/*-------------------------------------------------------------------- * The MB-system: mbr_em710raw.c 2/26/2008 * $Id: mbr_em710raw.c 1960 2012-06-07 00:15:58Z 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_em710raw.c contains the functions for reading and writing * multibeam data in the EM710RAW format. * These functions include: * mbr_alm_em710raw - allocate read/write memory * mbr_dem_em710raw - deallocate read/write memory * mbr_rt_em710raw - read and translate data * mbr_wt_em710raw - translate and write data * * Author: D. W. Caress * Date: February 26, 2008 * * $Log: mbr_em710raw.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_define.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mbsys_simrad3.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* get NaN detector */ #if defined(isnanf) #define check_fnan(x) isnanf((x)) #elif defined(isnan) #define check_fnan(x) isnan((double)(x)) #elif HAVE_ISNANF == 1 #define check_fnan(x) isnanf(x) extern int isnanf(float x); #elif HAVE_ISNAN == 1 #define check_fnan(x) isnan((double)(x)) #elif HAVE_ISNAND == 1 #define check_fnan(x) isnand((double)(x)) #else #define check_fnan(x) ((x) != (x)) #endif /* set precision of iterative raytracing depth & distance matching */ #define MBR_EM710RAW_BATH_RECALC_PRECISION 0.0001 #define MBR_EM710RAW_BATH_RECALC_NCALCMAX 50 #define MBR_EM710RAW_BATH_RECALC_ANGLEMODE 0 /* control method of estimating range and angles for bathymetry recalculation - by default the code solves for the angles and heave offsets that come close to matching the original reported bathymetry by raytracing through the original water sound speed model. - if the define below is uncommented, then the code will instead adjust the angles and ranges to match the original bathymetry - this will generally achieve bathymetry closer to that reported by the sonar, but requires modifying the travel times (an unsavory and unsatisfactory approach). */ /* #define MBR_EM710RAW_BATH_RECALC_TWEAK_ANGLE_RANGE 1 */ /* turn on debug statements here */ /* #define MBR_EM710RAW_DEBUG 1 */ /* #define MBR_EM710RAW_DEBUG2 1 */ /* essential function prototypes */ int mbr_register_em710raw(int verbose, void *mbio_ptr, int *error); int mbr_info_em710raw(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_em710raw(int verbose, void *mbio_ptr, int *error); int mbr_dem_em710raw(int verbose, void *mbio_ptr, int *error); int mbr_rt_em710raw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_em710raw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em710raw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em710raw_chk_label(int verbose, void *mbio_ptr, char *label, short *type, short *sonar); int mbr_em710raw_rd_status(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *goodend, int *error); int mbr_em710raw_rd_start(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *version, int *goodend, int *error); int mbr_em710raw_rd_run_parameter(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_clock(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_tide(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_height(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_heading(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_ssv(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_tilt(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_attitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_netattitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_pos(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_svp(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_svp2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_bath2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *match, short sonar, int version, int *goodend, int *error); int mbr_em710raw_rd_rawbeam4(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_rd_ss2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int length, int *match, int *goodend, int *error); int mbr_em710raw_rd_wc(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error); int mbr_em710raw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_em710raw_wr_status(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_start(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_run_parameter(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_clock(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_tide(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_height(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_heading(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_ssv(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_tilt(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_attitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_netattitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_pos(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_svp(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_svp2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_bath2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_rawbeam4(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_ss2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); int mbr_em710raw_wr_wc(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error); static char rcs_id[]="$Id: mbr_em710raw.c 1960 2012-06-07 00:15:58Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_em710raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_em710raw"; 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_em710raw(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_em710raw; mb_io_ptr->mb_io_format_free = &mbr_dem_em710raw; 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_em710raw; mb_io_ptr->mb_io_write_ping = &mbr_wt_em710raw; 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_em710raw(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_em710raw"; 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, "EM710RAW", MB_NAME_LENGTH); strncpy(system_name, "SIMRAD3", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_EM710RAW\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, Kongsberg.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_SINGLE; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_NO; *nav_source = MB_DATA_NAV; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_ATTITUDE; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 2.0; *beamwidth_ltrack = 2.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_alm_em710raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_em710raw"; 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_em710raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_em710raw"; 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 old raytracing structure if it exists */ if (mb_io_ptr->saveptr1 != NULL) { status = mb_rt_deall(verbose, &(mb_io_ptr->saveptr1), error); } /* 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_em710raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_em710raw"; 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, ptime_d, atime_d, btime_d; double bath_time_d, ss_time_d; double rawspeed, pheading; double plon, plat, pspeed, roll, pitch, heave; double heave_offset = 0.0; double heave_ping, heave_beam; double soundspeed; double transmit_alongtrack; double alpha, beta, theta, phi, theta_bath, phi_bath; double theta_new, theta_nadir, theta_x, theta_z, dtheta, theta_old, thetamin, thetamax; int inadir; double *pixel_size, *swath_width; mb_u_char detection_mask; double att_time_d[MBSYS_SIMRAD3_MAXATTITUDE]; double att_roll[MBSYS_SIMRAD3_MAXATTITUDE]; double att_pitch[MBSYS_SIMRAD3_MAXATTITUDE]; double att_heave[MBSYS_SIMRAD3_MAXATTITUDE]; double transmit_time_d, transmit_heading, transmit_heave, transmit_roll, transmit_pitch; double receive_time_d, receive_heading, receive_heave, receive_roll, receive_pitch; double *svpdepth = NULL; double *svpvel = NULL; double xx, zz, dx, dz, dt; double xxx, yyy; double xxcalc, zzcalc, tt, ttt, xxcalc_old, zzcalc_old; double depth_offset_use, static_shift, svpdepthstart; double weight; double lever_x, lever_y, lever_z; double offset_x, offset_y, offset_z; int ray_stat, iterx, iterz; int done; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* read next data from file */ status = mbr_em710raw_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 fix and heading if nav data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV) { /* get nav time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ntime_d); /* add latest fix */ if (store->pos_longitude != EM3_INVALID_INT && store->pos_latitude != EM3_INVALID_INT) mb_navint_add(verbose, mbio_ptr, ntime_d, (double)(0.0000001 * store->pos_longitude), (double)(0.00000005 * store->pos_latitude), error); /* add latest heading */ if (store->pos_heading != EM3_INVALID_INT) mb_hedint_add(verbose, mbio_ptr, ntime_d, (double)(0.01 * store->pos_heading), error); } /* save attitude if "active" attitude data - note that the mb_io_ptr->vru_source value will be set dynamically to reflect the actual attitude source used in realtime by the sonar. - attitude records from the sensors are set at kinds MB_DATA_ATTITUDE (serial port 1), MB_DATA_ATTITUDE1 (serial port 2), or MB_DATA_ATTITUDE2 (network attitude). */ if (status == MB_SUCCESS && store->type == EM3_ATTITUDE) { /* save for interpolation if this record comes from the active attitude sensor */ if ((attitude->att_sensordescriptor & 14) == 0) { /* set the vru_source */ mb_io_ptr->vru_source = store->kind; /* get attitude time */ time_i[0] = attitude->att_date / 10000; time_i[1] = (attitude->att_date % 10000) / 