/*-------------------------------------------------------------------- * The MB-system: mbr_sb2100bi.c 12/23/2004 * $Id: mbr_sb2100bi.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1997-2012 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbr_sb2100bi.c contains the functions for reading and writing * multibeam data in the SB2100B2 format. * These functions include: * mbr_alm_sb2100bi - allocate read/write memory * mbr_dem_sb2100bi - deallocate read/write memory * mbr_rt_sb2100bi - read and translate data * mbr_wt_sb2100bi - translate and write data * * Author: D. W. Caress * Date: March 3, 1994 * (Original files: * mbr_sb2100b1.c * mbf_sb2100b1.h * mbr_sb2100b2.c * mbf_sb2100b2.h) * * * Date: December 23, 2003 * (New file: * mbr_sb2100bi.c) * * $Log: mbr_sb2100bi.c,v $ * Revision 5.5 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.4 2006/04/19 18:27:55 caress * Fixed error. * * Revision 5.3 2006/01/24 19:11:17 caress * Version 5.0.8 beta. * * Revision 5.2 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.1 2004/02/26 22:39:37 caress * Fixed writing on byteswapping systems. * * Revision 5.0 2003/12/24 07:00:18 caress * Fixed problem with formats 42 and 43. Combined former files mbr_sb2100b1.c and mbr_sb2100b2.c into new file mbr_sb2100bi.c. Files mbf_sb2100b1.h and mbf_sb2100b2.h are no longer part of the archive. * * 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 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.4 2001/07/27 19:07:16 caress * Added data cutting. * * Revision 5.3 2001/07/20 00:32:54 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 4.5 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.4 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.3 1999/09/14 20:39:11 caress * Fixed bugs handling HSMD * * Revision 4.2 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.1 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.0 1997/04/21 17:01:19 caress * MB-System 4.5 Beta Release. * * Revision 4.0 1997/04/17 15:11:34 caress * MB-System 4.5 Beta Release * * Revision 1.1 1997/04/17 15:07:36 caress * Initial revision * * * */ /* standard include files */ #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mb_define.h" #include "../../include/mbsys_sb2100.h" /* define id's for the different types of raw records */ #define MBF_SB2100BI_RECORDS 6 #define MBF_SB2100BI_NONE 0 #define MBF_SB2100BI_FH 1 #define MBF_SB2100BI_TR 2 #define MBF_SB2100BI_PR 3 #define MBF_SB2100BI_DH 4 #define MBF_SB2100BI_BR 5 #define MBF_SB2100BI_SR 6 char *mbf_sb2100bi_labels[] = { "NONE ", "SB21BIFH", "SB21BITR", "SB21BIPR", "SB21BIDH", "SB21BIBR", "SB21BISR"}; #define MBF_SB2100BI_PR_WRITE_LEN 284 #define MBF_SB2100BI_DH_WRITE_LEN 80 #define MBF_SB2100BI_BR_WRITE_LEN 32 #define MBF_SB2100BI_SR_WRITE_LEN 4 #define MBF_SB2100BI_LABEL_LEN 8 /* define end of record label */ char mbf_sb2100bi_eor[2] = {'\r', '\n'}; /* essential function prototypes */ int mbr_register_sb2100b1(int verbose, void *mbio_ptr, int *error); int mbr_info_sb2100b1(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_register_sb2100b2(int verbose, void *mbio_ptr, int *error); int mbr_info_sb2100b2(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_sb2100bi(int verbose, void *mbio_ptr, int *error); int mbr_dem_sb2100bi(int verbose, void *mbio_ptr, int *error); int mbr_zero_sb2100bi(int verbose, char *store_ptr, int *error); int mbr_rt_sb2100bi(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_sb2100bi(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_sb2100bi_rd_data(int verbose, void *mbio_ptr, char *store_ptr, int *error); int mbr_sb2100bi_rd_fh(int verbose, FILE *mbfp, int record_length, int *error); int mbr_sb2100bi_rd_pr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error); int mbr_sb2100bi_rd_tr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error); int mbr_sb2100bi_rd_dh(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error); int mbr_sb2100bi_rd_br(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error); int mbr_sb2100bi_rd_sr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error); int mbr_sb2100bi_wr_data(int verbose, void *mbio_ptr, char *store_ptr, int *error); int mbr_sb2100bi_wr_fh(int verbose, FILE *mbfp, int *error); int mbr_sb2100bi_wr_pr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error); int mbr_sb2100bi_wr_tr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error); int mbr_sb2100bi_wr_dh(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error); int mbr_sb2100bi_wr_br(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error); int mbr_sb2100bi_wr_sr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error); /* text for ascii file header */ char *mbf_sb2100bi_file_header_text_1 = {"\ \nSeaBeam 2100 multibeam sonar binary data format\n\ MB-System formats 42 and 43\n\ Format specification 1.2 defined March 20, 1997\n\ David W. Caress\n\ SeaBeam Instruments, Inc.