/*-------------------------------------------------------------------- * The MB-system: mbr_hsatlraw.c 2/11/93 * $Id: mbr_hsatlraw.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1993-2012 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_hsatlraw.c contains the functions for reading and writing * multibeam data in the HSATLRAW format. * These functions include: * mbr_alm_hsatlraw - allocate read/write memory * mbr_dem_hsatlraw - deallocate read/write memory * mbr_rt_hsatlraw - read and translate data * mbr_wt_hsatlraw - translate and write data * * Author: D. W. Caress * Date: February 11, 1993 * $Log: mbr_hsatlraw.c,v $ * Revision 5.11 2006/09/11 18:55:52 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.10 2005/11/05 00:48:03 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.9 2004/05/22 06:00:07 caress * Release 5.0.4 * * Revision 5.8 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.5 2002/08/21 00:55:46 caress * Release 5.0.beta22 * * Revision 5.4 2002/05/02 03:55:34 caress * Release 5.0.beta17 * * Revision 5.3 2001/07/20 00:31:11 caress * Release 5.0.beta03 * * Revision 5.2 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.17 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.16 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.15 2000/03/06 21:54:21 caress * Added check for Hydrosweep Y2k problem - Ewing sonar * started putting out 1900 instead of 2000 in February 2000. * * Revision 4.14 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.13 1997/09/12 14:58:34 caress * Set size of tape block headers to exclude at 12 characters. * * Revision 4.12 1997/07/25 14:19:53 caress * Version 4.5beta2. * Much mucking, particularly with Simrad formats. * * Revision 4.11 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.10 1996/04/24 01:14:38 caress * Code now keeps any water sound velocity or position offset * data encountered in memory. * * Revision 4.10 1996/04/24 01:14:38 caress * Code now keeps any water sound velocity or position offset * data encountered in memory. * * Revision 4.9 1996/04/22 13:21:19 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.8 1995/07/26 14:45:39 caress * Fixed problems related to shallow water data. * * Revision 4.7 1995/07/13 21:40:28 caress * Fixed problem with scaling of center beam depths. * * Revision 4.6 1995/03/17 15:12:59 caress * Changes related to handling early, problematic * Ewing Hydrosweep data. * * Revision 4.5 1995/03/08 13:31:09 caress * Fixed bug related to handling of shallow water data and the depth scale. * * Revision 4.4 1995/03/06 19:38:54 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.3 1995/02/22 21:55:10 caress * Fixed reading of amplitude data from existing data. * * Revision 4.2 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.1 1994/05/21 02:23:29 caress * Made sure that mb_io_ptr->new_bath_alongtrack is set to zero on reading. * * Revision 4.1 1994/05/21 02:23:29 caress * Made sure that mb_io_ptr->new_bath_alongtrack is set to zero on reading. * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.3 1994/03/04 22:27:09 caress * Reduced output amplitude values by a factor of 10 so that * general range should be between 20 and 500, hopefully * enough to insure actual range between 1 and 999. * * Revision 4.2 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.1 1994/03/03 03:15:16 caress * Added simple processing of amplitude data as part of * reading. This will have to be improved, but its a start. * * Revision 4.0 1994/02/21 03:59:50 caress * First cut at new version. Altered to be consistent * with passing of three types of data: bathymetry, * amplitude, and sidescan. * * Revision 3.0 1993/05/14 22:55:16 sohara * initial version * */ /* standard include files */ #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mb_define.h" #include "../../include/mbsys_hsds.h" #include "../../include/mbf_hsatlraw.h" /* local defines */ #define ZERO_ALL 0 #define ZERO_SOME 1 /* essential function prototypes */ int mbr_register_hsatlraw(int verbose, void *mbio_ptr, int *error); int mbr_info_hsatlraw(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_hsatlraw(int verbose, void *mbio_ptr, int *error); int mbr_dem_hsatlraw(int verbose, void *mbio_ptr, int *error); int mbr_zero_hsatlraw(int verbose, void *data_ptr, int mode, int *error); int mbr_rt_hsatlraw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_hsatlraw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_hsatlraw_rd_label(int verbose, FILE *mbfp, char *line, int *type, int *shift, int *error); int mbr_hsatlraw_read_line(int verbose, FILE *mbfp, int minimum_size, char *line, int *error); int mbr_hsatlraw_rd_ergnhydi(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergnpara(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergnposi(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergneich(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergnmess(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergnslzt(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergnctds(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ergnampl(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_ldeocmnt(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error); int mbr_hsatlraw_rd_data(int verbose, void *mbio_ptr, int *error); int mbr_hsatlraw_wr_data(int verbose, void *mbio_ptr, void *data_ptr, int *error); int mbr_hsatlraw_wr_label(int verbose, FILE *mbfp, char type, int *error); int mbr_hsatlraw_write_line(int verbose, FILE *mbfp, char *line, int *error); int mbr_hsatlraw_wr_rawline(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnhydi(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnpara(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnposi(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergneich(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnmess(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnslzt(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnctds(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ergnampl(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_hsatlraw_wr_ldeocmnt(int verbose, FILE *mbfp, void *data_ptr, int *error); static char rcs_id[]="$Id: mbr_hsatlraw.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_hsatlraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_hsatlraw"; 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_hsatlraw(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_hsatlraw; mb_io_ptr->mb_io_format_free = &mbr_dem_hsatlraw; mb_io_ptr->mb_io_store_alloc = &mbsys_hsds_alloc; mb_io_ptr->mb_io_store_free = &mbsys_hsds_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_hsatlraw; mb_io_ptr->mb_io_write_ping = &mbr_wt_hsatlraw; mb_io_ptr->mb_io_dimensions = &mbsys_hsds_dimensions; mb_io_ptr->mb_io_extract = &mbsys_hsds_extract; mb_io_ptr->mb_io_insert = &mbsys_hsds_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_hsds_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_hsds_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_hsds_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_hsds_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_hsds_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_hsds_ttimes; mb_io_ptr->mb_io_detects = &mbsys_hsds_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_hsds_copy; mb_io_ptr->mb_io_extract_rawss = NULL; mb_io_ptr->mb_io_insert_rawss = NULL; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",mb_io_ptr->system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",mb_io_ptr->beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",mb_io_ptr->beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",mb_io_ptr->pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",mb_io_ptr->format_name); fprintf(stderr,"dbg2 