100; time_i[2] = attitude->att_date % 100; time_i[3] = attitude->att_msec / 3600000; time_i[4] = (attitude->att_msec % 3600000) / 60000; time_i[5] = (attitude->att_msec % 60000) / 1000; time_i[6] = (attitude->att_msec % 1000) * 1000; mb_get_time(verbose, time_i, &atime_d); /* add latest attitude samples */ attitude->att_ndata = MIN(attitude->att_ndata,MBSYS_SIMRAD3_MAXATTITUDE); for (i=0;iatt_ndata;i++) { att_time_d[i] = (double)(atime_d + 0.001 * attitude->att_time[i]); att_heave[i] = (double)(0.01 * attitude->att_heave[i]); att_roll[i] = (double)(0.01 * attitude->att_roll[i]); att_pitch[i] = (double)(0.01 * attitude->att_pitch[i]); } mb_attint_nadd(verbose, mbio_ptr, attitude->att_ndata,att_time_d,att_heave,att_roll,att_pitch, error); } /* else this record is not from the active vru sensor - make sure the vru_source does not point to this sensor */ else if (mb_io_ptr->vru_source == store->kind) { if (store->kind == MB_DATA_ATTITUDE) mb_io_ptr->vru_source = MB_DATA_ATTITUDE1; else mb_io_ptr->vru_source = MB_DATA_ATTITUDE; } } /* save netattitude if "active" attitude data - note that the mb_io_ptr->vru_source value will be set dynamically to reflect the actual attitude source used in realtime by the sonar. - attitude records from the sensors are set at kinds MB_DATA_ATTITUDE (serial port 1), MB_DATA_ATTITUDE1 (serial port 2), or MB_DATA_ATTITUDE2 (network attitude). */ if (status == MB_SUCCESS && store->type == EM3_NETATTITUDE) { /* save for interpolation if this record comes from the active attitude sensor */ if ((netattitude->nat_sensordescriptor & 14) == 0) { /* set the vru_source */ mb_io_ptr->vru_source = store->kind; /* get attitude time */ time_i[0] = netattitude->nat_date / 10000; time_i[1] = (netattitude->nat_date % 10000) / 100; time_i[2] = netattitude->nat_date % 100; time_i[3] = netattitude->nat_msec / 3600000; time_i[4] = (netattitude->nat_msec % 3600000) / 60000; time_i[5] = (netattitude->nat_msec % 60000) / 1000; time_i[6] = (netattitude->nat_msec % 1000) * 1000; mb_get_time(verbose, time_i, &atime_d); /* add latest attitude samples */ netattitude->nat_ndata = MIN(netattitude->nat_ndata,MBSYS_SIMRAD3_MAXATTITUDE); for (i=0;inat_ndata;i++) { att_time_d[i] = (double)(atime_d + 0.001 * netattitude->nat_time[i]); att_heave[i] = (double)(0.01 * netattitude->nat_heave[i]); att_roll[i] = (double)(0.01 * netattitude->nat_roll[i]); att_pitch[i] = (double)(0.01 * netattitude->nat_pitch[i]); } mb_attint_nadd(verbose, mbio_ptr, netattitude->nat_ndata,att_time_d,att_heave,att_roll,att_pitch, error); } /* else this record is not from the active vru sensor - make sure the vru_source does not point to this sensor */ else if (mb_io_ptr->vru_source == store->kind) { mb_io_ptr->vru_source = MB_DATA_ATTITUDE; } } /* save sonar depth value if survey data */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { 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); 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 svp read then set up for raytracing */ if (status == MB_SUCCESS && store->kind == MB_DATA_VELOCITY_PROFILE && store->svp_num > 1) { /* deallocate old raytracing structure if it exists */ if (mb_io_ptr->saveptr1 != NULL) { status = mb_rt_deall(verbose, &(mb_io_ptr->saveptr1), error); } /* allocate memory for svp data */ status = mb_mallocd(verbose, __FILE__, __LINE__, store->svp_num * sizeof(double),(void **)&svpdepth, error); status = mb_mallocd(verbose, __FILE__, __LINE__, store->svp_num * sizeof(double),(void **)&svpvel, error); /* construct svp from raw values */ for (i=0;isvp_num;i++) { svpdepth[i] = 0.01 * store->svp_depth_res * store->svp_depth[i]; svpvel[i] = 0.1 * store->svp_vel[i]; } /* initialize raytracing */ status = mb_rt_init(verbose, store->svp_num, svpdepth, svpvel, (void **) &(mb_io_ptr->saveptr1), error); /* deallocate arrays */ mb_freed(verbose, __FILE__, __LINE__, (void **)&svpvel, error); mb_freed(verbose, __FILE__, __LINE__, (void **)&svpdepth, error); } /* 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); } } } /* add some calculated data to survey records */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { /*fprintf(stderr, "mode:%d absorption:%d tran_pulse:%d tran_beam:%d tran_pow:%d rec_beam:%d rec_band:%d rec_gain:%d tvg_cross:%d\n", store->run_mode, store->run_absorption, store->run_tran_pulse, store->run_tran_pow, store->run_rec_beam, store->run_rec_band, store->run_rec_gain, store->run_tvg_cross); fprintf(stderr, "max_range:%d r_zero:%d r_zero_corr:%d tvg_start:%d tvg_stop:%d bsn:%d bso:%d tx:%d tvg_crossover:%d\n", ping->png_max_range, ping->png_r_zero, ping->png_r_zero_corr, ping->png_tvg_start, ping->png_tvg_stop, ping->png_bsn, ping->png_bso, ping->png_tx, ping->png_tvg_crossover); fprintf(stderr, "mode:%d depth:%11f max_range:%d r_zero:%d r_zero_corr:%d bsn:%d bso:%d\n", store->run_mode, 0.01 * ping->png_depth_res * ping->png_depth[ping->png_nbeams/2], ping->png_max_range, ping->png_r_zero, ping->png_r_zero_corr, ping->png_bsn, ping->png_bso);*/ /* get ping time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ptime_d); /* interpolate from saved nav */ if (store->pos_speed == 0 || store->pos_speed == EM3_INVALID_SHORT) rawspeed = 0.0; else rawspeed = 0.036 * store->pos_speed; pheading = 0.01 * ping->png_heading; mb_navint_interp(verbose, mbio_ptr, ptime_d, pheading, rawspeed, &plon, &plat, &pspeed, error); if (plon == 0.0 && plat == 0.0) { ping->png_longitude = (int) EM3_INVALID_INT; ping->png_latitude = (int) EM3_INVALID_INT; } else { ping->png_longitude = (int) rint(10000000 * plon); ping->png_latitude = (int) rint(20000000 * plat); } ping->png_speed = (int) rint(pspeed / 0.036); /* interpolate from saved attitude */ mb_attint_interp(verbose, mbio_ptr, ptime_d, &heave, &roll, &pitch, error); ping->png_roll = (int) rint(roll / 0.01); ping->png_pitch = (int) rint(pitch / 0.01); ping->png_heave = (int) rint(heave / 0.01); /* estimate effective heave using sonar parameters this ought to work but isn't quite right */ heave_ping = 0.5 * (store->par_s1z + store->par_s2z) - store->par_wlz - ping->png_xducer_depth; /* fprintf(stderr,"heave_ping:%f ping->png_xducer_depth:%f store->par_s1z:%f store->par_s2z:%f store->par_wlz:%f\n", heave_ping,ping->png_xducer_depth,store->par_s1z,store->par_s2z,store->par_wlz); */ /* make first cut at angles */ /* calculate corrected ranges, angles, and bathymetry */ theta_nadir = 90.0; inadir = 0; for (i=0;ipng_nbeams;i++) { /* get attitude and heave at ping and receive time */ transmit_time_d = ptime_d + (double) ping->png_raw_txoffset[ping->png_raw_rxsector[i]]; mb_hedint_interp(verbose, mbio_ptr, transmit_time_d, &transmit_heading, error); mb_attint_interp(verbose, mbio_ptr, transmit_time_d, &transmit_heave, &transmit_roll, &transmit_pitch, error); receive_time_d = transmit_time_d + ping->png_raw_rxrange[i]; mb_hedint_interp(verbose, mbio_ptr, receive_time_d, &receive_heading, error); mb_attint_interp(verbose, mbio_ptr, receive_time_d, &receive_heave, &receive_roll, &receive_pitch, error); /* alongtrack offset distance */ transmit_alongtrack = (0.01 * ((double)ping->png_speed)) * ((double) ping->png_raw_txoffset[ping->png_raw_rxsector[i]]); /* get corrected range */ if (ping->png_ssv <= 0) ping->png_ssv = 150; soundspeed = 0.1 * ((double)ping->png_ssv); ping->png_range[i] = ping->png_raw_rxrange[i]; heave_beam = 0.5 * (transmit_heave + receive_heave); ping->png_bheave[i] = receive_heave - transmit_heave; depth_offset_use = ping->png_xducer_depth - ping->png_bheave[i]; /* fprintf(stderr,"AAA png_count:%d beam:%d heave_ping:%f i:%d transmit_heave:%f receive_heave:%f bheave:%f\n", ping->png_count,i,heave_ping,i,transmit_heave,receive_heave,ping->png_bheave[i]); */ /* calculate angles */ alpha = (0.01 * (double)ping->png_raw_txtiltangle[ping->png_raw_rxsector[i]]) - transmit_pitch + store->par_msp; beta = 90.0 - ((0.01 * (double)ping->png_raw_rxpointangle[i]) + receive_roll - store->par_msr); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); /* apply yaw correction by rotating the azimuthal angle to reflect the difference between the ping heading and the heading at sector transmit time */ phi -= transmit_heading - pheading; if (phi > 180.0) phi -= 360.0; if (phi < -180.0) phi += 360.0; /* get takeoff angles */ ping->png_depression[i] = theta; ping->png_azimuth[i] = phi; /* check for most nadir beam */ if (ping->png_clean[i] == 0 && theta < theta_nadir) { theta_nadir = theta; inadir = i; } } /* fprintf(stderr,"ptime_d:%f png_xducer_depth:%f s1z:%f s2z:%f wlz:%f heave:%f heave_ping:%f\n", ptime_d,ping->png_xducer_depth,store->par_s1z,store->par_s2z,store->par_wlz,heave,heave_ping);*/ /*fprintf(stderr,"\navailable attitude:\n"); for (i=0;inattitude;i++) fprintf(stderr," %d %f %f %f %f\n", i,mb_io_ptr->attitude_time_d[i],mb_io_ptr->attitude_heave[i],mb_io_ptr->attitude_roll[i],mb_io_ptr->attitude_pitch[i]); fprintf(stderr,"\nbeams:\n");*/ /* fprintf(stderr,"\nPING: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f \n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], bath_time_d); */ /* Unfortunately, the above code is not succeeding in calculating angles that, after raytracing, replicate the sounding positions reported by the sonar. I am probably missing some aspect of the calculation of attitude compensation, or I've just got something wrong. To get bathymetry recalculation close to right, I will estimate the azimuthal angle phi using the originally reported beam positions. I will then estimate the takeoff angle theta by the following three steps: 1. Iteratively raytrace the most vertical beam to find the angle reproducing the original position. Then take the difference between the calculated and originally reported depth and treat that as an effective heave offset that is added to all beams. 