\n\ \n\ Format specification 1.3 updated December 23, 2003\n\ David W. Caress\n\ Monterey Bay Aquarium Research Institute.\n\ \n\ Format 42 is a binary data format for storing all \n\ bathymetry and sidescan data obtained from a SeaBeam\n\ 2100 multibeam sonar. Each file consists of an\n\ ASCII file header followed by a series of binary data records.\n\ All binary integer and float values are \"big-endian\" ordered.\n\ All floating point values (float and double) are in the\n\ IEEE standard format.\n\ \n\ Format 43 is identical to format 42 except that the\n\ number of sidescan pixels is always set to zero.\n\ \n\ The data records are:\n\ Sonar Text Record (comments)\n\ Sonar Parameter Record (roll bias, pitch bias, SVP)\n\ Sonar Data Header\n\ Sonar Bathymetry Record\n\ Sonar Sidescan Record\n\ \n\ All data files will begin with the ascii File Header Record.\n\ \n\ All data files created by a sonar should include a Sonar\n\ Paramater Record before any ping data. Data files originating\n\ in the original SeaBeam 2100 format may not have a Sonar\n\ Parameter Record. Sonar Text Records may occur between the \n\ File Header Record and any other data records.\n\ \n\ Each sonar ping produces three data records in the following\n\ order:\n\ Sonar Data Header\n\ Sonar Bathymetry Record\n\ Sonar Sidescan Record\n\ The Sonar Bathymetry Record and Sonar Sidescan Record will\n\ appear even if the numbers of beams and/or pixels are zero.\n\ The Sonar Bathymetry Record and Sonar Sidescan Record are\n\ variable in length, depending on the number of bathymetry\n\ beams and sidescan pixels, respectively.\n\ \n\ The structure of this format is designed to maximize i/o\n\ throughput with MB-System programs. Most numeric parameters,\n\ except for the sidescan amplitude and alongtrack values,\n\ are stored as IEEE float or double values. The data records\n\ are constructed so that the records can be read directly into\n\ C structures on machines that enforce 4-byte boundaries in\n\ memory. \n\ \n\ The data record definitions follow:\n\ ----------------------------------------------------------------------------\n\ \n\ File Header Record (variable length ASCII, at start of each file):\n\ ----------------------------------------------------------------------------\n\ Item Units Valid # of Byte Coding\n\ Range Bytes Offset \n\ ----------------------------------------------------------------------------\n\ Record ID 1 SB21 4 0 ASCII\n\ >>Note: binary equivalent: 1396847153\n\ Record ID 2 BIFH 4 4 ASCII\n\ >>Note: binary equivalent: 1112098376\n\ Record Length bytes 0 - 999999 6 8 ASCII\n\ >>Note: Length of header text plus Record End in bytes Header\n\ \n\ Text varies 14 ASCII Record\n\ \n\ Record End [CR][LF] 2 varies ASCII\n\ ----------------------------------------------------------------------------\n\ \n\ Sonar Text Record (variable length - comments derived from sonar or in processing):\n\ ----------------------------------------------------------------------------\n\ Item Units Valid # of Byte Coding\n\ Range Bytes Offset \n\ ----------------------------------------------------------------------------\n\ Record ID 1 1396847153 4 0 unsigned int\n\ >>Note: ASCII equivalent: \"SB21\"\n\ Record ID 2 1112101970 4 4 unsigned int\n\ >>Note: ASCII equivalent: \"BITR\"\n\ Record Length bytes 6 - 1926 2 8 int\n\ >>Note: Length of the rest of the record in bytes\n\ \n\ Comment text varies 10 ASCII\n\ >>Note: The comment string is null terminated unless it is 1920 bytes long.\n\ \n\ Checksum 4 varies unsigned int\n\ Record End 03338 2 varies unsigned short\n\ >>Note: ASCII equivalent: \"[CR][LF]\"\n\ ----------------------------------------------------------------------------\n\ \n\ Sonar Parameter Record (300 bytes - roll bias, pitch bias, SVP):\n\ ----------------------------------------------------------------------------\n\ Item Units Valid # of Byte Coding\n\ Range Bytes Offset \n\ ----------------------------------------------------------------------------\n\ Record ID 1 1396847153 4 0 unsigned int\n\ >>Note: ASCII equivalent: \"SB21\"\n\ Record ID 2 1112100946 4 4 unsigned int\n\ >>Note: ASCII equivalent: \"BIPR\"\n\ Record Length bytes 290 2 8 short\n\ >>Note: Length of the rest of the record in bytes\n\ \n\ Year 1994 - 2 10 short\n\ Day 1 - 366 2 12 short\n\ >>Note: Day of year\n\ Hour 0 - 23 2 14 short\n\ Minute 0 - 59 2 16 short\n\ Second 0 - 59 2 18 short\n\ Millisecond 0 - 999 2 20 short\n\ \n\ Roll bias port degree -5.0 - +5.0 4 22 float\n\ >>Note: signed so + is port up\n\ Roll bias stbd degree -5.0 - +5.0 4 26 float\n\ >>Note: signed so + is port up\n\ Pitch bias degree -5.0 - +5.0 4 30 float\n\ >>Note: signed so + is stern up\n\ \n\ Ship's draft m 0.0 - 10.0 4 34 float\n\ Nav X offset m -50.0 - 50.0 4 38 float\n\ Nav Y offset m -100.0 - 100.0 4 42 float\n\ Nav Z offset m 0.0 - 20.0 4 46 float\n\ \n\ # of SVP points 2 - 30 4 50 int\n\ \n\ SVP depth[0] m 0 - 12000.0 4 54 float\n\ SVP depth[1] m 0 - 12000.0 4 58 float\n\ .........