system_name: %s\n",mb_io_ptr->system_name); fprintf(stderr,"dbg2 format_description: %s\n",mb_io_ptr->format_description); fprintf(stderr,"dbg2 numfile: %d\n",mb_io_ptr->numfile); fprintf(stderr,"dbg2 filetype: %d\n",mb_io_ptr->filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",mb_io_ptr->variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",mb_io_ptr->traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",mb_io_ptr->beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",mb_io_ptr->nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",mb_io_ptr->heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",mb_io_ptr->vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",mb_io_ptr->svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",mb_io_ptr->beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",mb_io_ptr->beamwidth_ltrack); fprintf(stderr,"dbg2 format_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %lu\n",(size_t)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %lu\n",(size_t)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %lu\n",(size_t)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %lu\n",(size_t)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %lu\n",(size_t)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %lu\n",(size_t)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %lu\n",(size_t)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %lu\n",(size_t)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %lu\n",(size_t)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %lu\n",(size_t)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %lu\n",(size_t)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %lu\n",(size_t)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 copyrecord: %lu\n",(size_t)mb_io_ptr->mb_io_copyrecord); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_info_hsatlraw(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_hsatlraw"; 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_HSDS; *beams_bath_max = 59; *beams_amp_max = 59; *pixels_ss_max = 0; strncpy(format_name, "HSATLRAW", MB_NAME_LENGTH); strncpy(system_name, "HSDS", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_HSATLRAW\nInformal Description: Raw Hydrosweep\nAttributes: Hydrosweep DS, bathymetry and amplitude, 59 beams,\n ascii, Atlas Electronik.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_NO; *traveltime = MB_YES; *beam_flagging = MB_NO; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 2.0; *beamwidth_ltrack = 2.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_alm_hsatlraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_hsatlraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_hsatlraw_struct *data; char *data_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set initial status */ status = MB_SUCCESS; /* allocate memory for data structure */ mb_io_ptr->structure_size = sizeof(struct mbf_hsatlraw_struct); mb_io_ptr->data_structure_size = 0; status = mb_malloc(verbose,mb_io_ptr->structure_size, &mb_io_ptr->raw_data,error); status = mb_malloc(verbose,sizeof(struct mbsys_hsds_struct), &mb_io_ptr->store_data,error); /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; data = (struct mbf_hsatlraw_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* initialize everything to zeros */ mbr_zero_hsatlraw(verbose,data_ptr,ZERO_ALL,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_hsatlraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_hsatlraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for data descriptor */ status = mb_free(verbose,&mb_io_ptr->raw_data,error); status = mb_free(verbose,&mb_io_ptr->store_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_zero_hsatlraw(int verbose, void *data_ptr, int mode, int *error) { char *function_name = "mbr_zero_hsatlraw"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); fprintf(stderr,"dbg2 mode: %d\n",mode); } /* get pointer to data descriptor */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* initialize everything to zeros */ if (data != NULL) { /* type of data record */ data->kind = MB_DATA_NONE; /* position (all records ) */ data->lon = 0.0; data->lat = 0.0; /* time stamp (all records ) */ data->year = 0; data->month = 0; data->day = 0; data->hour = 0; data->minute = 0; data->second = 0; data->alt_minute = 0; data->alt_second = 0; /* additional navigation and depths (ERGNMESS and ERGNEICH) */ data->course_true = 0.0; data->speed_transverse = 0.0; data->speed = 0.0; data->speed_reference[0] = '\0'; data->pitch = 0.0; data->track = 0; data->depth_center = 0.0; data->depth_scale = 0.0; data->spare = 0; for (i=0;idistance[i] = 0; data->depth[i] = 0; } /* travel time data (ERGNSLZT) */ data->course_ground = 0.0; data->speed_ground = 0.0; data->heave = 0.0; data->roll = 0.0; data->time_center = 0.0; data->time_scale = 0.0; for (i=0;itime[i] = 0; for (i=0;i<11;i++) data->gyro[i] = 0.0; /* amplitude data (ERGNAMPL) */ data->mode[0] = '\0'; data->trans_strbd = 0; data->trans_vert = 0; data->trans_port = 0; data->pulse_len_strbd = 0; data->pulse_len_vert = 0; data->pulse_len_port = 0; data->gain_start = 0; data->r_compensation_factor = 0; data->compensation_start = 0; data->increase_start = 0; data->tvc_near = 0; data->tvc_far = 0; data->increase_int_near = 0; data->increase_int_far = 0; data->gain_center = 0; data->filter_gain = 0.0; data->amplitude_center = 0; data->echo_duration_center = 0; data->echo_scale_center = 0; for (i=0;i<16;i++) { data->gain[i] = 0; data->echo_scale[i] = 0; } for (i=0;iamplitude[i] = 0; data->echo_duration[i] = 0; } /* these values zeroed only when structure is first allocated - this allows these values to be remembered internally once one of these occasional data records is encountered */ if (mode == ZERO_ALL) { /* mean velocity (ERGNHYDI) */ data->draught = 0.0; data->vel_mean = 0.0; data->vel_keel = 0.0; data->tide = 0.0; /* water velocity profile */ data->num_vel = 0; for (i=0;idepth[i] = 0; data->velocity[i] = 0; } /* navigation source (ERGNPOSI) */ data->pos_corr_x = 0.0; data->pos_corr_y = 0.0; strncpy(data->sensors,"POS",9); } /* comment (LDEOCOMM) */ strncpy(data->comment,"\0",MBF_HSATLRAW_MAXLINE); } /* assume success */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_rt_hsatlraw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_hsatlraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_hsatlraw_struct *data; struct mbsys_hsds_struct *store; double xx, rr, zz, tt; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor and data structures */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; data = (struct mbf_hsatlraw_struct *) mb_io_ptr->raw_data; store = (struct mbsys_hsds_struct *) store_ptr; /* read next data from file */ status = mbr_hsatlraw_rd_data(verbose,mbio_ptr,error); /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = data->kind; /* translate values to hydrosweep data storage structure */ if (status == MB_SUCCESS && store != NULL) { /* type of data record */ store->kind = data->kind; /* position (all records ) */ store->lon = data->lon; store->lat = data->lat; /* time stamp (all records ) */ store->year = data->year; store->month = data->month; store->day = data->day; store->hour = data->hour; store->minute = data->minute; store->second = data->second; store->alt_minute = data->alt_minute; store->alt_second = data->alt_second; /* additional navigation and depths (ERGNMESS and ERGNEICH) */ store->course_true = data->course_true; store->speed_transverse = data->speed_transverse; store->speed = data->speed; store->speed_reference[0] = data->speed_reference[0]; store->pitch = data->pitch; store->track = data->track; store->depth_center = data->depth_center; store->depth_scale = data->depth_scale; store->spare = data->spare; for (i=0;idistance[i] = data->distance[i]; store->depth[i] = data->depth[i]; } /* travel time data (ERGNSLZT) */ store->course_ground = data->course_ground; store->speed_ground = data->speed_ground; store->heave = data->heave; store->roll = data->roll; store->time_center = data->time_center; store->time_scale = data->time_scale; for (i=0;itime[i] = data->time[i]; for (i=0;i<11;i++) store->gyro[i] = data->gyro[i]; /* amplitude data (ERGNAMPL) */ store->mode[0] = data->mode[0]; store->trans_strbd = data->trans_strbd; store->trans_vert = data->trans_vert; store->trans_port = data->trans_port; store->pulse_len_strbd = data->pulse_len_strbd; store->pulse_len_vert = data->pulse_len_vert; store->pulse_len_port = data->pulse_len_port; store->gain_start = data->gain_start; store->r_compensation_factor = data->r_compensation_factor; store->compensation_start = data->compensation_start; store->increase_start = data->increase_start; store->tvc_near = data->tvc_near; store->tvc_far = data->tvc_far; store->increase_int_near = data->increase_int_near; store->increase_int_far = data->increase_int_far; store->gain_center = data->gain_center; store->filter_gain = data->filter_gain; store->amplitude_center = data->amplitude_center; store->echo_duration_center = data->echo_duration_center; store->echo_scale_center = data->echo_scale_center; for (i=0;iamplitude[i] = data->amplitude[i]; store->echo_duration[i] = data->echo_duration[i]; } for (i=0;igain[i] = data->gain[i]; store->echo_scale[i] = data->echo_scale[i]; } /* mean velocity (ERGNHYDI) */ store->draught = data->draught; store->vel_mean = data->vel_mean; store->vel_keel = data->vel_keel; store->tide = data->tide; /* water velocity profile (HS_ERGNCTDS) */ store->num_vel = data->num_vel; for (i=0;inum_vel;i++) { store->vdepth[i] = data->vdepth[i]; store->velocity[i] = data->velocity[i]; } /* navigation source (ERGNPOSI) */ store->pos_corr_x = data->pos_corr_x; store->pos_corr_y = data->pos_corr_y; strncpy(store->sensors,data->sensors,8); /* comment (LDEOCMNT) */ strncpy(store->comment,data->comment,MBSYS_HSDS_MAXLINE); /* processed backscatter */ store->back_scale = 1.0; for (i=0;iback[i] = mb_io_ptr->new_amp[i]; } /* deal with missing travel times if needed */ if (store->kind == MB_DATA_DATA) { if (store->vel_mean <= 0.0) store->vel_mean = 1500.0; if (store->vel_keel <= 0.0) store->vel_keel = 1500.0; if (store->time_scale == 0) store->time_scale = 0.01; if (store->time_center <= 0.0 && store->depth_center != 0.0) { rr = fabs(store->depth_center) + store->draught + store->heave; store->time_center = rr / store->vel_mean; } for (i=0;itime[i] <= 0 && store->depth[i] != 0) { zz = store->depth_scale * (fabs((double)store->depth[i]) + store->draught + store->heave); xx = store->depth_scale * store->distance[i]; rr = sqrt(xx * xx + zz * zz); tt = 2 * rr / store->vel_mean; store->time[i] = tt / store->time_scale; } } } } /* 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_hsatlraw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_hsatlraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_hsatlraw_struct *data; char *data_ptr; struct mbsys_hsds_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; store = (struct mbsys_hsds_struct *) store_ptr; /* first translate values from data storage structure */ if (store != NULL) { /* type of data record */ data->kind = store->kind; /* position (all records ) */ data->lon = store->lon; data->lat = store->lat; /* time stamp (all records ) */ data->year = store->year; data->month = store->month; data->day = store->day; data->hour = store->hour; data->minute = store->minute; data->second = store->second; data->alt_minute = store->alt_minute; data->alt_second = store->alt_second; /* additional navigation and depths (ERGNMESS and ERGNEICH) */ data->course_true = store->course_true; data->speed_transverse = store->speed_transverse; data->speed = store->speed; data->speed_reference[0] = store->speed_reference[0]; data->pitch = store->pitch; data->track = store->track; data->depth_center = store->depth_center; data->depth_scale = store->depth_scale; data->spare = store->spare; for (i=0;idistance[i] = store->distance[i]; data->depth[i] = store->depth[i]; } /* travel time data (ERGNSLZT) */ data->course_ground = store->course_ground; data->speed_ground = store->speed_ground; data->heave = store->heave; data->roll = store->roll; data->time_center = store->time_center; data->time_scale = store->time_scale; for (i=0;itime[i] = store->time[i]; for (i=0;i<11;i++) data->gyro[i] = store->gyro[i]; /* amplitude data (ERGNAMPL) */ data->mode[0] = store->mode[0]; data->trans_strbd = store->trans_strbd; data->trans_vert = store->trans_vert; data->trans_port = store->trans_port; data->pulse_len_strbd = store->pulse_len_strbd; data->pulse_len_vert = store->pulse_len_vert; data->pulse_len_port = store->pulse_len_port; data->gain_start = store->gain_start; data->r_compensation_factor = store->r_compensation_factor; data->compensation_start = store->compensation_start; data->increase_start = store->increase_start; data->tvc_near = store->tvc_near; data->tvc_far = store->tvc_far; data->increase_int_near = store->increase_int_near; data->increase_int_far = store->increase_int_far; data->gain_center = store->gain_center; data->filter_gain = store->filter_gain; data->amplitude_center = store->amplitude_center; data->echo_duration_center = store->echo_duration_center; data->echo_scale_center = store->echo_scale_center; for (i=0;iamplitude[i] = store->amplitude[i]; data->echo_duration[i] = store->echo_duration[i]; } for (i=0;igain[i] = store->gain[i]; data->echo_scale[i] = store->echo_scale[i]; } /* mean velocity (ERGNHYDI) */ data->draught = store->draught; data->vel_mean = store->vel_mean; data->vel_keel = store->vel_keel; data->tide = store->tide; /* water velocity profile (HS_ERGNCTDS) */ data->num_vel = store->num_vel; for (i=0;inum_vel;i++) { data->vdepth[i] = store->vdepth[i]; data->velocity[i] = store->velocity[i]; } /* navigation source (ERGNPOSI) */ data->pos_corr_x = store->pos_corr_x; data->pos_corr_y = store->pos_corr_y; strncpy(data->sensors,store->sensors,8); /* comment (LDEOCMNT) */ strncpy(data->comment,store->comment,MBSYS_HSDS_MAXLINE); } /* check that no bathymetry values are negative */ for (i=0;idepth[i] < 0) data->depth[i] = 0; } /* write next data to file */ status = mbr_hsatlraw_wr_data(verbose,mbio_ptr,data_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_data(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_hsatlraw_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_hsatlraw_struct *data; char *data_ptr; FILE *mbfp; int done; int expect; static int line_save_flag = MB_NO; static char raw_line[MBF_HSATLRAW_MAXLINE] = "\0"; static int type = MBF_HSATLRAW_NONE; static int shift = 0; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; mbfp = mb_io_ptr->mbfp; /* initialize everything to zeros */ mbr_zero_hsatlraw(verbose,data_ptr,ZERO_SOME,error); /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; done = MB_NO; expect = MBF_HSATLRAW_NONE; while (done == MB_NO) { /* get next record label */ if (line_save_flag == MB_NO) { mb_io_ptr->file_bytes = ftell(mbfp); status = mbr_hsatlraw_rd_label(verbose,mbfp, raw_line,&type,&shift,error); } else line_save_flag = MB_NO; /* read the appropriate data records */ if (status == MB_FAILURE && expect == MBF_HSATLRAW_NONE) { mb_io_ptr->file_bytes = ftell(mbfp); done = MB_YES; } else if (status == MB_FAILURE && expect != MBF_HSATLRAW_NONE) { mb_io_ptr->file_bytes = ftell(mbfp); done = MB_YES; *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else if (expect != MBF_HSATLRAW_NONE && expect != type) { done = MB_YES; line_save_flag = MB_YES; } else