2. For each beam iteratively raytrace to match the originally reported position. Also iteratively raytrace to match the originally reported depth. 3. Estimate takeoff angle for the beam as a weighted average of the position and depth matching takeoff angles, where the weighting for the position matching estimate is cos(theta)**2 and the weighting for the depth-matching estimate is (1 - cos(theta)**2). */ /* estimate effective heave by raytracing the most-vertical beam and matching the position to within 1 mm. Add the depth difference to all beams as an effective heave offset */ heave_offset = 0.0; dt = 0.0; if (mb_io_ptr->saveptr1 != NULL) { #ifndef MBR_EM710RAW_BATH_RECALC_TWEAK_ANGLE_RANGE /* get attitude and heave at ping and receive time */ transmit_time_d = ptime_d + (double) ping->png_raw_txoffset[ping->png_raw_rxsector[inadir]]; mb_hedint_interp(verbose, mbio_ptr, transmit_time_d, &transmit_heading, error); mb_attint_interp(verbose, mbio_ptr, transmit_time_d, &transmit_heave, &transmit_roll, &transmit_pitch, error); receive_time_d = transmit_time_d + ping->png_raw_rxrange[inadir]; mb_hedint_interp(verbose, mbio_ptr, receive_time_d, &receive_heading, error); mb_attint_interp(verbose, mbio_ptr, receive_time_d, &receive_heave, &receive_roll, &receive_pitch, error); /* get range */ if (ping->png_ssv <= 0) ping->png_ssv = 150; soundspeed = 0.1 * ((double)ping->png_ssv); ping->png_range[inadir] = ping->png_raw_rxrange[inadir]; heave_beam = 0.5 * (transmit_heave + receive_heave); ping->png_bheave[inadir] = receive_heave - transmit_heave; /* get depth_offset_use and static_shift for raytracing */ if (store->svp_num > 0) svpdepthstart = 0.01 * store->svp_depth_res * store->svp_depth[0]; else svpdepthstart = 0.0; depth_offset_use = ping->png_xducer_depth - ping->png_bheave[inadir]; if (depth_offset_use < svpdepthstart) static_shift = depth_offset_use - svpdepthstart; else static_shift = 0.0; /* fprintf(stderr,"BBB png_count:%d beam:%d heave:%f heave_ping:%f heave_beam:%f transmit_heave:%f receive_heave:%f heave_offset:%f bheave:%f xducerdepth:%f\n", ping->png_count,i,heave,heave_ping,heave_beam,transmit_heave,receive_heave,heave_offset,ping->png_bheave[inadir],ping->png_xducer_depth); */ /* calculate angles */ alpha = (0.01 * (double)ping->png_raw_txtiltangle[ping->png_raw_rxsector[inadir]]) - transmit_pitch + store->par_msp; /*fprintf(stderr,"ANGLES: %d tx:%d pitch:%f bias:%f alpha:%f\n", i,ping->png_raw_txtiltangle[ping->png_raw_rxsector[inadir]],transmit_pitch,store->par_msp,alpha); fprintf(stderr,"HEADING: %d transmit:%f receive:%f\n",i,transmit_heading,receive_heading);*/ beta = 90.0 - ((0.01 * (double)ping->png_raw_rxpointangle[inadir]) + receive_roll - store->par_msr); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); /* obtain lever arm offset for sonar relative to the position sensor */ mb_lever(verbose, store->par_s1y, store->par_s1x, store->par_s1z - store->par_wlz, store->par_p1y, store->par_p1x, store->par_p1z, store->par_msy, store->par_msx, store->par_msz, -transmit_pitch + store->par_msp, -receive_roll + store->par_msr, &lever_x, &lever_y, &lever_z, error); /* obtain position offset for beam */ offset_x = store->par_s1y - store->par_p1y + lever_x; offset_y = store->par_s1x - store->par_p1x + lever_y; offset_z = receive_heave - transmit_heave + lever_z; /* fprintf(stderr,"OFFSETS: %f %f %f\n",offset_x,offset_y,offset_z); fprintf(stderr,"ORGBEAM: xtrack:%f ltrack:%f depth:%f sonardepth:%f\n",ping->png_acrosstrack[inadir],ping->png_alongtrack[inadir],ping->png_depth[inadir],ping->png_xducer_depth); fprintf(stderr,"HEAVE: transmit:%f receive:%f ping:%f beam:%f offset:%f\n",transmit_heave,receive_heave,heave_ping,heave_beam,heave_offset); fprintf(stderr,"DEPTHOFFSET: xducerdepth:%f bheave:%f depth_offset_use:%f\n",ping->png_xducer_depth,ping->png_bheave[inadir],depth_offset_use); */ /* apply yaw correction by rotating the azimuthal angle to reflect the difference between the ping heading and the heading at sector transmit time */ phi -= transmit_heading - pheading; if (phi > 180.0) phi -= 360.0; if (phi < -180.0) phi += 360.0; /* alongtrack offset distance */ transmit_alongtrack = (0.01 * ((double)ping->png_speed)) * ((double) ping->png_raw_txoffset[ping->png_raw_rxsector[inadir]]); /* corrected lateral distance */ xxx = ping->png_acrosstrack[inadir] - offset_x; yyy = ping->png_alongtrack[inadir] - offset_y - transmit_alongtrack; xx = sqrt(xxx * xxx + yyy * yyy); zz = ping->png_depth[inadir] + ping->png_xducer_depth; mb_xyz_to_takeoff(verbose,-xxx, yyy, ping->png_depth[inadir], &theta_bath,&phi_bath,error); phi = phi_bath; /* find vertical takeoff angle that matches the position to within 1 mm */ iterx = 0; iterz = 0; theta_x = theta; thetamin = 0.0; thetamax = 90.0; dtheta = 0.0; dx = zz; dz = zz; zzcalc = zz; zzcalc_old = 0.0; done = MB_NO; while (iterx < 3 || done == MB_NO) { theta_old = theta_x; xxcalc_old = xxcalc; zzcalc_old = zzcalc; if (theta_x + dtheta > thetamin && theta_x + dtheta < thetamax) theta_x += dtheta; else if (dtheta < 0.0) theta_x = theta_x - 0.5 * (theta_x - thetamin); else if (dtheta > 0.0) theta_x = theta_x + 0.5 * (thetamax - theta_x); tt = 0.5 * ping->png_range[inadir]; mb_rt(verbose, (void *) mb_io_ptr->saveptr1, depth_offset_use, theta_x, tt, MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0, 0, NULL, NULL, NULL, &xxcalc, &zzcalc, &ttt, &ray_stat,error); zzcalc += static_shift; dx = xx - xxcalc; dz = zz - zzcalc; if (xxcalc > xx) thetamax = MIN(thetamax, theta_x); if (xxcalc < xx) thetamin = MAX(thetamin, theta_x); if (iterx == 0) { if (xxcalc > xx) { dtheta = -0.01; thetamax = MIN(thetamax, theta_x); } else { dtheta = 0.01; thetamin = MAX(thetamin, theta_x); } } else if (fabs(dx) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else if (fabs(xxcalc - xxcalc_old) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else { dtheta = (xx - xxcalc) * (theta_x - theta_old) / (xxcalc - xxcalc_old); } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH X0:%d iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f theta_x:%f theta_old:%f dtheta:%f min:%f max:%f\n", inadir,iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,theta_x,theta_old,dtheta,thetamin,thetamax); #endif iterx++; if (iterx >= MBR_EM710RAW_BATH_RECALC_NCALCMAX) done = MB_YES; } /* set the heave offset that will be added to all beams */ heave_offset = -dz; #endif /* now calculate ranges, angles, and bathymetry */ for (i=0;ipng_nbeams;i++) { /* only work on beams with good travel times */ detection_mask = (mb_u_char) ping->png_raw_rxdetection[i]; if (ping->png_range[i] > 0.0 || (((detection_mask & 128) == 128) && (((detection_mask & 32) == 32) || ((detection_mask & 24) == 24)))) { /* get attitude and heave at ping and receive time */ transmit_time_d = ptime_d + (double) ping->png_raw_txoffset[ping->png_raw_rxsector[i]]; mb_hedint_interp(verbose, mbio_ptr, transmit_time_d, &transmit_heading, error); mb_attint_interp(verbose, mbio_ptr, transmit_time_d, &transmit_heave, &transmit_roll, &transmit_pitch, error); receive_time_d = transmit_time_d + ping->png_raw_rxrange[i]; mb_hedint_interp(verbose, mbio_ptr, receive_time_d, &receive_heading, error); mb_attint_interp(verbose, mbio_ptr, receive_time_d, &receive_heave, &receive_roll, &receive_pitch, error); /* get range */ if (ping->png_ssv <= 0) ping->png_ssv = 150; soundspeed = 0.1 * ((double)ping->png_ssv); ping->png_range[i] = ping->png_raw_rxrange[i]; heave_beam = 0.5 * (transmit_heave + receive_heave); ping->png_bheave[i] = receive_heave - transmit_heave + heave_offset; depth_offset_use = ping->png_xducer_depth - ping->png_bheave[i]; /* fprintf(stderr,"BBB png_count:%d beam:%d heave:%f heave_ping:%f heave_beam:%f transmit_heave:%f receive_heave:%f heave_offset:%f bheave:%f xducerdepth:%f\n", ping->png_count,i,heave,heave_ping,heave_beam,transmit_heave,receive_heave,heave_offset,ping->png_bheave[i],ping->png_xducer_depth); */ /* calculate angles */ alpha = (0.01 * (double)ping->png_raw_txtiltangle[ping->png_raw_rxsector[i]]) - transmit_pitch + store->par_msp; /*fprintf(stderr,"ANGLES: %d tx:%d pitch:%f bias:%f alpha:%f\n", i,ping->png_raw_txtiltangle[ping->png_raw_rxsector[i]],transmit_pitch,store->par_msp,alpha); fprintf(stderr,"HEADING: %d transmit:%f receive:%f\n",i,transmit_heading,receive_heading);*/ beta = 90.0 - ((0.01 * (double)ping->png_raw_rxpointangle[i]) + receive_roll - store->par_msr); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); /* apply yaw correction by rotating the azimuthal angle to reflect the difference between the ping heading and the heading at sector transmit time */ phi -= transmit_heading - pheading; if (phi > 180.0) phi -= 360.0; if (phi < -180.0) phi += 360.0; /* alongtrack offset distance */ transmit_alongtrack = (0.01 * ((double)ping->png_speed)) * ((double) ping->png_raw_txoffset[ping->png_raw_rxsector[i]]); /* corrected lateral distance */ xxx = ping->png_acrosstrack[i] - offset_x; yyy = ping->png_alongtrack[i] - offset_y - transmit_alongtrack; xx = sqrt(xxx * xxx + yyy * yyy); zz = ping->png_depth[i] + ping->png_xducer_depth; mb_xyz_to_takeoff(verbose,-xxx, yyy, ping->png_depth[i], &theta_bath,&phi_bath,error); phi = phi_bath; /* get depth_offset_use and static_shift for raytracing */ if (store->svp_num > 0) svpdepthstart = 0.01 * store->svp_depth_res * store->svp_depth[0]; else svpdepthstart = 0.0; depth_offset_use = ping->png_xducer_depth - ping->png_bheave[i]; if (depth_offset_use < svpdepthstart) static_shift = depth_offset_use - svpdepthstart; else static_shift = 0.0; /* find vertical takeoff angle that matches the position to within 1 mm */ iterx = 0; iterz = 0; theta_x = theta; thetamin = 0.0; thetamax = 90.0; dtheta = 0.0; dx = zz; dz = zz; zzcalc = zz; zzcalc_old = 0.0; done = MB_NO; while (iterx < 3 || done == MB_NO) { theta_old = theta_x; xxcalc_old = xxcalc; zzcalc_old = zzcalc; if (theta_x + dtheta > thetamin && theta_x + dtheta < thetamax) theta_x += dtheta; else if (dtheta < 0.0) theta_x = theta_x - 0.5 * (theta_x - thetamin); else if (dtheta > 0.0) theta_x = theta_x + 0.5 * (thetamax - theta_x); tt = 0.5 * ping->png_range[i]; mb_rt(verbose, (void *) mb_io_ptr->saveptr1, (depth_offset_use - static_shift), theta_x, tt, MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0, 0, NULL, NULL, NULL, &xxcalc, &zzcalc, &ttt, &ray_stat,error); zzcalc += static_shift; dx = xx - xxcalc; dz = zz - zzcalc; if (xxcalc > xx) thetamax = MIN(thetamax, theta_x); if (xxcalc < xx) thetamin = MAX(thetamin, theta_x); if (iterx == 0) { if (xxcalc > xx) { dtheta = -0.01; thetamax = MIN(thetamax, theta_x); } else { dtheta = 0.01; thetamin = MAX(thetamin, theta_x); } } else if (fabs(dx) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else if (fabs(xxcalc - xxcalc_old) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else { dtheta = (xx - xxcalc) * (theta_x - theta_old) / (xxcalc - xxcalc_old); } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH X1: iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f theta_x:%f theta_old:%f dtheta:%f min:%f max:%f\n", iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,theta_x,theta_old,dtheta,thetamin,thetamax); #endif iterx++; if (iterx >= MBR_EM710RAW_BATH_RECALC_NCALCMAX) done = MB_YES; } #ifdef MBR_EM710RAW_BATH_RECALC_TWEAK_ANGLE_RANGE /* calculate range adjustment to allow matching of both position and depth */ dr = dz * cos(DTR * theta_x); dt = 2.0 * dr / 1500.0; /* find vertical takeoff angle that matches the position to within 1 mm */ iterx = 0; iterz = 0; thetamin = 0.0; thetamax = 90.0; dtheta = 0.0; dx = zz; dz = zz; zzcalc = zz; zzcalc_old = 0.0; done = MB_NO; while (iterx < 3 || done == MB_NO) { theta_old = theta_x; xxcalc_old = xxcalc; zzcalc_old = zzcalc; if (theta_x + dtheta > thetamin && theta_x + dtheta < thetamax) theta_x += dtheta; else if (dtheta < 0.0) theta_x = theta_x - 0.5 * (theta_x - thetamin); else if (dtheta > 0.0) theta_x = theta_x + 0.5 * (thetamax - theta_x); tt = 0.5 * (ping->png_range[i] + dt); mb_rt(verbose, (void *) mb_io_ptr->saveptr1, (depth_offset_use - static_shift), theta_x, tt, MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0, 0, NULL, NULL, NULL, &xxcalc, &zzcalc, &ttt, &ray_stat,error); zzcalc += static_shift; dx = xx - xxcalc; dz = zz - zzcalc; if (xxcalc > xx) thetamax = MIN(thetamax, theta_x); if (xxcalc < xx) thetamin = MAX(thetamin, theta_x); if (iterx == 0) { if (xxcalc > xx) { dtheta = -0.01; thetamax = MIN(thetamax, theta_x); } else { dtheta = 0.01; thetamin = MAX(thetamin, theta_x); } } else if (fabs(dx) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else if (fabs(xxcalc - xxcalc_old) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else { dtheta = (xx - xxcalc) * (theta_x - theta_old) / (xxcalc - xxcalc_old); } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH X2: iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f theta_x:%f theta_old:%f dtheta:%f min:%f max:%f\n", iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,theta_x,theta_old,dtheta,thetamin,thetamax); #endif iterx++; if (iterx >= MBR_EM710RAW_BATH_RECALC_NCALCMAX) done = MB_YES; } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH X2: iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f dr:%f dt:%f theta_x:%f theta_old:%f dtheta:%f min:%f max:%f\n", iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,dr,dt,theta_x,theta_old,dtheta,thetamin,thetamax); #endif /* calculate range adjustment to allow matching of both position and depth */ dr = dz * cos(DTR * theta_x); dt += 2.0 * dr / 1500.0; /* find vertical takeoff angle that matches the position to within 1 mm */ iterx = 0; iterz = 0; thetamin = 0.0; thetamax = 90.0; dtheta = 0.0; dx = zz; dz = zz; zzcalc = zz; zzcalc_old = 0.0; done = MB_NO; while (iterx < 3 || done == MB_NO) { theta_old = theta_x; xxcalc_old = xxcalc; zzcalc_old = zzcalc; if (theta_x + dtheta > thetamin && theta_x + dtheta < thetamax) theta_x += dtheta; else if (dtheta < 0.0) theta_x = theta_x - 0.5 * (theta_x - thetamin); else if (dtheta > 0.0) theta_x = theta_x + 0.5 * (thetamax - theta_x); tt = 0.5 * (ping->png_range[i] + dt); mb_rt(verbose, (void *) mb_io_ptr->saveptr1, (depth_offset_use - static_shift), theta_x, tt, MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0, 0, NULL, NULL, NULL, &xxcalc, &zzcalc, &ttt, &ray_stat,error); zzcalc += static_shift; dx = xx - xxcalc; dz = zz - zzcalc; if (xxcalc > xx) thetamax = MIN(thetamax, theta_x); if (xxcalc < xx) thetamin = MAX(thetamin, theta_x); if (iterx == 0) { if (xxcalc > xx) { dtheta = -0.01; thetamax = MIN(thetamax, theta_x); } else { dtheta = 0.01; thetamin = MAX(thetamin, theta_x); } } else if (fabs(dx) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else if (fabs(xxcalc - xxcalc_old) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else { dtheta = (xx - xxcalc) * (theta_x - theta_old) / (xxcalc - xxcalc_old); } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH X3: iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f theta_x:%f theta_old:%f dtheta:%f min:%f max:%f\n", iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,theta_x,theta_old,dtheta,thetamin,thetamax); #endif iterx++; if (iterx >= MBR_EM710RAW_BATH_RECALC_NCALCMAX) done = MB_YES; } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH X3: iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f dr:%f dt:%f theta_x:%f theta_old:%f dtheta:%f min:%f max:%f\n", iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,dr,dt,theta_x,theta_old,dtheta,thetamin,thetamax); #endif /* calculate range adjustment to allow matching of both position and depth */ dr = dz * cos(DTR * theta_x); dt += 2.0 * dr / 1500.0; /* set final theta_new */ theta_new = theta_x; #else /* find vertical takeoff angle that matches the depth to within 1 mm */ iterx = 0; iterz = 0; theta_z = theta_x; thetamin = 0.0; thetamax = 90.0; dtheta = 0.0; dx = zz; dz = zz; zzcalc = zz; zzcalc_old = 0.0; done = MB_NO; while (iterz < 3 || done == MB_NO) { theta_old = theta_z; xxcalc_old = xxcalc; zzcalc_old = zzcalc; if (theta_z + dtheta > thetamin && theta_z + dtheta < thetamax) theta_z += dtheta; else if (dtheta < 0.0) theta_z = theta_z - 0.5 * (theta_z - thetamin); else if (dtheta > 0.0) theta_z = theta_z + 0.5 * (thetamax - theta_z); tt = 0.5 * ping->png_range[i]; mb_rt(verbose, (void *) mb_io_ptr->saveptr1, (depth_offset_use - static_shift), theta_z, tt, MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0, 0, NULL, NULL, NULL, &xxcalc, &zzcalc, &ttt, &ray_stat,error); zzcalc += static_shift; dx = xx - xxcalc; dz = zz - zzcalc; if (zzcalc < zz) thetamax = MIN(thetamax, theta_z); if (zzcalc > zz) thetamin = MAX(thetamin, theta_z); if (iterz == 0) { if (zzcalc < zz) { dtheta = -0.01; thetamax = MIN(thetamax, theta_z); } else { dtheta = 0.01; thetamin = MAX(thetamin, theta_z); } } else if (fabs(dz) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else if (fabs(zzcalc - zzcalc_old) < MBR_EM710RAW_BATH_RECALC_PRECISION) { dtheta = 0.0; done = MB_YES; } else { dtheta = (zz - zzcalc) * (theta_z - theta_old) / (zzcalc - zzcalc_old); } #ifdef MBR_EM710RAW_DEBUG2 fprintf(stderr," MATCH Z1: iterx:%d depth_offset:%f xxcalc:%f xx:%f dx:%f zzcalc:%f zz:%f dz:%f theta_z:%f theta_old:%f dtheta:%f min:%f max:%f\n", iterx,depth_offset_use,xxcalc,xx,dx,zzcalc,zz,dz,theta_z,theta_old,dtheta,thetamin,thetamax); #endif iterz++; if (iterz >= MBR_EM710RAW_BATH_RECALC_NCALCMAX) done = MB_YES; } weight = cos(DTR * theta) * cos (DTR * theta); theta_new = weight * theta_x + (1.0 - weight) * theta_z; #endif ping->png_depression[i] = theta_new; ping->png_azimuth[i] = phi; ping->png_range[i] += dt; mb_rt(verbose, (void *) mb_io_ptr->saveptr1, (depth_offset_use - static_shift), theta_new, 0.5 * (ping->png_range[i]), MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0, 0, NULL, NULL, NULL, &xxcalc, &zzcalc, &ttt, &ray_stat,error); zzcalc += static_shift; #ifdef MBR_EM710RAW_DEBUG2 if (*error == MB_ERROR_NO_ERROR) fprintf(stderr,"PING:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d BEAM:%d depth_offset_use:%f xducer_depth:%f bheave:%f angle:%f tt:%f mode:%d ssv:%f null:%f xx:%f %f zzcalc:%f %f tt:%f %f\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],i, depth_offset_use,ping->png_xducer_depth,ping->png_bheave[i],theta_new, 0.5*ping->png_range[i], MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0,xxcalc,xxcalc-xx,zzcalc,zzcalc-zz,ttt,dt); else fprintf(stderr,"PING:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d BEAM:%d depth_offset_use:%f xducer_depth:%f bheave:%f angle:%f tt:%f mode:%d ssv:%f null:%f FAIL ERROR CATASTROPHE\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],i, depth_offset_use,ping->png_xducer_depth,ping->png_bheave[i],theta_new, 0.5*ping->png_range[i], MBR_EM710RAW_BATH_RECALC_ANGLEMODE, soundspeed, 0.0); #endif /* fprintf(stderr,"Png:%6.6d:%3.3d SZ:%10.4f Ang:%9.5f Rng:%8.6f M:%d SV:%8.3f X:%10.4f %10.4f %10.4f Y:%10.4f %10.4f %10.4f Z:%10.4f %10.4f %10.4f\n", ping->png_count,i,depth_offset_use,theta_new,0.5*ping->png_range[i],MBR_EM710RAW_BATH_RECALC_ANGLEMODE,soundspeed, ping->png_acrosstrack[i],xxcalc*cos(DTR*(180.0 - ping->png_azimuth[i])),ping->png_acrosstrack[i]-xxcalc*cos(DTR*(180.0 - ping->png_azimuth[i])), ping->png_alongtrack[i],xxcalc*sin(DTR*(180.0 - ping->png_azimuth[i])),ping->png_alongtrack[i]-xxcalc*sin(DTR*(180.0 - ping->png_azimuth[i])), ping->png_depth[i]+ping->png_xducer_depth,zzcalc,ping->png_depth[i]+ping->png_xducer_depth-zzcalc);*/ /* calculate beamflag */ detection_mask = (mb_u_char) ping->png_raw_rxdetection[i]; if (((detection_mask & 128) == 128) && (((detection_mask & 32) == 32) || ((detection_mask & 24) == 24))) { ping->png_beamflag[i] = MB_FLAG_NULL; } else if ((detection_mask & 128) == 128) { ping->png_beamflag[i] = MB_FLAG_FLAG + MB_FLAG_SONAR; } else if (ping->png_clean[i] != 0) { ping->png_beamflag[i] = MB_FLAG_FLAG + MB_FLAG_SONAR; } else { ping->png_beamflag[i] = MB_FLAG_NONE; } } /* handle beams with zero travel times */ else { ping->png_beamflag[i] = MB_FLAG_NULL; ping->png_depression[i] = 0.0; ping->png_azimuth[i] = 0.0; ping->png_range[i] = 0.0; } } } /* generate processed sidescan */ ping->png_pixel_size = 0; ping->png_pixels_ss = 0; status = mbsys_simrad3_makess(verbose, mbio_ptr, store_ptr, MB_NO, pixel_size, MB_NO, swath_width, 1, error); } /* 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_em710raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_em710raw"; 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_em710raw_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_em710raw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_em710raw_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 *length; int good_end_bytes; int match; size_t 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; length = (int *) &mb_io_ptr->save8; record_size_char = (char *) &record_size; if (*expect_save_flag == MB_YES) { expect = *expect_save; first_type = *first_type_save; *expect_save_flag = MB_NO; } else { expect = 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_EM710RAW_DEBUG fprintf(stderr,"\nabove mbr_em710raw_rd_data loop:\n"); fprintf(stderr,"label_save_flag:%d status:%d\n",*label_save_flag,status); #endif /* if no label saved get next record label */ if (*label_save_flag == MB_NO) { /* read four byte record size */ read_len = 4; status = mb_fileio_get(verbose, mbio_ptr, (char *)&record_size, &read_len, error); #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"read record size:%d status:%d\n",record_size,status); #endif /* read label */ read_len = 4; status = mb_fileio_get(verbose, mbio_ptr, (char *)label, &read_len, error); /* check label - if not a good label read a byte at a time until a good label is found */ skip = 0; #ifdef MBR_EM710RAW_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_em710raw_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]; read_len = 1; status = mb_fileio_get(verbose, mbio_ptr, (char *)(&label[3]), &read_len, error); skip++; #ifdef MBR_EM710RAW_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_EM710RAW 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_EM710RAW 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 bytes 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_EM710RAW_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_EM710RAW_DEBUG fprintf(stderr,"\nstart of mbr_em710raw_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 || 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_EM710RAW_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_EM710RAW_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_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) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call nothing, try again\n"); #endif done = MB_NO; } else if (type == EM3_STATUS) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_status type %x\n",type); #endif status = mbr_em710raw_rd_status( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_start type %x\n",type); #endif status = mbr_em710raw_rd_start( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_run_parameter type %x\n",type); #endif status = mbr_em710raw_rd_run_parameter( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_clock type %x\n",type); #endif status = mbr_em710raw_rd_clock( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_tide type %x\n",type); #endif status = mbr_em710raw_rd_tide( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_height type %x\n",type); #endif status = mbr_em710raw_rd_height( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_heading type %x\n",type); #endif status = mbr_em710raw_rd_heading( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_ssv type %x\n",type); #endif status = mbr_em710raw_rd_ssv( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_tilt type %x\n",type); #endif status = mbr_em710raw_rd_tilt( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_attitude type %x\n",type); #endif status = mbr_em710raw_rd_attitude( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_netattitude type %x\n",type); #endif status = mbr_em710raw_rd_netattitude( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_pos type %x\n",type); #endif status = mbr_em710raw_rd_pos( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_svp type %x\n",type); #endif status = mbr_em710raw_rd_svp( verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_svp2 type %x\n",type); #endif status = mbr_em710raw_rd_svp2( verbose,mbio_ptr,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 && expect == EM3_SS2) { #ifdef MBR_EM710RAW_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) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_bath2 type %x\n",type); #endif status = mbr_em710raw_rd_bath2( verbose,mbio_ptr,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; expect = EM3_SS2; } else { done = MB_YES; expect = EM3_NONE; } } } else if (type == EM3_RAWBEAM4) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_rawbeam4 type %x\n",type); #endif status = mbr_em710raw_rd_rawbeam4( verbose,mbio_ptr,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_EM710RAW_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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_ss2 type %x\n",type); #endif status = mbr_em710raw_rd_ss2( verbose,mbio_ptr,swap,store,sonar,*length,&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_BATH2; } else { done = MB_YES; expect = EM3_NONE; } } /* salvage bath even if sidescan is corrupt */ else { if (first_type == EM3_BATH2 && match == MB_YES) { status = MB_SUCCESS; done = MB_YES; expect = EM3_NONE; } } } else if (type == EM3_WATERCOLUMN) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_rd_wc type %x\n",type); #endif status = mbr_em710raw_rd_wc( verbose,mbio_ptr,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_EM710RAW_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++) { read_len = 1; status = mb_fileio_get(verbose, mbio_ptr, (char *)&junk, &read_len, error); if (status == MB_FAILURE) 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_EM710RAW_DEBUG fprintf(stderr,"skip over %d unread bytes of supported datagram type %x\n", record_size - bytes_read, type); #endif for (i=0;ifile_bytes, mb_io_ptr->file_bytes, ftell(mbfp)); fprintf(stderr,"done:%d expect:%x status:%d error:%d\n", done, expect, status, *error); fprintf(stderr,"end of mbr_em710raw_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_em710raw_chk_label(int verbose, void *mbio_ptr, char *label, short *type, short *sonar) { char *function_name = "mbr_em710raw_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_EM710RAW_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_ON || typebyte == EM3_ID_ATTITUDE || typebyte == EM3_ID_NETATTITUDE || 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_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)) { 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_EM710RAW_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_em710raw_rd_status(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_status"; int status = MB_SUCCESS; char line[EM3_STATUS_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_STATUS_SIZE-4); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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_EM710RAW_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_em710raw_rd_start(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short type, short sonar, int *version, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_start"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD3_BUFFER_SIZE]; short short_val; size_t read_len; int 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_START_HEADER_SIZE); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[len], &read_len, error); if (status == MB_SUCCESS) { len++; } else { done = MB_YES; } 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 = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[0], &read_len, error); } /* if EM3_END not yet found then the next byte should be EM3_END */ if (line[0] != EM3_END) { read_len = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[0], &read_len, error); } /* 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 = (size_t)2; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[1], &read_len, error); /* 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_EM710RAW_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_EM710RAW_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_em710raw_rd_run_parameter(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_run_parameter"; int status = MB_SUCCESS; char