\n\ SVP depth[29] m 0 - 12000.0 4 170 float\n\ \n\ SVP velocity[0] m/s 1300.0 - 1700.0 4 174 float\n\ SVP velocity[1] m/s 1300.0 - 1700.0 4 178 float\n\ .........\n\ SVP velocity[29] m/s 1300.0 - 1700.0 4 290 float\n\ \n\ Checksum 4 294 unsigned int\n\ Record End 03338 2 298 unsigned short\n\ >>Note: ASCII equivalent: \"[CR][LF]\"\n\ ----------------------------------------------------------------------------\n\ \n\ "}; char *mbf_sb2100bi_file_header_text_2 = {"\ Sonar Data Header Record (96 bytes - navigation and sonar parameters):\n\ ----------------------------------------------------------------------------\n\ Item Units Valid # of Byte Coding\n\ Range Bytes Offset \n\ ----------------------------------------------------------------------------\n\ Record ID 1 1396847153 4 0 unsigned int\n\ >>Note: ASCII equivalent: \"SB21\"\n\ Record ID 2 1112097864 4 4 unsigned int\n\ >>Note: ASCII equivalent: \"BIDH\"\n\ Record Length bytes 86 2 8 short\n\ >>Note: Length of the rest of the record in bytes\n\ \n\ Year 1994 - 2 10 short\n\ Day 1 - 366 2 12 short\n\ >>Note: Day of year\n\ Hour 0 - 23 2 14 short\n\ Minute 0 - 59 2 16 short\n\ Second 0 - 59 2 18 short\n\ Millisecond 0 - 999 2 20 short\n\ \n\ Spare 0 2 22 short\n\ Spare 0 2 24 short\n\ Longitude degree E of 0E 0.0 - 359.99999 8 26 double\n\ Latitude degree N of 0N -90.0 - +90.0 8 34 double\n\ \n\ Heading at ping degree 0.0 - 359.999 4 42 float\n\ Speed knot 0.0 - 100.0 4 46 float\n\ Roll at ping degree -45.0 - +45.0 4 50 float\n\ >>Note: + = port up\n\ Pitch at ping degree -10.0 - +10.0 4 54 float\n\ >>Note: + = stern up\n\ Heave at ping m -10.0 - +10.0 4 58 float\n\ >>Note: + = above mean level\n\ Surface sound m/s 1435.0 - 1565.0 4 62 float\n\ velocity\n\ \n\ Frequency kHz L, H 1 66 char\n\ >>Note: L = 12 kHz, H = 36 kHz\n\ Depth gate mode A, M 1 67 char\n\ >>Note: A = auto, M = manual\n\ Ping gain dB 0 - 45 1 68 unsigned char\n\ Ping pulse 0.001 s 1 - 20 1 69 unsigned char\n\ width\n\ Transmitter dB 0 - 18 1 70 unsigned char\n\ attenuation\n\ SSV source V, M, T, E, U 1 71 char\n\ >>Note: V = velocimeter, M = manual, T = temperature, \n\ E = external, U = unknown\n\ SVP correction 0, T 1 72 char\n\ >>Note: 0 = None, T = true depth and true position\n\ \n\ Pixel intensity D, L 1 73 char\n\ algorithm\n\ >>Note: D = logarithm, L = linear; should always be linear for new data\n\ Pixel size m 0.125 - 20.0 4 74 float\n\ \n\ Number of beams 0 - 151 2 78 short\n\ Number of pixels 0 - 2000 2 80 short\n\ \n\ Spare 0 2 82 short\n\ Spare 0 2 84 short\n\ Spare 0 2 86 short\n\ Spare 0 2 88 short\n\ \n\ Checksum 4 90 unsigned int\n\ Record End 03338 2 94 unsigned short\n\ >>Note: ASCII equivalent: \"[CR][LF]\"\n\ ----------------------------------------------------------------------------\n\ \n\ Sonar Data Bathymetry Record (variable length - (16 + nbeams * 32) bytes \n\ - bathymetry and amplitude):\n\ ----------------------------------------------------------------------------\n\ Item Units Valid # of Byte Coding\n\ Range Bytes Offset \n\ ----------------------------------------------------------------------------\n\ Record ID 1 1396847153 4 0 unsigned int\n\ >>Note: ASCII equivalent: \"SB21\"\n\ Record ID 2 1112097362 4 4 unsigned int\n\ >>Note: ASCII equivalent: \"BIBR\"\n\ Record Length bytes 6 - 4838 2 8 short\n\ >>Note: Length of the rest of the record in bytes\n\ \n\ >>Note: This record contains \"number of beams\" instances \n\ of the following structure, where the \"number of beams\" \n\ value is found near the end of the preceding \n\ SB21BIDH header record\n\ Depth m 4 10 float\n\ Acrosstrack m 4 14 float\n\ >>Note: + is starboard\n\ Alongtrack m 4 18 float\n\ >>Note: + is forward\n\ Range sec 4 22 float\n\ >>Note: raw round trip echo time\n\ Angle from degree -100.0 - +100.0 4 26 float\n\ vertical\n\ >>Note: see SeaBeam documentation figure for meaning of signs\n\ Angle forward degree -100.0 - +100.0 4 30 float\n\ >>Note: see SeaBeam documentation figure for meaning of signs\n\ Beam amplitude 0.25 dB 0 - 400 2 34 short\n\ Signal to noise dB 0 - 99 2 36 short\n\ Echo length sample interval 0 - 999 2 38 short\n\ Signal quality 0, Q, F, G 1 40 char\n\ >>Note: 0 = no data, Q = sonar flagged, \n\ F = processing flagged, G = good data\n\ Beam algorithm W, B 1 41 char\n\ >>Note: W = weighted mean time, B = BDI\n\ \n\ >>Note: The usual checksum and record end tag are placed after\n\ the last instance of the per-beam data\n\ Checksum 4 varies unsigned int\n\ Record End 03338 2 varies unsigned short\n\ >>Note: ASCII equivalent: \"[CR][LF]\"\n\ ----------------------------------------------------------------------------\n\ \n\ Sonar Data Sidescan Record (variable length - (16 + 4 * npixels) bytes \n\ - 2000 pixels : 8016 bytes\n\ - sidescan):\n\ ----------------------------------------------------------------------------\n\ Item Units Valid # of Byte Coding\n\ Range Bytes Offset \n\ ----------------------------------------------------------------------------\n\ Record ID 1 1396847153 4 0 unsigned int\n\ >>Note: ASCII equivalent: \"SB21\"\n\ Record ID 2 1112101714 4 4 unsigned int\n\ >>Note: ASCII equivalent: \"BISR\"\n\ Record Length bytes 6 - 16006 2 8 short\n\ >>Note: Length of the rest of the record in bytes\n\ \n\ >>Note: This record contains \"number of pixels\" instances \n\ of the following structure, where the \"number of pixels\" \n\ value is found near the end of the preceding \n\ SB21BIDH header record\n\ >>Note: The \"number of pixels\" is always 0 for format 43.\n\ \n\ Amplitude 0 - 65535 2 10 unsigned short\n\ Alongtrack 0.1 m -32767 - 32767 2 12 short\n\ >>Note: + is forward\n\ \n\ >>Note: The usual checksum and record end tag are placed after\n\ the last instance of the per-pixel data\n\ Checksum 4 varies unsigned int\n\ Record End 03338 2 varies unsigned short\n\ >>Note: ASCII equivalent: \"[CR][LF]\"\n\ ----------------------------------------------------------------------------\n\ \n\r\n\ "}; /* read & write buffer */ char buffer[4*MBSYS_SB2100_PIXELS]; static char rcs_id[]="$Id: mbr_sb2100bi.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_sb2100b1(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_sb2100b1"; 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_sb2100b1(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_sb2100bi; mb_io_ptr->mb_io_format_free = &mbr_dem_sb2100bi; mb_io_ptr->mb_io_store_alloc = &mbsys_sb2100_alloc; mb_io_ptr->mb_io_store_free = &mbsys_sb2100_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_sb2100bi; mb_io_ptr->mb_io_write_ping = &mbr_wt_sb2100bi; mb_io_ptr->mb_io_dimensions = &mbsys_sb2100_dimensions; mb_io_ptr->mb_io_extract = &mbsys_sb2100_extract; mb_io_ptr->mb_io_insert = &mbsys_sb2100_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_sb2100_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_sb2100_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_sb2100_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_sb2100_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_sb2100_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_sb2100_ttimes; mb_io_ptr->mb_io_detects = &mbsys_sb2100_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_sb2100_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_sb2100b1(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_sb2100b1"; 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_SB2100; *beams_bath_max = 151; *beams_amp_max = 151; *pixels_ss_max = 2000; strncpy(format_name, "SB2100B1", MB_NAME_LENGTH); strncpy(system_name, "SB2100", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_SB2100B1\nInformal Description: SeaBeam 2100 series vender format\nAttributes: SeaBeam 2100, bathymetry, amplitude \n and sidescan, 151 beams bathymetry,\n 2000 pixels sidescan, binary,\n SeaBeam Instruments and L-DEO.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_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_register_sb2100b2(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_sb2100b2"; 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_sb2100b2(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_sb2100bi; mb_io_ptr->mb_io_format_free = &mbr_dem_sb2100bi; mb_io_ptr->mb_io_store_alloc = &mbsys_sb2100_alloc; mb_io_ptr->mb_io_store_free = &mbsys_sb2100_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_sb2100bi; mb_io_ptr->mb_io_write_ping = &mbr_wt_sb2100bi; mb_io_ptr->mb_io_dimensions = &mbsys_sb2100_dimensions; mb_io_ptr->mb_io_extract = &mbsys_sb2100_extract; mb_io_ptr->mb_io_insert = &mbsys_sb2100_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_sb2100_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_sb2100_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_sb2100_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_sb2100_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_sb2100_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_sb2100_ttimes; mb_io_ptr->mb_io_detects = &mbsys_sb2100_detects; mb_io_ptr->mb_io_gains = &mbsys_sb2100_gains; mb_io_ptr->mb_io_copyrecord = &mbsys_sb2100_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_sb2100b2(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_sb2100b2"; 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_SB2100; *beams_bath_max = 151; *beams_amp_max = 151; *pixels_ss_max = 0; strncpy(format_name, "SB2100B2", MB_NAME_LENGTH); strncpy(system_name, "SB2100", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_SB2100B2\nInformal Description: SeaBeam 2100 series vender format\nAttributes: SeaBeam 2100, bathymetry and amplitude, \n 151 beams bathymetry,\n binary,\n SeaBeam Instruments and L-DEO.