if (type == MBF_HSATLRAW_RAW_LINE) { strcpy(data->comment,raw_line+shift); mb_io_ptr->file_bytes = ftell(mbfp); done = MB_YES; data->kind = MB_DATA_RAW_LINE; *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } else if (type == MBF_HSATLRAW_ERGNHYDI) { status = mbr_hsatlraw_rd_ergnhydi( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_MEAN_VELOCITY; } } else if (type == MBF_HSATLRAW_ERGNPARA) { status = mbr_hsatlraw_rd_ergnpara( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_STANDBY; } } else if (type == MBF_HSATLRAW_ERGNPOSI) { status = mbr_hsatlraw_rd_ergnposi( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_NAV_SOURCE; } } else if (type == MBF_HSATLRAW_ERGNEICH) { status = mbr_hsatlraw_rd_ergneich( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_NO; data->kind = MB_DATA_CALIBRATE; expect = MBF_HSATLRAW_ERGNSLZT; } } else if (type == MBF_HSATLRAW_ERGNMESS) { status = mbr_hsatlraw_rd_ergnmess( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_NO; data->kind = MB_DATA_DATA; expect = MBF_HSATLRAW_ERGNSLZT; } } else if (type == MBF_HSATLRAW_ERGNSLZT) { status = mbr_hsatlraw_rd_ergnslzt( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS && expect == MBF_HSATLRAW_ERGNSLZT) { done = MB_NO; expect = MBF_HSATLRAW_ERGNAMPL; } else if (status == MB_SUCCESS) { done = MB_YES; expect = MBF_HSATLRAW_NONE; *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } } else if (type == MBF_HSATLRAW_ERGNCTDS) { status = mbr_hsatlraw_rd_ergnctds( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_VELOCITY_PROFILE; } } else if (type == MBF_HSATLRAW_ERGNAMPL) { status = mbr_hsatlraw_rd_ergnampl( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS && expect == MBF_HSATLRAW_ERGNAMPL) { done = MB_YES; expect = MBF_HSATLRAW_NONE; } else if (status == MB_SUCCESS) { done = MB_YES; expect = MBF_HSATLRAW_NONE; *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } } else if (type == MBF_HSATLRAW_LDEOCMNT) { status = mbr_hsatlraw_rd_ldeocmnt( verbose,mbfp,data,shift,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_COMMENT; } } } /* handle Hydrosweep Y2K problem */ if (status == MB_SUCCESS && data->year < 1962) data->year = 2000 + (data->year % 100); /* 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_hsatlraw_rd_label(int verbose, FILE *mbfp, char *line, int *type, int *shift, int *error) { char *function_name = "mbr_hsatlraw_rd_label"; int status = MB_SUCCESS; int i; int icmp; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); } /* read next line in file */ status = mbr_hsatlraw_read_line(verbose,mbfp,0,line,error); /* see if we just encountered an identifier record */ if (status == MB_SUCCESS) { *type = MBF_HSATLRAW_RAW_LINE; *shift = 0; for (i=1;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 line: %s\n",line); fprintf(stderr,"dbg2 type: %d\n",*type); fprintf(stderr,"dbg2 shift: %d\n",*shift); 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_hsatlraw_read_line(int verbose, FILE *mbfp, int minimum_size, char *line, int *error) { char *function_name = "mbr_hsatlraw_read_line"; int status = MB_SUCCESS; int nchars; int done; char *result; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); } /* read next good line in file */ done = MB_NO; do { /* read next line in file */ strncpy(line,"\0",MBF_HSATLRAW_MAXLINE); result = fgets(line,MBF_HSATLRAW_MAXLINE,mbfp); /* check size of line */ nchars = strlen(line); /* check for eof */ if (result == line) { if (nchars >= minimum_size) done = MB_YES; *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { done = MB_YES; *error = MB_ERROR_EOF; status = MB_FAILURE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 New line read in function <%s>\n",function_name); fprintf(stderr,"dbg5 line: %s\n",line); fprintf(stderr,"dbg5 chars: %d\n",nchars); } } while (done == MB_NO); /* 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 line: %s\n",line); 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_hsatlraw_rd_ergnhydi(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnhydi"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 69 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from first line */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_int( &(data->alt_minute), line+38+shift, 5); mb_get_int( &(data->alt_second), line+43+shift, 2); mb_get_double( &(data->draught), line+45+shift, 4); mb_get_double( &(data->vel_mean), line+49+shift, 7); mb_get_double( &(data->vel_keel), line+56+shift, 7); mb_get_double( &(data->tide), line+63+shift, 6); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 draught: %f\n", data->draught); fprintf(stderr,"dbg5 mean velocity: %f\n", data->vel_mean); fprintf(stderr,"dbg5 keel velocity: %f\n", data->vel_keel); fprintf(stderr,"dbg5 tide: %f\n",data->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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_ergnpara(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnpara"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 84 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from first line */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_int( &(data->alt_minute), line+38+shift, 5); mb_get_int( &(data->alt_second), line+43+shift, 2); mb_get_double( &(data->course_true),line+45+shift, 5); mb_get_double( &(data->speed_transverse), line+50+shift, 9); mb_get_double( &(data->speed), line+59+shift, 9); data->speed_reference[0] = line[68+shift]; mb_get_double( &(data->pitch), line+69+shift, 4); mb_get_int( &(data->track), line+73+shift, 4); mb_get_double( &(data->depth_center),line+77+shift, 7); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 speed_transverse: %f\n", data->speed_transverse); fprintf(stderr,"dbg5 speed: %f\n", data->speed); fprintf(stderr,"dbg5 speed_reference: %c\n", data->speed_reference[0]); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 track: %d\n", data->track); fprintf(stderr,"dbg5 depth_center: %f\n", data->depth_center); } /* 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_hsatlraw_rd_ergnposi(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnposi"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 67 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from first line */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_int( &(data->alt_minute), line+38+shift, 5); mb_get_int( &(data->alt_second), line+43+shift, 2); mb_get_double( &(data->pos_corr_x), line+45+shift, 7); mb_get_double( &(data->pos_corr_y), line+52+shift, 7); strncpy(data->sensors,line+59+shift,8); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 pos_corr_x: %f\n", data->pos_corr_x); fprintf(stderr,"dbg5 pos_corr_y: %f\n", data->pos_corr_y); fprintf(stderr,"dbg5 sensors: %s\n", data->sensors); } /* 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_hsatlraw_rd_ergneich(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergneich"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; int i; int numvals; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 90 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from event record */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_int( &(data->alt_minute), line+38+shift, 5); mb_get_int( &(data->alt_second), line+43+shift, 2); mb_get_double( &(data->course_true),line+45+shift, 5); mb_get_double( &(data->speed_transverse), line+50+shift, 9); mb_get_double( &(data->speed), line+59+shift, 9); data->speed_reference[0] = line[68+shift]; mb_get_double( &(data->pitch), line+69+shift, 4); mb_get_int( &(data->track), line+73+shift, 4); mb_get_double( &(data->depth_center),line+77+shift, 7); mb_get_double( &(data->depth_scale),line+84+shift, 4); mb_get_int( &(data->spare),line+88+shift, 2); if (data->depth_scale > 0.0) data->depth[29] = (int) (data->depth_center/data->depth_scale); else