line[EM3_RUN_PARAMETER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_RUN_PARAMETER_SIZE-4); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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_EM710RAW_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_em710raw_rd_clock(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_clock"; int status = MB_SUCCESS; char line[EM3_CLOCK_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_CLOCK_SIZE-4); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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_EM710RAW_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_em710raw_rd_tide(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_tide"; int status = MB_SUCCESS; char line[EM3_TIDE_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_TIDE_SIZE-4); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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_EM710RAW_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_em710raw_rd_height(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_height"; int status = MB_SUCCESS; char line[EM3_HEIGHT_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_HEIGHT_SIZE-4); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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_EM710RAW_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_em710raw_rd_heading(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_heading"; int status = MB_SUCCESS; struct mbsys_simrad3_heading_struct *heading; char line[EM3_HEADING_HEADER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)(EM3_HEADING_HEADER_SIZE); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)(EM3_HEADING_SLICE_SIZE); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXHEADING) { 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); } } heading->hed_ndata = MIN(heading->hed_ndata, MBSYS_SIMRAD3_MAXHEADING); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_ssv(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_ssv"; int status = MB_SUCCESS; struct mbsys_simrad3_ssv_struct *ssv; char line[EM3_SSV_HEADER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_SSV_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_SSV_SLICE_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXSSV) { 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); } } ssv->ssv_ndata = MIN(ssv->ssv_ndata, MBSYS_SIMRAD3_MAXSSV); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status != MB_SUCCESS) { /* 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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_tilt(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_tilt"; int status = MB_SUCCESS; struct mbsys_simrad3_tilt_struct *tilt; char line[EM3_TILT_HEADER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_TILT_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_TILT_SLICE_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXTILT) { 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); } } tilt->tlt_ndata = MIN(tilt->tlt_ndata, MBSYS_SIMRAD3_MAXTILT); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status != MB_SUCCESS) { /* 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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_attitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_attitude"; int status = MB_SUCCESS; struct mbsys_simrad3_attitude_struct *attitude; char line[EM3_ATTITUDE_HEADER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 - kind has to wait for the sensor descriptor value at the end of the record */ store->type = EM3_ATTITUDE; store->sonar = sonar; /* read binary header values into char array */ read_len = (size_t)EM3_ATTITUDE_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_ATTITUDE_SLICE_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXATTITUDE) { 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); } } attitude->att_ndata = MIN(attitude->att_ndata, MBSYS_SIMRAD3_MAXATTITUDE); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_netattitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_netattitude"; int status = MB_SUCCESS; struct mbsys_simrad3_netattitude_struct *netattitude; char line[MBSYS_SIMRAD3_BUFFER_SIZE]; short short_val; size_t read_len; 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_NETATTITUDE_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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) { for (i=0;inat_ndata && status == MB_SUCCESS;i++) { read_len = (size_t)EM3_NETATTITUDE_SLICE_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXATTITUDE) { 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 = (size_t)(netattitude->nat_nbyte_raw[i]); status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS) { for (j=0;jnat_nbyte_raw[i];j++) netattitude->nat_raw[i*MBSYS_SIMRAD3_BUFFER_SIZE+j] = line[j]; } } else { for (j=0;jnat_nbyte_raw[i];j++) { read_len = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); } netattitude->nat_nbyte_raw[i] = 0; } } } netattitude->nat_ndata = MIN(netattitude->nat_ndata, MBSYS_SIMRAD3_MAXATTITUDE); } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (line[0] != EM3_END) { read_len = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[1], &read_len, error); } else line[1] = EM3_END; read_len = (size_t)2; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[2], &read_len, error); if (status != MB_SUCCESS) { /* 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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_pos(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_pos"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD3_COMMENT_LENGTH]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_POS_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)store->pos_input_size; status = mb_fileio_get(verbose, mbio_ptr, (char *)store->pos_input, &read_len, error); if (status == MB_SUCCESS) { store->pos_input[store->pos_input_size] = '\0'; } } /* 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 = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && line[0] == EM3_END) { done = MB_YES; /* get last two check sum bytes */ read_len = (size_t)2; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[1], &read_len, error); *goodend = MB_YES; #ifdef MBR_EM710RAW_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 (status != MB_SUCCESS) { 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; *error = MB_ERROR_NO_ERROR; } } #ifdef MBR_EM710RAW_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_em710raw_rd_svp(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_svp"; int status = MB_SUCCESS; char line[EM3_SVP_HEADER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_SVP_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_SVP_SLICE_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXSVP) { 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 = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status != MB_SUCCESS) { /* 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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_svp2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_svp2"; int status = MB_SUCCESS; char line[EM3_SVP2_HEADER_SIZE]; short short_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_SVP2_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_SVP2_SLICE_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXSVP) { 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 = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status != MB_SUCCESS) { /* 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; *error = MB_ERROR_NO_ERROR; } if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_em710raw_rd_bath2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *match, short sonar, int version, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_bath2"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_BATH2_HEADER_SIZE]; short short_val; float float_val; int int_val; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_BATH2_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* get binary header data */ if (status == MB_SUCCESS) { mb_get_binary_int(swap, &line[0], &ping->png_date); store->date = ping->png_date; mb_get_binary_int(swap, &line[4], &ping->png_msec); store->msec = ping->png_msec; mb_get_binary_short(swap, &line[8], &short_val); ping->png_count = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[10], &short_val); ping->png_serial = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[12], &short_val); ping->png_heading = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[14], &short_val); ping->png_ssv = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[16], &float_val); ping->png_xducer_depth = float_val; mb_get_binary_short(swap, &line[20], &short_val); ping->png_nbeams = (int) ((unsigned short) short_val); mb_get_binary_short(swap, &line[22], &short_val); ping->png_nbeams_valid = (int) ((unsigned short) short_val); mb_get_binary_float(swap, &line[24], &float_val); ping->png_sample_rate = float_val; mb_get_binary_int(swap, &line[28], &int_val); ping->png_spare = int_val; #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"mbr_em710raw_rd_bath2: 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_EM710RAW_DEBUG fprintf(stderr,"mbr_em710raw_rd_bath2: 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 = (size_t)EM3_BATH2_BEAM_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXBEAMS) { 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; } } } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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_heading: %d\n",ping->png_heading); 