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_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_sb2100bi(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_sb2100bi"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_sb2100_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* 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 mbsys_sb2100_struct); mb_io_ptr->data_structure_size = 0; status = mb_malloc(verbose,sizeof(struct mbsys_sb2100_struct), &mb_io_ptr->store_data,error); /* get store structure pointer */ store = (struct mbsys_sb2100_struct *) mb_io_ptr->store_data; /* set comment pointer */ store->comment = (char *) &(store->roll_bias_port); /* initialize everything to zeros */ mbr_zero_sb2100bi(verbose,mb_io_ptr->raw_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_sb2100bi(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_sb2100bi"; 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->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_sb2100bi(int verbose, char *store_ptr, int *error) { char *function_name = "mbr_zero_sb2100bi"; int status = MB_SUCCESS; struct mbsys_sb2100_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 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to data descriptor */ store = (struct mbsys_sb2100_struct *) store_ptr; /* initialize everything to zeros */ if (store != NULL) { /* type of data record */ store->kind = MB_DATA_NONE; /* set comment pointer */ store->comment = (char *) &store->roll_bias_port; /* sonar parameters (SB21BIPR) */ store->roll_bias_port = 0.0; /* deg */ store->roll_bias_starboard = 0.0; /* deg */ store->pitch_bias = 0.0; /* deg */ store->ship_draft = 0.0; /* m */ store->offset_x = 0.0; /* m */ store->offset_y = 0.0; /* m */ store->offset_z = 0.0; /* m */ store->num_svp = 0; for (i=0;isvp[i].depth = 0.0; store->svp[i].velocity = 0.0; } /* sonar data header (SB21BIDH) */ store->year = 0; store->jday = 0; store->hour = 0; store->minute = 0; store->sec = 0; store->msec = 0; store->spare1 = 0; store->spare2 = 0; store->longitude = 0.0; /* degrees */ store->latitude = 0.0; /* degrees */ store->heading = 0.0; /* degrees */ store->speed = 0.0; /* m/sec */ store->roll = 0.0; /* degrees */ store->pitch = 0.0; /* degrees */ store->heave = 0.0; /* m */ store->ssv = 0.0; /* m/sec */ store->frequency = 'L'; /* L=12kHz; H=36kHz; 2=20kHz */ store->depth_gate_mode = 'A'; /* A=Auto, M=Manual */ store->ping_gain = 0; /* dB */ store->ping_pulse_width = 0; /* msec */ store->transmitter_attenuation = 0; /* dB */ store->ssv_source = 'M'; /* V=Velocimeter, M=Manual, T=Temperature */ store->svp_correction = 'T'; /* 0=None; A=True Xtrack and Apparent Depth; T=True Xtrack and True Depth */ store->pixel_algorithm = 'L'; /* pixel intensity algorithm D = logarithm, L = linear */ store->pixel_size = 0.0; /* m */ store->nbeams = 0; /* up to 151 */ store->npixels = 0; /* up to 2000 */ store->spare3 = 0; store->spare4 = 0; store->spare5 = 0; store->spare6 = 0; /* bathymetry record (SB21BIBR) */ for (i=0;ibeams[i].depth = 0.0; /* m */ store->beams[i].acrosstrack = 0.0; /* m */ store->beams[i].alongtrack = 0.0; /* m */ store->beams[i].range = 0.0; /* seconds */ store->beams[i].angle_across = 0.0; /* degrees */ store->beams[i].angle_forward = 0.0; /* degrees */ store->beams[i].amplitude = 0; /* 0.25 dB */ store->beams[i].signal_to_noise = 0; /* dB */ store->beams[i].echo_length = 0; /* samples */ store->beams[i].quality = '0'; /* 0=no data, Q=poor quality, blank otherwise */ store->beams[i].source = 'W'; /* B=BDI, W=WMT */ } /* sidescan record (SB21BISR) */ for (i=0;ipixels[i].amplitude = 0; store->pixels[i].alongtrack = 0; /* 0.1 m */ } } /* 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_sb2100bi(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_sb2100bi"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_sb2100_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 pointers to mbio descriptor and data structures */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; store = (struct mbsys_sb2100_struct *) store_ptr; /* read next data from file */ status = mbr_sb2100bi_rd_data(verbose,mbio_ptr,store_ptr,error); /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = store->kind; /* zero sidescan for format MBF_SB2100B2 (43) */ if (status == MB_SUCCESS && store != NULL && store->kind != MB_DATA_COMMENT && mb_io_ptr->format == MBF_SB2100B2) store->npixels = 0; /* set unset parameters in sb2100 data storage structure */ if (status == MB_SUCCESS && store != NULL && store->kind != MB_DATA_COMMENT) { /* parameters for MBF_SB2100RW format */ store->range_scale = ' '; store->spare_dr[0] = ' '; store->spare_dr[1] = ' '; store->num_algorithms = 1; for (i=0;i<4;i++) store->algorithm_order[i] = ' '; store->svp_corr_ss = 0; store->ss_data_length = 4 * MBSYS_SB2100_PIXELS; store->pixel_size_scale = 'D'; store->spare_ss = ' '; } /* 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_sb2100bi(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_sb2100bi"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_sb2100_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_sb2100_struct *) store_ptr; /* make sure no sidescan is written for format MBF_SB2100B2 (43) */ if (status == MB_SUCCESS && store != NULL && store->kind != MB_DATA_COMMENT && mb_io_ptr->format == MBF_SB2100B2) store->npixels = 0; /* write next data to file */ status = mbr_sb2100bi_wr_data(verbose,mbio_ptr,store_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_rd_data(int verbose, void *mbio_ptr, char *store_ptr, int *error) { char *function_name = "mbr_sb2100bi_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_sb2100_struct *store; FILE *mbfp; int done; char *label; int *label_save_flag; int type; int expect; short record_length; char *record_length_ptr; char record_length_fh_str[8]; int record_length_fh; 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); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_sb2100_struct *) store_ptr; mbfp = mb_io_ptr->mbfp; /* get saved values */ label = (char *) mb_io_ptr->save_label; label_save_flag = (int *) &mb_io_ptr->save_label_flag; record_length_ptr = (char *) &record_length; /* initialize everything to zeros */ mbr_zero_sb2100bi(verbose,store_ptr,error); done = MB_NO; expect = MBF_SB2100BI_NONE; while (done == MB_NO) { /* if no label saved get next record label */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; if (*label_save_flag == MB_NO) { /* get next 10 bytes */ if ((status = fread(&label[0], 10, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* if not a format 42 label read individual bytes until label found or eof */ while (status == MB_SUCCESS && strncmp(label, "SB21BI", 6) != 0) { for (i=0;i<9;i++) label[i] = label[i+1]; if ((status = fread(&label[9], 1, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* else use saved label */ else *label_save_flag = MB_NO; /* get the label type */ if (status == MB_SUCCESS) { /* get type */ type = MBF_SB2100BI_NONE; for (i=1;i<=MBF_SB2100BI_RECORDS;i++) if (strncmp(label, mbf_sb2100bi_labels[i], 8) == 0) type = i; /* get the record length */ if (type != MBF_SB2100BI_FH) { mb_get_binary_short(MB_NO, &label[8], &record_length); } else { record_length_fh_str[0] = label[8]; record_length_fh_str[1] = label[9]; if ((status = fread(&record_length_fh_str[2], 4, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } record_length_fh_str[6] = 0; record_length_fh_str[7] = 0; sscanf(record_length_fh_str, "%d", &record_length_fh); } } /* read the appropriate data records */ if ((status == MB_FAILURE || type == MBF_SB2100BI_NONE) && expect == MBF_SB2100BI_NONE) { done = MB_YES; } else if ((status == MB_FAILURE || type == MBF_SB2100BI_NONE) && expect != MBF_SB2100BI_NONE) { done = MB_YES; *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else if (expect != MBF_SB2100BI_NONE && expect != type) { done = MB_YES; expect = MBF_SB2100BI_NONE; *label_save_flag = MB_YES; } else if (type == MBF_SB2100BI_FH) { status = mbr_sb2100bi_rd_fh( verbose,mbfp,record_length_fh,error); if (status == MB_SUCCESS) { done = MB_NO; expect = MBF_SB2100BI_NONE; store->kind = MB_DATA_NONE; } } else if (type == MBF_SB2100BI_PR) { status = mbr_sb2100bi_rd_pr( verbose,mbfp,store,record_length,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_VELOCITY_PROFILE; } } else if (type == MBF_SB2100BI_TR) { status = mbr_sb2100bi_rd_tr( verbose,mbfp,store,record_length,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_COMMENT; } } else if (type == MBF_SB2100BI_DH) { status = mbr_sb2100bi_rd_dh( verbose,mbfp,store,record_length,error); if (status == MB_SUCCESS) { done = MB_NO; store->kind = MB_DATA_DATA; expect = MBF_SB2100BI_BR; } } else if (type == MBF_SB2100BI_BR) { status = mbr_sb2100bi_rd_br( verbose,mbfp,store,record_length,error); if (status == MB_SUCCESS && expect == MBF_SB2100BI_BR) { done = MB_NO; store->kind = MB_DATA_DATA; expect = MBF_SB2100BI_SR; } else if (status == MB_SUCCESS) { done = MB_YES; expect = MBF_SB2100BI_NONE; *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } else if (status == MB_FAILURE) { done = MB_YES; expect = MBF_SB2100BI_NONE; } } else if (type == MBF_SB2100BI_SR) { status = mbr_sb2100bi_rd_sr( verbose,mbfp,store,record_length,error); if (status == MB_SUCCESS && expect == MBF_SB2100BI_SR) { done = MB_YES; } else if (status == MB_SUCCESS) { done = MB_YES; expect = MBF_SB2100BI_NONE; *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } else if (status == MB_FAILURE && *error == MB_ERROR_UNINTELLIGIBLE && expect == MBF_SB2100BI_SR) { /* this preserves the bathymetry that has already been read */ done = MB_YES; 