data->depth[29] = (int) data->depth_center; data->distance[29] = 0; } /* read and parse data from first data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idistance[i+30]),line+i*4+2+shift,4); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from second data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idepth[i+30]),line+i*4+2+shift,4); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from third data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idistance[28-i]),line+i*4+2+shift,4); data->distance[28-i] = -data->distance[28-i]; } else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from fourth data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idepth[28-i]),line+i*4+2+shift,4); 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 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 speed_transverse: %f\n", data->speed_transverse); fprintf(stderr,"dbg5 speed: %f\n", data->speed); fprintf(stderr,"dbg5 speed_reference: %c\n", data->speed_reference[0]); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 track: %d\n", data->track); fprintf(stderr,"dbg5 depth_center: %f\n", data->depth_center); fprintf(stderr,"dbg5 depth_scale: %f\n", data->depth_scale); fprintf(stderr,"dbg5 spare: %d\n", data->spare); fprintf(stderr,"dbg5 distances and depths:\n"); for (i=0;idistance[i],data->depth[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_ergnmess(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnmess"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; int numvals; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (status == MB_SUCCESS && (strlen(line) < 90 + shift || strlen(line) > 92 + shift)) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from event record */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_int( &(data->alt_minute), line+38+shift, 5); mb_get_int( &(data->alt_second), line+43+shift, 2); mb_get_double( &(data->course_true),line+45+shift, 5); mb_get_double( &(data->speed_transverse), line+50+shift, 9); mb_get_double( &(data->speed), line+59+shift, 9); data->speed_reference[0] = line[68+shift]; mb_get_double( &(data->pitch), line+69+shift, 4); mb_get_int( &(data->track), line+73+shift, 4); mb_get_double( &(data->depth_center),line+77+shift, 7); mb_get_double( &(data->depth_scale),line+84+shift, 4); mb_get_int( &(data->spare),line+88+shift, 2); if (data->depth_scale > 0.0) data->depth[29] = (int) (data->depth_center/data->depth_scale); else data->depth[29] = (int) data->depth_center; data->distance[29] = 0; } /* read and parse data from first data record */ if (status == MB_SUCCESS && (status = mbr_hsatlraw_read_line(verbose,mbfp, shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idistance[i+30]), line+i*4+2+shift,4); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from second data record */ if (status == MB_SUCCESS && (status = mbr_hsatlraw_read_line(verbose,mbfp, shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idepth[i+30]), line+i*4+2+shift,4); } else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from third data record */ if (status == MB_SUCCESS && (status = mbr_hsatlraw_read_line(verbose,mbfp, shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idistance[28-i]), line+i*4+2+shift,4); data->distance[28-i] = -data->distance[28-i]; } else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from fourth data record */ if (status == MB_SUCCESS && (status = mbr_hsatlraw_read_line(verbose,mbfp, shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;idepth[28-i]), line+i*4+2+shift,4); } 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 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 speed_transverse: %f\n", data->speed_transverse); fprintf(stderr,"dbg5 speed: %f\n", data->speed); fprintf(stderr,"dbg5 speed_reference: %c\n", data->speed_reference[0]); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 track: %d\n", data->track); fprintf(stderr,"dbg5 depth_center: %f\n", data->depth_center); fprintf(stderr,"dbg5 depth_scale: %f\n", data->depth_scale); fprintf(stderr,"dbg5 spare: %d\n", data->spare); fprintf(stderr,"dbg5 distances and depths:\n"); for (i=0;idistance[i],data->depth[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_ergnslzt(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnslzt"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; int i; int numvals; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 84 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from event record */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_double( &(data->course_true),line+38+shift, 5); mb_get_double( &(data->course_ground),line+43+shift,5); mb_get_double( &(data->speed_ground),line+48+shift, 9); mb_get_double( &(data->heave), line+57+shift, 6); mb_get_double( &(data->pitch), line+63+shift, 4); mb_get_double( &(data->roll), line+67+shift, 5); mb_get_double( &(data->time_center),line+72+shift, 6); mb_get_double( &(data->time_scale), line+78+shift, 6); data->time[29] = (int) (0.0001*(data->time_center) /(data->time_scale)); } /* read and parse data from first data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;itime[i+30]),line+i*4+2+shift,4); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from second data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { mb_get_int(&numvals,line+shift,2); if (numvals == 29) for (i=0;itime[28-i]),line+i*4+2+shift,4); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from third data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { for (i=0;i<11;i++) mb_get_double(&(data->gyro[i]),line+i*5+shift,5); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 course_ground: %f\n", data->course_ground); fprintf(stderr,"dbg5 speed_ground: %f\n", data->speed_ground); fprintf(stderr,"dbg5 heave: %f\n", data->heave); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 roll: %f\n", data->roll); fprintf(stderr,"dbg5 time_center: %f\n", data->depth_center); fprintf(stderr,"dbg5 time_scale: %f\n", data->time_scale); fprintf(stderr,"dbg5 travel times:\n"); for (i=0;itime[i]); fprintf(stderr,"dbg5 gyro headings:\n"); for (i=0;i<11;i++) fprintf(stderr,"dbg5 %d %f\n", i,data->gyro[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_ergnctds(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnctds"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; int i, j, k; int nlines; int numvals; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 40 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from event record */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); mb_get_int( &(data->num_vel), line+38+shift, 2); } if (status == MB_SUCCESS) { /* figure out how many lines to read */ if (data->num_vel > MBF_HSATLRAW_MAXVEL) data->num_vel = MBF_HSATLRAW_MAXVEL; nlines = data->num_vel/10; if (data->num_vel%10 > 0) nlines++; } /* read and parse data records from file */ for (i=0;inum_vel%10; for (j=0;jvdepth[k]), line+j*11+shift,5); mb_get_double(&(data->velocity[k]), line+j*11+5+shift,6); } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 num_vel: %d\n", data->num_vel); fprintf(stderr,"dbg5 water depths and velocities:\n"); for (i=0;i<11;i++) fprintf(stderr,"dbg5 %d %f %f\n", i,data->vdepth[i],data->velocity[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_ergnampl(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ergnampl"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; int i; int numvals; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read event record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error); /* make sure line is long enough */ if (strlen(line) < 90 + shift) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* parse data from event record */ if (status == MB_SUCCESS) { mb_get_double( &(data->lon), line+shift, 