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\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\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]); } /* 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_em710raw_rd_rawbeam4(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_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; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = (size_t)EM3_RAWBEAM4_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_RAWBEAM4_TX_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXTX) { 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; } } } /* read binary beam values */ if (status == MB_SUCCESS) { for (i=0;ipng_raw_nbeams && status == MB_SUCCESS;i++) { read_len = (size_t)EM3_RAWBEAM4_BEAM_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && i < MBSYS_SIMRAD3_MAXBEAMS) { 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]; } } /* zero out ranges that are NaN values - unfortunately this has actually happened in some R/V Langseth EM122 data from 20100616 */ for (i=0;ipng_raw_nbeams;i++) { if (check_fnan(ping->png_raw_rxrange[i])) ping->png_raw_rxrange[i] = 0.0; } } /* now get last bytes of record */ if (status == MB_SUCCESS) { read_len = (size_t)4; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (line[1] == EM3_END) *goodend = MB_YES; #ifdef MBR_EM710RAW_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 detection window quality spare1 range amp clean spare2\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_em710raw_rd_ss2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int length, int *match, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_ss2"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_SS2_HEADER_SIZE]; short short_val; float float_val; size_t read_len; int done; int junk_bytes; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 swap: %d\n",swap); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 sonar: %d\n",sonar); fprintf(stderr,"dbg2 length: %d\n",length); } /* set goodend false until a good end is found */ *goodend = MB_NO; /* get storage structure */ ping = (struct mbsys_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 = (size_t)EM3_SS2_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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); /*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 = (size_t)EM3_SS2_BEAM_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && 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; } } } /* check for no pixel data - frequently occurs with EM1002 */ if (length == EM3_SS2_HEADER_SIZE + ping->png_nbeams_ss * EM3_SS2_BEAM_SIZE + 8) { if (verbose > 0) fprintf(stderr, "WARNING: No Simrad multibeam sidescan pixels in data record!\n"); junk_bytes = 0; ping->png_npixels = 0; } /* check for too much pixel data */ if (ping->png_npixels > MBSYS_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 = (size_t)(2 * ping->png_npixels); status = mb_fileio_get(verbose, mbio_ptr, (char *)ping->png_ssraw, &read_len, error); } /* read any leftover binary sidescan values */ if (status == MB_SUCCESS) { for (i=0;ipng_date == ping->png_ss_date && ping->png_msec == ping->png_ss_msec) *match = MB_YES; else *match = MB_NO; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 type: %d\n",store->type); fprintf(stderr,"dbg5 sonar: %d\n",store->sonar); fprintf(stderr,"dbg5 date: %d\n",store->date); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 png_date: %d\n",ping->png_date); fprintf(stderr,"dbg5 png_msec: %d\n",ping->png_msec); fprintf(stderr,"dbg5 png_date: %d\n",ping->png_date); fprintf(stderr,"dbg5 png_msec: %d\n",ping->png_msec); fprintf(stderr,"dbg5 png_count: %d\n",ping->png_count); fprintf(stderr,"dbg5 png_serial: %d\n",ping->png_serial); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %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 wndw quality iba det clean amp\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\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]); 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]); } /* 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_em710raw_rd_wc(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, short sonar, int *goodend, int *error) { char *function_name = "mbr_em710raw_rd_wc"; int status = MB_SUCCESS; struct mbsys_simrad3_watercolumn_struct *wc; char line[EM3_WC_HEADER_SIZE]; short short_val; size_t read_len; int done; 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 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; /* read binary header values into char array */ read_len = (size_t)EM3_WC_HEADER_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); /* 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 = (size_t)EM3_WC_TX_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && 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]); } } for (i=0;iwtc_nbeam && status == MB_SUCCESS;i++) { read_len = (size_t)EM3_WC_BEAM_SIZE; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && 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 = (size_t)wc->beam[i].wtc_beam_samples; status = mb_fileio_get(verbose, mbio_ptr, (char *)wc->beam[i].wtc_amp, &read_len, error); } } /* 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 = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, (char *)line, &read_len, error); if (status == MB_SUCCESS && line[0] == EM3_END) { done = MB_YES; /* get last two check sum bytes */ read_len = (size_t)2; status = mb_fileio_get(verbose, mbio_ptr, (char *)&line[1], &read_len, error); *goodend = MB_YES; #ifdef MBR_EM710RAW_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 (status != MB_SUCCESS) { 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; *error = MB_ERROR_NO_ERROR; } } #ifdef MBR_EM710RAW_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_em710raw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_em710raw_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_EM710RAW_DEBUG fprintf(stderr,"\nstart of mbr_em710raw_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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_start kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_start(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_STATUS) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_status kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_status(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_RUN_PARAMETER) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_run_parameter kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_run_parameter(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_CLOCK) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_clock kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_clock(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_TIDE) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_tide kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_tide(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_HEIGHT) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_height kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_height(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_HEADING) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_heading kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_heading(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_SSV) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_ssv kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_ssv(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_TILT) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_tilt kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_tilt(verbose,mbio_ptr,swap,store,error); } else if ((store->kind == MB_DATA_ATTITUDE || store->kind == MB_DATA_ATTITUDE1) && store->type == EM3_ATTITUDE) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_attitude kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_attitude(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_ATTITUDE2 && store->type == EM3_NETATTITUDE) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_netattitude kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_netattitude(verbose,mbio_ptr,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_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_pos kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_pos(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_VELOCITY_PROFILE) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_svp kind:%d type %x\n",store->kind,store->type); #endif if (store->type == EM3_SVP) status = mbr_em710raw_wr_svp(verbose,mbio_ptr,swap,store,error); else status = mbr_em710raw_wr_svp2(verbose,mbio_ptr,swap,store,error); } else if (store->kind == MB_DATA_DATA) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_bath2 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_bath2(verbose,mbio_ptr,swap,store,error); if (ping->png_raw4_read == MB_YES) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_rawbeam4 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_rawbeam4(verbose,mbio_ptr,swap,store,error); } #ifdef MBR_EM710RAW_DEBUG if (ping->png_raw4_read == MB_NO) fprintf(stderr,"NOT call mbr_em710raw_wr_rawbeam4 kind:%d type %x\n",store->kind,store->type); #endif if (ping->png_ss2_read == MB_YES) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_ss2 kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_ss2(verbose,mbio_ptr,swap,store,error); } #ifdef MBR_EM710RAW_DEBUG else fprintf(stderr,"NOT call mbr_em710raw_wr_ss2 kind:%d type %x\n",store->kind,store->type); #endif } else if (store->kind == MB_DATA_WATER_COLUMN) { #ifdef MBR_EM710RAW_DEBUG fprintf(stderr,"call mbr_em710raw_wr_wc kind:%d type %x\n",store->kind,store->type); #endif status = mbr_em710raw_wr_wc(verbose,mbio_ptr,swap,store,error); } else { #ifdef MBR_EM710RAW_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_EM710RAW_DEBUG fprintf(stderr,"status:%d error:%d\n", status, *error); fprintf(stderr,"end of mbr_em710raw_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_em710raw_wr_start(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_start"; int status = MB_SUCCESS; char line[MBSYS_SIMRAD3_BUFFER_SIZE], *buff; int buff_len; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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_em710raw_wr_status(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_status"; int status = MB_SUCCESS; char line[EM3_STATUS_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM3_STATUS), (void *) &label); write_len = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_run_parameter(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_run_parameter"; int status = MB_SUCCESS; char line[EM3_RUN_PARAMETER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4;mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_clock(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_clock"; int status = MB_SUCCESS; char line[EM3_CLOCK_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_tide(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_tide"; int status = MB_SUCCESS; char line[EM3_TIDE_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; status = mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM3_TIDE), (void *) &label); write_len = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_height(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_height"; int status = MB_SUCCESS; char line[EM3_HEIGHT_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_heading(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_heading"; int status = MB_SUCCESS; struct mbsys_simrad3_heading_struct *heading; char line[EM3_HEADING_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 4; status = mb_fileio_put(verbose, mbio_ptr, line, &write_len, 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_em710raw_wr_ssv(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_ssv"; int status = MB_SUCCESS; struct mbsys_simrad3_ssv_struct *ssv; char line[EM3_SSV_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_tilt(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_tilt"; int status = MB_SUCCESS; struct mbsys_simrad3_tilt_struct *tilt; char line[EM3_TILT_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_attitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_attitude"; int status = MB_SUCCESS; struct mbsys_simrad3_attitude_struct *attitude; char line[EM3_ATTITUDE_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 4; status = mb_fileio_put(verbose, mbio_ptr, line, &write_len, 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_em710raw_wr_netattitude(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_netattitude"; int status = MB_SUCCESS; struct mbsys_simrad3_netattitude_struct *netattitude; char line[EM3_NETATTITUDE_SLICE_SIZE+MBSYS_SIMRAD3_BUFFER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; status = mb_fileio_put(verbose, mbio_ptr, line, &write_len, error); /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM3_NETATTITUDE), (void *) &label); write_len = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = EM3_NETATTITUDE_SLICE_SIZE+netattitude->nat_nbyte_raw[i]; status = mb_fileio_put(verbose, mbio_ptr, line, &write_len, error); } /* 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 = 4; status = mb_fileio_put(verbose, mbio_ptr, line, &write_len, error); } else { write_len = 3; status = mb_fileio_put(verbose, mbio_ptr, &line[1], &write_len, 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_em710raw_wr_pos(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_pos"; int status = MB_SUCCESS; char line[EM3_POS_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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, &write_len, error); } /* 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 = 3; status = mb_fileio_put(verbose, mbio_ptr, &line[1], &write_len, 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_em710raw_wr_svp(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_svp"; int status = MB_SUCCESS; char line[EM3_SVP_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_svp2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_svp2"; int status = MB_SUCCESS; char line[EM3_SVP2_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_bath2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_bath2"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_BATH2_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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_heading: %d\n",ping->png_heading); 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 dprsn azi rng qual wnd amp num\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\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]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_BATH2_HEADER_SIZE + EM3_BATH2_BEAM_SIZE * ping->png_nbeams + 8), (void *) &write_size); write_len = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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_BATH2), (void *) &label); write_len = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* compute checksum */ uchar_ptr = (mb_u_char *) &label; checksum += uchar_ptr[0]; checksum += uchar_ptr[1]; } /* output binary header data */ if (status == MB_SUCCESS) { mb_put_binary_int(swap, (int) ping->png_date, (void *) &line[0]); mb_put_binary_int(swap, (int) ping->png_msec, (void *) &line[4]); mb_put_binary_short(swap, (unsigned short) ping->png_count, (void *) &line[8]); mb_put_binary_short(swap, (unsigned short) ping->png_serial, (void *) &line[10]); mb_put_binary_short(swap, (unsigned short) ping->png_heading, (void *) &line[12]); mb_put_binary_short(swap, (unsigned short) ping->png_ssv, (void *) &line[14]); mb_put_binary_float(swap, (float) ping->png_xducer_depth, (void *) &line[16]); mb_put_binary_short(swap, (unsigned short) ping->png_nbeams, (void *) &line[20]); mb_put_binary_short(swap, (unsigned short) ping->png_nbeams_valid, (void *) &line[22]); mb_put_binary_float(swap, (float) ping->png_sample_rate, (void *) &line[24]); mb_put_binary_short(swap, (unsigned short) ping->png_spare, (void *) &line[28]); /* 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]); /* 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_em710raw_wr_rawbeam4(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_rawbeam4"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_RAWBEAM4_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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_em710raw_wr_ss2(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_ss2"; int status = MB_SUCCESS; struct mbsys_simrad3_ping_struct *ping; char line[EM3_SS2_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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_date: %d\n",ping->png_date); fprintf(stderr,"dbg5 png_msec: %d\n",ping->png_msec); fprintf(stderr,"dbg5 png_count: %d\n",ping->png_count); fprintf(stderr,"dbg5 png_serial: %d\n",ping->png_serial); fprintf(stderr,"dbg5 png_heading: %d\n",ping->png_heading); fprintf(stderr,"dbg5 png_ssv: %d\n",ping->png_ssv); fprintf(stderr,"dbg5 png_xducer_depth: %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 dprsn azi rng qual wnd amp num\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\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]); 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]); } /* zero checksum */ checksum = 0; /* write the record size */ mb_put_binary_int(swap, (int) (EM3_SS2_HEADER_SIZE + EM3_SS2_BEAM_SIZE * ping->png_nbeams_ss + ping->png_npixels - (ping->png_npixels % 2) + 8), (void *) &write_size); write_len = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); /* write the record label */ if (status == MB_SUCCESS) { mb_put_binary_short(swap, (short) (EM3_SS2), (void *) &label); write_len = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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]); /* 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, &write_len, error); } /* 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 = 3; status = mb_fileio_put(verbose, mbio_ptr, &line[1], &write_len, 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_em710raw_wr_wc(int verbose, void *mbio_ptr, int swap, struct mbsys_simrad3_struct *store, int *error) { char *function_name = "mbr_em710raw_wr_wc"; int status = MB_SUCCESS; struct mbsys_simrad3_watercolumn_struct *wc; char line[EM3_WC_HEADER_SIZE]; short label; size_t 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); 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 = 4; mb_fileio_put(verbose, mbio_ptr, (char *)&write_size, &write_len, error); 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = 2; status = mb_fileio_put(verbose, mbio_ptr, (char *)&label, &write_len, error); /* 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 = wc->beam[i].wtc_beam_samples; status = mb_fileio_put(verbose, mbio_ptr, wc->beam[i].wtc_amp, &write_len, error); } } /* 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 = 3+pad; status = mb_fileio_put(verbose, mbio_ptr, &line[!pad], &write_len, 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); } /*--------------------------------------------------------------------*/