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_sb2100bi_rd_fh(int verbose, FILE *mbfp, int record_length, int *error) { char *function_name = "mbr_sb2100bi_rd_fh"; int status = MB_SUCCESS; int nread; int nlast; 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 record_len: %d\n",record_length); } /* check record size */ if (record_length > 100000) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* if success read rest of record */ if (status == MB_SUCCESS) { /* read data into buffer */ nread = record_length / 100; nlast = record_length % 100; for (i=0;i 0) if ((status = fread(buffer, nlast, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_rd_pr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error) { char *function_name = "mbr_sb2100bi_rd_pr"; int status = MB_SUCCESS; int read_length; unsigned int checksum_read; unsigned int checksum; char eor_read[6]; int index; 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 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 record_len: %d\n",record_length); } /* check record size */ if (record_length != MBF_SB2100BI_PR_WRITE_LEN + 6) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* if success read rest of record */ if (status == MB_SUCCESS) { /* read data into structure */ read_length = MBF_SB2100BI_PR_WRITE_LEN; if ((status = fread(buffer, 1, MBF_SB2100BI_PR_WRITE_LEN, mbfp)) != MBF_SB2100BI_PR_WRITE_LEN) { status = MB_FAILURE; *error = MB_ERROR_EOF; } index = 0; mb_get_binary_short(MB_NO, &buffer[index], &store->year); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->jday); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->hour); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->minute); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->sec); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->msec); index += 2; mb_get_binary_float(MB_NO, &buffer[index], &store->roll_bias_port); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->roll_bias_starboard); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->pitch_bias); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->ship_draft); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->offset_x); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->offset_y); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->offset_z); index += 4; mb_get_binary_int(MB_NO, &buffer[index], &store->num_svp); index += 4; for (i=0;inum_svp;i++) { mb_get_binary_float(MB_NO, &buffer[index], &(store->svp[i].depth)); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &(store->svp[i].velocity)); index += 4; } /* read checksum and eor */ if ((status = fread(&eor_read[0], 6, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } mb_get_binary_int(MB_NO, &eor_read[0], (int *) &checksum_read); /* do checksum */ if (verbose >= 2) { checksum = 0; for (i=0;i\n",function_name); fprintf(stderr,"dbg5 checksum read: %d\n",checksum_read); fprintf(stderr,"dbg5 checksum calculated: %d\n",checksum); if (checksum != checksum_read) { fprintf(stderr,"dbg5 CHECKSUM ERROR!!\n"); } else { fprintf(stderr,"dbg5 checksum ok\n"); } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 julian day: %d\n",store->jday); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->sec); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 roll_bias_port: %f\n",store->roll_bias_port); fprintf(stderr,"dbg5 roll_bias_strbrd: %f\n",store->roll_bias_starboard); fprintf(stderr,"dbg5 pitch_bias: %f\n",store->pitch_bias); fprintf(stderr,"dbg5 ship_draft: %f\n",store->ship_draft); fprintf(stderr,"dbg5 offset_x: %f\n",store->offset_x); fprintf(stderr,"dbg5 offset_y: %f\n",store->offset_y); fprintf(stderr,"dbg5 offset_z: %f\n",store->offset_z); fprintf(stderr,"dbg5 num_svp: %d\n",store->num_svp); fprintf(stderr,"dbg5 Sound Velocity Profile:\n"); for (i=0;inum_svp;i++) fprintf(stderr,"dbg5 %d depth:%f velocity:%f\n", i,store->svp[i].depth,store->svp[i].velocity); } /* 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_sb2100bi_rd_tr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error) { char *function_name = "mbr_sb2100bi_rd_tr"; int status = MB_SUCCESS; int read_length; unsigned int checksum_read; unsigned int checksum; char eor_read[6]; 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 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 record_len: %d\n",record_length); } /* check record size */ if (record_length > MBSYS_SB2100_MAXLINE + 6) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* if success read rest of record */ if (status == MB_SUCCESS) { /* read data into structure */ read_length = record_length - 6; if ((status = fread(store->comment, read_length, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* read checksum and eor */ if ((status = fread(&eor_read[0], 6, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } mb_get_binary_int(MB_NO, &eor_read[0], (int *) &checksum_read); /* do checksum */ if (verbose >= 2) { checksum = 0; for (i=0;i\n",function_name); fprintf(stderr,"dbg5 checksum read: %d\n",checksum_read); fprintf(stderr,"dbg5 checksum calculated: %d\n",checksum); if (checksum != checksum_read) { fprintf(stderr,"dbg5 CHECKSUM ERROR!!