12); mb_get_double( &(data->lat), line+12+shift, 12); mb_get_int( &(data->year), line+24+shift, 4); mb_get_int( &(data->month), line+28+shift, 2); mb_get_int( &(data->day), line+30+shift, 2); mb_get_int( &(data->hour), line+32+shift, 2); mb_get_int( &(data->minute), line+34+shift, 2); mb_get_int( &(data->second), line+36+shift, 2); data->mode[0] = line[38+shift]; mb_get_int( &(data->trans_strbd),line+39+shift, 3); mb_get_int( &(data->trans_vert), line+42+shift, 3); mb_get_int( &(data->trans_port), line+45+shift, 3); mb_get_int( &(data->pulse_len_strbd),line+48+shift,2); mb_get_int( &(data->pulse_len_vert),line+50+shift,2); mb_get_int( &(data->pulse_len_port),line+52+shift,2); mb_get_int( &(data->gain_start), line+54+shift, 2); mb_get_int( &(data->r_compensation_factor),line+56+shift,2); mb_get_int( &(data->compensation_start),line+58+shift,4); mb_get_int( &(data->increase_start),line+62+shift,5); mb_get_int( &(data->tvc_near), line+67+shift, 2); mb_get_int( &(data->tvc_far), line+69+shift, 2); mb_get_int( &(data->increase_int_near),line+71+shift,3); mb_get_int( &(data->increase_int_far),line+74+shift,3); mb_get_int( &(data->gain_center),line+77+shift, 1); mb_get_double( &(data->filter_gain),line+78+shift, 5); mb_get_int( &(data->amplitude_center),line+83+shift,3); mb_get_int( &(data->echo_duration_center),line+86+shift,3); mb_get_int( &(data->echo_scale_center),line+89+shift,1); data->amplitude[29] = data->amplitude_center; data->echo_duration[29] = (int) data->echo_duration_center; } /* read and parse data from first data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { for (i=0;i<8;i++) mb_get_int(&(data->gain[i+8]),line+i+shift,1); mb_get_int(&numvals,line+8+shift,2); if (numvals == 29) for (i=0;iamplitude[i+30]), line+i*3+10+shift,3); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from second data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { for (i=0;i<8;i++) mb_get_int(&(data->gain[i]),line+i+shift,1); mb_get_int(&numvals,line+8+shift,2); if (numvals == 29) for (i=0;iamplitude[28-i]), line+i*3+10+shift,3); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from third data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { for (i=0;i<8;i++) mb_get_int(&(data->echo_scale[i+8]),line+1+shift,1); mb_get_int(&numvals,line+8+shift,2); if (numvals == 29) for (i=0;iecho_duration[i+30]), line+i*3+10+shift,3); else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* read and parse data from fourth data record */ if ((status = mbr_hsatlraw_read_line(verbose,mbfp,shift+9,line,error)) == MB_SUCCESS) { for (i=0;i<8;i++) mb_get_int(&(data->echo_scale[i]),line+1+shift,1); mb_get_int(&numvals,line+8+shift,2); if (numvals == 29) for (i=0;iecho_duration[28-i]), line+i*3+10+shift,3); 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 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 mode: %c\n", data->mode[0]); fprintf(stderr,"dbg5 trans_strbd: %d\n", data->trans_strbd); fprintf(stderr,"dbg5 trans_vert: %d\n", data->trans_vert); fprintf(stderr,"dbg5 trans_port: %d\n", data->trans_port); fprintf(stderr,"dbg5 pulse_len_strbd: %d\n", data->pulse_len_strbd); fprintf(stderr,"dbg5 pulse_len_vert: %d\n", data->pulse_len_vert); fprintf(stderr,"dbg5 pulse_len_port: %d\n", data->pulse_len_port); fprintf(stderr,"dbg5 gain_start: %d\n", data->gain_start); fprintf(stderr,"dbg5 r_comp_factor: %d\n", data->r_compensation_factor); fprintf(stderr,"dbg5 comp_start: %d\n", data->compensation_start); fprintf(stderr,"dbg5 increase_start: %d\n", data->increase_start); fprintf(stderr,"dbg5 tvc_near: %d\n", data->tvc_near); fprintf(stderr,"dbg5 increase_start: %d\n", data->increase_start); fprintf(stderr,"dbg5 tvc_far: %d\n", data->tvc_far); fprintf(stderr,"dbg5 increase_int_near:%d\n", data->increase_int_near); fprintf(stderr,"dbg5 increase_int_far: %d\n", data->increase_int_far); fprintf(stderr,"dbg5 gain_center: %d\n", data->gain_center); fprintf(stderr,"dbg5 filter_gain: %f\n", data->filter_gain); fprintf(stderr,"dbg5 amplitude_center: %d\n", data->amplitude_center); fprintf(stderr,"dbg5 echo_dur_center: %d\n", data->echo_duration_center); fprintf(stderr,"dbg5 echo_scal_center: %d\n", data->echo_scale_center); fprintf(stderr,"dbg5 amplitudes and echo durations:\n"); for (i=0;iamplitude[i],data->echo_duration[i]); fprintf(stderr,"dbg5 gains and echo scales:\n"); for (i=0;i<16;i++) fprintf(stderr,"dbg5 %d %d %d\n", i,data->gain[i],data->echo_scale[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_rd_ldeocmnt(int verbose, FILE *mbfp, struct mbf_hsatlraw_struct *data, int shift, int *error) { char *function_name = "mbr_hsatlraw_rd_ldeocmnt"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; int nchars; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); fprintf(stderr,"dbg2 shift: %d\n",shift); } /* read comment record from file */ status = mbr_hsatlraw_read_line(verbose,mbfp,shift,line,error); /* copy comment into data structure */ if (status == MB_SUCCESS) { nchars = strlen(line+shift); strncpy(data->comment,line+shift,nchars-1); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Value read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n", data->comment); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_wr_data(int verbose, void *mbio_ptr, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_hsatlraw_struct *data; FILE *mbfp; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; mbfp = mb_io_ptr->mbfp; if (data->kind == MB_DATA_RAW_LINE) { status = mbr_hsatlraw_wr_rawline(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_DATA) { status = mbr_hsatlraw_wr_ergnmess(verbose,mbfp,data_ptr,error); status = mbr_hsatlraw_wr_ergnslzt(verbose,mbfp,data_ptr,error); status = mbr_hsatlraw_wr_ergnampl(verbose,mbfp,data_ptr,error); } else if (data->kind == MB_DATA_CALIBRATE) { status = mbr_hsatlraw_wr_ergneich(verbose,mbfp,data_ptr,error); status = mbr_hsatlraw_wr_ergnslzt(verbose,mbfp,data_ptr,error); status = mbr_hsatlraw_wr_ergnampl(verbose,mbfp,data_ptr,error); } else if (data->kind == MB_DATA_MEAN_VELOCITY) { status = mbr_hsatlraw_wr_ergnhydi(verbose,mbfp,data_ptr,error); } else if (data->kind == MB_DATA_VELOCITY_PROFILE) { status = mbr_hsatlraw_wr_ergnctds(verbose,mbfp,data_ptr,error); } else if (data->kind == MB_DATA_STANDBY) { status = mbr_hsatlraw_wr_ergnpara(verbose,mbfp,data_ptr,error); } else if (data->kind == MB_DATA_NAV_SOURCE) { status = mbr_hsatlraw_wr_ergnposi(verbose,mbfp,data_ptr,error); } else if (data->kind == MB_DATA_COMMENT) { status = mbr_hsatlraw_wr_ldeocmnt(verbose,mbfp,data_ptr,error); } else { status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* print output debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Data record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",data->kind); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsatlraw_wr_label(int verbose, FILE *mbfp, char type, int *error) { char *function_name = "mbr_hsatlraw_wr_label"; int status = MB_SUCCESS; char line[MBF_HSATLRAW_MAXLINE]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 type: %d\n",type); } /* write label in file */ sprintf(line,"%8s\n",mbf_hsatlraw_labels[(int)type]); status = mbr_hsatlraw_write_line(verbose,mbfp,line,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_hsatlraw_write_line(int verbose, FILE *mbfp, char *line, int *error) { char *function_name = "mbr_hsatlraw_write_line"; 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); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 line: %s\n",line); } /* write next line in file */ if ((status = fputs(line,mbfp)) != EOF) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* 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_hsatlraw_wr_rawline(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_rawline"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 