[22]); mb_put_binary_short(swap, (unsigned short) ping->png_roll, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) ping->png_pitch, (void *) &line[26]); mb_put_binary_short(swap, (unsigned short) ping->png_speed, (void *) &line[28]); mb_put_binary_short(swap, (unsigned short) ping->png_ssv, (void *) &line[30]); mb_put_binary_float(swap, (float) ping->png_xducer_depth, (void *) &line[32]); mb_put_binary_short(swap, (unsigned short) ping->png_nbeams, (void *) &line[36]); mb_put_binary_short(swap, (unsigned short) ping->png_nbeams_valid, (void *) &line[38]); mb_put_binary_float(swap, (float) ping->png_sample_rate, (void *) &line[40]); mb_put_binary_short(swap, (unsigned short) ping->png_spare, (void *) &line[44]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_nbeams;i++) { mb_put_binary_float(swap, ping->png_depth[i], (void *) &line[0]); mb_put_binary_float(swap, ping->png_acrosstrack[i], (void *) &line[4]); mb_put_binary_float(swap, ping->png_alongtrack[i], (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_window[i], (void *) &line[12]); line[14] = (mb_u_char) ping->png_quality[i]; line[15] = (mb_s_char) ping->png_iba[i]; line[16] = (mb_u_char) ping->png_detection[i]; line[17] = (mb_s_char) ping->png_clean[i]; mb_put_binary_short(swap, (short) ping->png_amp[i], (void *) &line[18]); mb_put_binary_float(swap, ping->png_depression[i], (void *) &line[20]); mb_put_binary_float(swap, ping->png_azimuth[i], (void *) &line[24]); mb_put_binary_float(swap, ping->png_range[i], (void *) &line[28]); mb_put_binary_float(swap, ping->png_bheave[i], (void *) &line[32]); line[36] = (mb_s_char) ping->png_beamflag[i]; line[37] = (mb_u_char) 0; /* fprintf(stderr,"WRITE ping:%d beam %d png_depression:%f ",ping->png_count,i,ping->png_depression[i]); fprintf(stderr,"png_azimuth:%f ",ping->png_azimuth[i]); fprintf(stderr,"png_range:%f ",ping->png_range[i]); fprintf(stderr,"png_bheave:%f ",ping->png_bheave[i]); fprintf(stderr,"png_beamflag:%d\n",ping->png_beamflag[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_em710mba_wr_rawbeam4(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_rawbeam4"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_RAWBEAM4_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_simrad3_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_raw4_read: %d\n",ping->png_raw4_read); 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_ssv: %d\n",ping->png_raw_ssv); fprintf(stderr,"dbg5 png_raw_ntx: %d\n",ping->png_raw_ntx); fprintf(stderr,"dbg5 png_raw_nbeams: %d\n",ping->png_raw_nbeams); fprintf(stderr,"dbg5 png_raw_detections: %d\n",ping->png_raw_detections); fprintf(stderr,"dbg5 png_raw_sample_rate: %f\n",ping->png_raw_sample_rate); fprintf(stderr,"dbg5 png_raw_spare: %d\n",ping->png_raw_spare); 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_raw_ntx;i++) fprintf(stderr,"dbg5 %3d %5d %5d %f %f %f %4d %4d %4d %f\n", i, ping->png_raw_txtiltangle[i], ping->png_raw_txfocus[i], ping->png_raw_txsignallength[i], ping->png_raw_txoffset[i], ping->png_raw_txcenter[i], ping->png_raw_txabsorption[i], ping->png_raw_txwaveform[i], ping->png_raw_txsector[i], ping->png_raw_txbandwidth[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_raw_nbeams;i++) fprintf(stderr,"dbg5 %3d %5d %3d %3d %4d %3d %5d %f %5d %5d %5d\n", i, ping->png_raw_rxpointangle[i], ping->png_raw_rxsector[i], ping->png_raw_rxdetection[i], ping->png_raw_rxwindow[i], ping->png_raw_rxquality[i], ping->png_raw_rxspare1[i], ping->png_raw_rxrange[i],ping->png_raw_rxamp[i], ping->png_raw_rxcleaning[i],ping->png_raw_rxspare2[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_RAWBEAM4_HEADER_SIZE + EM3_RAWBEAM4_TX_SIZE * ping->png_raw_ntx + EM3_RAWBEAM4_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) (EM3_RAWBEAM4), (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_ssv, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_ntx, (void *) &line[14]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_nbeams, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_detections, (void *) &line[18]); mb_put_binary_float(swap, ping->png_raw_sample_rate, (void *) &line[20]); mb_put_binary_int(swap, (int) ping->png_raw_spare, (void *) &line[24]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_raw_ntx;i++) { mb_put_binary_short(swap, (short) ping->png_raw_txtiltangle[i], (void *) &line[0]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_txfocus[i], (void *) &line[2]); mb_put_binary_float(swap, ping->png_raw_txsignallength[i], (void *) &line[4]); mb_put_binary_float(swap, ping->png_raw_txoffset[i], (void *) &line[8]); mb_put_binary_float(swap, ping->png_raw_txcenter[i], (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_raw_txabsorption[i], (void *) &line[16]); line[18] = (mb_u_char) ping->png_raw_txwaveform[i]; line[19] = (mb_u_char) ping->png_raw_txsector[i]; mb_put_binary_float(swap, ping->png_raw_txbandwidth[i], (void *) &line[20]); /* 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]); line[2] = (mb_u_char) ping->png_raw_rxsector[i]; line[3] = (mb_u_char) ping->png_raw_rxdetection[i]; mb_put_binary_short(swap, (short) ping->png_raw_rxwindow[i], (void *) &line[4]); line[6] = (mb_u_char) ping->png_raw_rxquality[i]; line[7] = (mb_u_char) ping->png_raw_rxspare1[i]; mb_put_binary_float(swap, ping->png_raw_rxrange[i], (void *) &line[8]); mb_put_binary_short(swap, (short) ping->png_raw_rxamp[i], (void *) &line[12]); line[14] = (mb_u_char) ping->png_raw_rxcleaning[i]; line[15] = (mb_u_char) ping->png_raw_rxspare2[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_em710mba_wr_ss2(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_ss2"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[2 * MBSYS_SIMRAD3_BUFFER_SIZE]; short label; int write_len; int write_size; int offset; 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_simrad3_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_latitude: %f\n",ping->png_latitude); fprintf(stderr,"dbg5 png_longitude: %f\n",ping->png_longitude); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_heave: %d\n",ping->png_heave); fprintf(stderr,"dbg5 png_roll: %d\n",ping->png_roll); fprintf(stderr,"dbg5 png_pitch: %d\n",ping->png_pitch); fprintf(stderr,"dbg5 png_speed: %d\n",ping->png_speed); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %f\n",ping->png_xducer_depth); fprintf(stderr,"dbg5 png_nbeams: %d\n",ping->png_nbeams); fprintf(stderr,"dbg5 png_nbeams_valid: %d\n",ping->png_nbeams_valid); fprintf(stderr,"dbg5 png_sample_rate: %f\n",ping->png_sample_rate); fprintf(stderr,"dbg5 png_spare: %d\n",ping->png_spare); fprintf(stderr,"dbg5 cnt depth xtrack ltrack win qual iba det cln amp depression azimuth range heave flag\n"); fprintf(stderr,"dbg5 ------------------------------------------------------------\n"); for (i=0;ipng_nbeams;i++) fprintf(stderr,"dbg5 %3d %7.2f %7.2f %7.2f %5d %5d %5d %4d %3d %3d %7.2f %7.2f %7.2f %7.2f %3u\n", i, ping->png_depth[i], ping->png_acrosstrack[i], ping->png_alongtrack[i], ping->png_window[i], ping->png_quality[i], ping->png_iba[i], ping->png_detection[i], ping->png_clean[i], ping->png_amp[i], ping->png_depression[i], ping->png_azimuth[i], ping->png_range[i], ping->png_bheave[i], ping->png_beamflag[i]); 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_ss_sample_rate: %f\n",ping->png_ss_sample_rate); fprintf(stderr,"dbg5 png_r_zero: %d\n",ping->png_r_zero); 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 %2d %4d %4d %4d %4d\n", i, ping->png_sort_direction[i], ping->png_ssdetection[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]); fprintf(stderr,"dbg5 cnt ss ssalongtrack\n"); fprintf(stderr,"dbg5 --------------------------------------------------\n"); for (i=0;ipng_pixels_ss;i++) fprintf(stderr,"dbg5 %d %d %d\n", i, ping->png_ss[i], ping->png_ssalongtrack[i]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_SS2_MBA_HEADER_SIZE + EM3_SS2_MBA_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) (EM3_SS2), (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_float(swap, ping->png_ss_sample_rate, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_r_zero, (void *) &line[16]); mb_put_binary_short(swap, (short) ping->png_bsn, (void *) &line[18]); mb_put_binary_short(swap, (short) ping->png_bso, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) ping->png_tx, (void *) &line[22]); mb_put_binary_short(swap, (unsigned short) ping->png_tvg_crossover, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) ping->png_nbeams_ss, (void *) &line[26]); mb_put_binary_float(swap, (float) ping->png_pixel_size, (void *) &line[28]); mb_put_binary_int(swap, (int) ping->png_pixels_ss, (void *) &line[32]); /* compute checksum */ uchar_ptr = (mb_u_char *) line; for (j=0;jpng_nbeams_ss;i++) { line[0] = (mb_s_char) ping->png_sort_direction[i]; line[1] = (mb_u_char) ping->png_ssdetection[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; /* 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 processed sidescan data */ if (status == MB_SUCCESS) { offset = (MBSYS_SIMRAD3_MAXPIXELS - ping->png_pixels_ss) / 2; for (i=0;ipng_pixels_ss;i++) { mb_put_binary_short(swap, (short) ping->png_ss[offset+i], (void *) &line[2*i]); } /* compute checksum */ write_size = ping->png_pixels_ss * sizeof(short); uchar_ptr = (mb_u_char *) &line[0]; for (j=0;jpng_pixels_ss) / 2; for (i=0;ipng_pixels_ss;i++) { mb_put_binary_short(swap, ping->png_ssalongtrack[offset+i], (void *) &line[2*i]); } /* compute checksum */ write_size = ping->png_pixels_ss * sizeof(short); uchar_ptr = (mb_u_char *) &line[0]; 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_em710mba_wr_wc(int verbose, FILE *mbfp, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710mba_wr_wc"; int status = MB_SUCCESS; struct mbsys_simrad3_watercolumn_struct *wc; char line[EM3_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_simrad3_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 = EM3_WC_HEADER_SIZE + EM3_WC_BEAM_SIZE * wc->wtc_nbeam + EM3_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) (EM3_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); } /*--------------------------------------------------------------------*/