raw line: %s\n", data->comment); } /* write out the data */ if (status == MB_SUCCESS) { /* output the line */ status = fprintf(mbfp,"%s\n",data->comment); if (status >= 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnhydi(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnhydi"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 draught: %f\n", data->draught); fprintf(stderr,"dbg5 mean velocity: %f\n", data->vel_mean); fprintf(stderr,"dbg5 keel velocity: %f\n", data->vel_keel); fprintf(stderr,"dbg5 tide: %f\n",data->tide); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNHYDI,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%5d",data->alt_minute); status = fprintf(mbfp,"%2d",data->alt_second); status = fprintf(mbfp,"%4.1f",data->draught); status = fprintf(mbfp,"%7.2f",data->vel_mean); status = fprintf(mbfp,"%7.2f",data->vel_keel); status = fprintf(mbfp,"%+06.2f\n",data->tide); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnpara(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnpara"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 speed_transverse: %f\n", data->speed_transverse); fprintf(stderr,"dbg5 speed: %f\n", data->speed); fprintf(stderr,"dbg5 speed_reference: %c\n", data->speed_reference[0]); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 track: %d\n", data->track); fprintf(stderr,"dbg5 depth_center: %f\n", data->depth_center); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNPARA,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%5d",data->alt_minute); status = fprintf(mbfp,"%2d",data->alt_second); status = fprintf(mbfp,"%5.1f",data->course_true); status = fprintf(mbfp,"%+9.1f",data->speed_transverse); status = fprintf(mbfp,"%+9.1f",data->speed); status = fprintf(mbfp,"%c",data->speed_reference[0]); status = fprintf(mbfp,"%+4.1f",data->pitch); status = fprintf(mbfp,"%4.4d",data->track); status = fprintf(mbfp,"%7.1f\n",data->depth_center); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnposi(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnposi"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 pos_corr_x: %f\n", data->pos_corr_x); fprintf(stderr,"dbg5 pos_corr_y: %f\n", data->pos_corr_y); fprintf(stderr,"dbg5 sensors: %s\n", data->sensors); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNPOSI,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%5d",data->alt_minute); status = fprintf(mbfp,"%2d",data->alt_second); status = fprintf(mbfp,"%7.0f",data->pos_corr_x); status = fprintf(mbfp,"%7.0f",data->pos_corr_y); status = fprintf(mbfp,"%8s\n",data->sensors); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergneich(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergneich"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 speed_transverse: %f\n", data->speed_transverse); fprintf(stderr,"dbg5 speed: %f\n", data->speed); fprintf(stderr,"dbg5 speed_reference: %c\n", data->speed_reference[0]); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 track: %d\n", data->track); fprintf(stderr,"dbg5 depth_center: %f\n", data->depth_center); fprintf(stderr,"dbg5 depth_scale: %f\n", data->depth_scale); fprintf(stderr,"dbg5 spare: %d\n", data->spare); fprintf(stderr,"dbg5 distances and depths:\n"); for (i=0;idistance[i],data->depth[i]); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNEICH,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%5d",data->alt_minute); status = fprintf(mbfp,"%2d",data->alt_second); status = fprintf(mbfp,"%5.1f",data->course_true); status = fprintf(mbfp,"%+9.1f",data->speed_transverse); status = fprintf(mbfp,"%+9.1f",data->speed); status = fprintf(mbfp,"%c",data->speed_reference[0]); status = fprintf(mbfp,"%+4.1f",data->pitch); status = fprintf(mbfp,"%4.4d",data->track); status = fprintf(mbfp,"%7.1f",data->depth_center); status = fprintf(mbfp,"%4.2f",data->depth_scale); status = fprintf(mbfp,"%2d\n",data->spare); /* output forward distances */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->distance[i+30]); status = fprintf(mbfp,"\n"); /* output forward depths */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->depth[i+30]); status = fprintf(mbfp,"\n"); /* output aft distances */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",(-data->distance[28-i])); status = fprintf(mbfp,"\n"); /* output aft depths */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->depth[28-i]); status = fprintf(mbfp,"\n"); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnmess(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnmess"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 alt minute: %d\n", data->alt_minute); fprintf(stderr,"dbg5 alt second: %d\n", data->alt_second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 speed_transverse: %f\n", data->speed_transverse); fprintf(stderr,"dbg5 speed: %f\n", data->speed); fprintf(stderr,"dbg5 speed_reference: %c\n", data->speed_reference[0]); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 track: %d\n", data->track); fprintf(stderr,"dbg5 depth_center: %f\n", data->depth_center); fprintf(stderr,"dbg5 depth_scale: %f\n", data->depth_scale); fprintf(stderr,"dbg5 spare: %d\n", data->spare); fprintf(stderr,"dbg5 distances and depths:\n"); for (i=0;idistance[i],data->depth[i]); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNMESS,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%5d",data->alt_minute); status = fprintf(mbfp,"%2d",data->alt_second); status = fprintf(mbfp,"%5.1f",data->course_true); status = fprintf(mbfp,"%+9.1f",data->speed_transverse); status = fprintf(mbfp,"%+9.1f",data->speed); status = fprintf(mbfp,"%c",data->speed_reference[0]); status = fprintf(mbfp,"%+4.1f",data->pitch); status = fprintf(mbfp,"%4.4d",data->track); status = fprintf(mbfp,"%7.1f",data->depth_center); status = fprintf(mbfp,"%4.2f",data->depth_scale); status = fprintf(mbfp,"%2d\n",data->spare); /* output starboard crosstrack distances */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->distance[i+30]); status = fprintf(mbfp,"\n"); /* output starboard crosstrack depths */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->depth[i+30]); status = fprintf(mbfp,"\n"); /* output port crosstrack distances */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",(-data->distance[28-i])); status = fprintf(mbfp,"\n"); /* output port crosstrack depths */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->depth[28-i]); status = fprintf(mbfp,"\n"); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnslzt(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnslzt"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; int datacheck; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* check if there are data to output */ datacheck = MB_NO; for (i=0;itime[i] > 0) datacheck = MB_YES; /* print debug statements */ if (verbose >= 5 && datacheck == MB_NO) { fprintf(stderr,"\ndbg5 No values to be written in MBIO function <%s>\n",function_name); } /* print debug statements */ if (verbose >= 5 && datacheck == MB_YES) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 course_true: %f\n", data->course_true); fprintf(stderr,"dbg5 course_ground: %f\n", data->course_ground); fprintf(stderr,"dbg5 speed_ground: %f\n", data->speed_ground); fprintf(stderr,"dbg5 heave: %f\n", data->heave); fprintf(stderr,"dbg5 pitch: %f\n", data->pitch); fprintf(stderr,"dbg5 roll: %f\n", data->roll); fprintf(stderr,"dbg5 time_center: %f\n", data->depth_center); fprintf(stderr,"dbg5 time_scale: %f\n", data->time_scale); fprintf(stderr,"dbg5 travel times:\n"); for (i=0;itime[i]); fprintf(stderr,"dbg5 gyro headings:\n"); for (i=0;i<11;i++) fprintf(stderr,"dbg5 %d %f\n", i,data->gyro[i]); } /* write the record label */ if (datacheck == MB_YES) status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNSLZT,error); /* write out the data */ if (status == MB_SUCCESS && datacheck == MB_YES) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%5.1f",data->course_true); status = fprintf(mbfp,"%5.1f",data->course_ground); status = fprintf(mbfp,"%+9.1f",data->speed_ground); status = fprintf(mbfp,"%+6.2f",data->heave); status = fprintf(mbfp,"%+4.1f",data->pitch); status = fprintf(mbfp,"%+5.1f",data->roll); status = fprintf(mbfp,"%06.0f",data->time_center); status = fprintf(mbfp,"%6.4f\n",data->time_scale); /* output starboard crosstrack travel times */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->time[i+30]); status = fprintf(mbfp,"\n"); /* output port crosstrack travel times */ status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%4.4d",data->time[28-i]); status = fprintf(mbfp,"\n"); /* output gyro headings */ for (i=0;i<11;i++) status = fprintf(mbfp,"%05.1f",data->gyro[i]); status = fprintf(mbfp,"\n"); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnctds(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnctds"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; int i; int nline, nrem; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 num_vel: %d\n", data->num_vel); fprintf(stderr,"dbg5 water depths and velocities:\n"); for (i=0;i<11;i++) fprintf(stderr,"dbg5 %d %f %f\n", i,data->vdepth[i],data->velocity[i]); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNCTDS,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%2d\n",data->num_vel); /* figure number of velocity lines to write */ nline = data->num_vel/10; nrem = data->num_vel%10; /* write all of the full lines */ for (i=0;ivdepth[i],data->velocity[i]); status = fprintf(mbfp,"\n"); } /* write the last line as needed */ if (nrem > 0) { for (i=0;ivdepth[i],data->velocity[i]); for (i=0;i<(10-nrem);i++) status = fprintf(mbfp," "); status = fprintf(mbfp,"\n"); } /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ergnampl(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ergnampl"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; int datacheck; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* check if there are data to output */ datacheck = MB_NO; for (i=0;iamplitude[i] > 0) datacheck = MB_YES; /* print debug statements */ if (verbose >= 5 && datacheck == MB_NO) { fprintf(stderr,"\ndbg5 No values to be written in MBIO function <%s>\n",function_name); } /* print debug statements */ if (verbose >= 5 && datacheck == MB_YES) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 longitude: %f\n",data->lon); fprintf(stderr,"dbg5 latitude: %f\n",data->lat); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 month: %d\n",data->month); fprintf(stderr,"dbg5 day: %d\n",data->day); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 second: %d\n", data->second); fprintf(stderr,"dbg5 mode: %c\n", data->mode[0]); fprintf(stderr,"dbg5 trans_strbd: %d\n", data->trans_strbd); fprintf(stderr,"dbg5 trans_vert: %d\n", data->trans_vert); fprintf(stderr,"dbg5 trans_port: %d\n", data->trans_port); fprintf(stderr,"dbg5 pulse_len_strbd: %d\n", data->pulse_len_strbd); fprintf(stderr,"dbg5 pulse_len_vert: %d\n", data->pulse_len_vert); fprintf(stderr,"dbg5 pulse_len_port: %d\n", data->pulse_len_port); fprintf(stderr,"dbg5 gain_start: %d\n", data->gain_start); fprintf(stderr,"dbg5 r_comp_factor: %d\n", data->r_compensation_factor); fprintf(stderr,"dbg5 comp_start: %d\n", data->compensation_start); fprintf(stderr,"dbg5 increase_start: %d\n", data->increase_start); fprintf(stderr,"dbg5 tvc_near: %d\n", data->tvc_near); fprintf(stderr,"dbg5 increase_start: %d\n", data->increase_start); fprintf(stderr,"dbg5 tvc_far: %d\n", data->tvc_far); fprintf(stderr,"dbg5 increase_int_near:%d\n", data->increase_int_near); fprintf(stderr,"dbg5 increase_int_far: %d\n", data->increase_int_far); fprintf(stderr,"dbg5 gain_center: %d\n", data->gain_center); fprintf(stderr,"dbg5 filter_gain: %f\n", data->filter_gain); fprintf(stderr,"dbg5 amplitude_center: %d\n", data->amplitude_center); fprintf(stderr,"dbg5 echo_dur_center: %d\n", data->echo_duration_center); fprintf(stderr,"dbg5 echo_scal_center: %d\n", data->echo_scale_center); fprintf(stderr,"dbg5 amplitudes and echo durations:\n"); for (i=0;iamplitude[i],data->echo_duration[i]); fprintf(stderr,"dbg5 gains and echo scales:\n"); for (i=0;i<16;i++) fprintf(stderr,"dbg5 %d %d %d\n", i,data->gain[i],data->echo_scale[i]); } /* write the record label */ if (datacheck == MB_YES) status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_ERGNAMPL,error); /* write out the data */ if (status == MB_SUCCESS && datacheck == MB_YES) { /* output the event line */ status = fprintf(mbfp,"%+12.7f",data->lon); status = fprintf(mbfp,"%+12.7f",data->lat); status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%2.2d",data->month); status = fprintf(mbfp,"%2.2d",data->day); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%2.2d",data->second); status = fprintf(mbfp,"%c",data->mode[0]); status = fprintf(mbfp,"%3.3d",data->trans_strbd); status = fprintf(mbfp,"%3.3d",data->trans_vert); status = fprintf(mbfp,"%3.3d",data->trans_port); status = fprintf(mbfp,"%2.2d",data->pulse_len_strbd); status = fprintf(mbfp,"%2.2d",data->pulse_len_vert); status = fprintf(mbfp,"%2.2d",data->pulse_len_port); status = fprintf(mbfp,"%2.2d",data->gain_start); status = fprintf(mbfp,"%2.2d",data->r_compensation_factor); status = fprintf(mbfp,"%4.4d",data->compensation_start); status = fprintf(mbfp,"%5.5d",data->increase_start); status = fprintf(mbfp,"%2.2d",data->tvc_near); status = fprintf(mbfp,"%2.2d",data->tvc_far); status = fprintf(mbfp,"%3.3d",data->increase_int_near); status = fprintf(mbfp,"%3.3d",data->increase_int_far); status = fprintf(mbfp,"%1d",data->gain_center); status = fprintf(mbfp,"%+5.1f",data->filter_gain); status = fprintf(mbfp,"%3.3d",data->amplitude_center); status = fprintf(mbfp,"%3.3d",data->echo_duration_center); status = fprintf(mbfp,"%1d\n",data->echo_scale_center); /* output starboard amplitudes */ for (i=0;i<8;i++) status = fprintf(mbfp,"%1.1d",data->gain[i+8]); status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%3.3d",data->amplitude[i+30]); status = fprintf(mbfp,"\n"); /* output port amplitudes */ for (i=0;i<8;i++) status = fprintf(mbfp,"%1.1d",data->gain[i]); status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%3.3d",data->amplitude[28-i]); status = fprintf(mbfp,"\n"); /* output starboard echo durations */ for (i=0;i<8;i++) status = fprintf(mbfp,"%1.1d",data->echo_scale[i+8]); status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%3.3d", data->echo_duration[i+30]); status = fprintf(mbfp,"\n"); /* output port echo durations */ for (i=0;i<8;i++) status = fprintf(mbfp,"%1.1d",data->echo_scale[i]); status = fprintf(mbfp,"29"); for (i=0;i<29;i++) status = fprintf(mbfp,"%3.3d", data->echo_duration[28-i]); status = fprintf(mbfp,"\n"); /* check for an error */ if (status > 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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_hsatlraw_wr_ldeocmnt(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_hsatlraw_wr_ldeocmnt"; int status = MB_SUCCESS; struct mbf_hsatlraw_struct *data; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_hsatlraw_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->comment); } /* write the record label */ status = mbr_hsatlraw_wr_label(verbose,mbfp, MBF_HSATLRAW_LDEOCMNT,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%s\n",data->comment); /* check for an error */ if (status >= 0) { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* 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); } /*--------------------------------------------------------------------*/