\n"); } else { fprintf(stderr,"dbg5 checksum ok\n"); } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Value read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n", store->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_sb2100bi_rd_dh(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error) { char *function_name = "mbr_sb2100bi_rd_dh"; int status = MB_SUCCESS; int read_length; unsigned int checksum_read; unsigned int checksum; char eor_read[6]; int index; 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 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 record_len: %d\n",record_length); } /* check record size */ if (record_length != MBF_SB2100BI_DH_WRITE_LEN + 6) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* if success read rest of record */ if (status == MB_SUCCESS) { /* read data into structure */ read_length = MBF_SB2100BI_DH_WRITE_LEN; if ((status = fread(buffer, read_length, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } index = 0; mb_get_binary_short(MB_NO, &buffer[index], &store->year); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->jday); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->hour); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->minute); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->sec); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->msec); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->spare1); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->spare2); index += 2; mb_get_binary_double(MB_NO, &buffer[index], &store->longitude); index += 8; mb_get_binary_double(MB_NO, &buffer[index], &store->latitude); index += 8; mb_get_binary_float(MB_NO, &buffer[index], &store->heading); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->speed); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->roll); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->pitch); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->heave); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->ssv); index += 4; store->frequency = buffer[index]; index++; store->depth_gate_mode = buffer[index]; index++; store->ping_gain = buffer[index]; index++; store->ping_pulse_width = buffer[index]; index++; store->transmitter_attenuation = buffer[index]; index++; store->ssv_source = buffer[index]; index++; store->svp_correction = buffer[index]; index++; store->pixel_algorithm = buffer[index]; index++; mb_get_binary_float(MB_NO, &buffer[index], &store->pixel_size); index += 4; mb_get_binary_int(MB_NO, &buffer[index], &store->nbeams); index += 4; mb_get_binary_int(MB_NO, &buffer[index], &store->npixels); index += 4; mb_get_binary_short(MB_NO, &buffer[index], &store->spare3); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->spare4); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->spare5); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->spare6); index += 2; /* read checksum and eor */ if ((status = fread(&eor_read[0], 6, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } mb_get_binary_int(MB_NO, &eor_read[0], (int *) &checksum_read); /* do checksum */ if (verbose >= 2) { checksum = 0; for (i=0;i\n",function_name); fprintf(stderr,"dbg5 checksum read: %d\n",checksum_read); fprintf(stderr,"dbg5 checksum calculated: %d\n",checksum); if (checksum != checksum_read) { fprintf(stderr,"dbg5 CHECKSUM ERROR!!\n"); } else { fprintf(stderr,"dbg5 checksum ok\n"); } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 julian day: %d\n",store->jday); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->sec); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 longitude: %f\n",store->longitude); fprintf(stderr,"dbg5 latitude: %f\n",store->latitude); fprintf(stderr,"dbg5 heading: %f\n",store->heading); fprintf(stderr,"dbg5 speed: %f\n",store->speed); fprintf(stderr,"dbg5 roll: %f\n",store->roll); fprintf(stderr,"dbg5 pitch: %f\n",store->pitch); fprintf(stderr,"dbg5 heave: %f\n",store->heave); fprintf(stderr,"dbg5 ssv: %f\n",store->ssv); fprintf(stderr,"dbg5 frequency: %c\n",store->frequency); fprintf(stderr,"dbg5 depth_gate_mode: %c\n",store->depth_gate_mode); fprintf(stderr,"dbg5 ping_gain: %d\n",store->ping_gain); fprintf(stderr,"dbg5 ping_pulse_width: %d\n",store->ping_pulse_width); fprintf(stderr,"dbg5 trans_atten: %d\n",store->transmitter_attenuation); fprintf(stderr,"dbg5 ssv_source: %c\n",store->ssv_source); fprintf(stderr,"dbg5 svp_correction: %c\n",store->svp_correction); fprintf(stderr,"dbg5 pixel_algorithm: %c\n",store->pixel_algorithm); fprintf(stderr,"dbg5 pixel_size: %f\n",store->pixel_size); fprintf(stderr,"dbg5 nbeams: %d\n",store->nbeams); fprintf(stderr,"dbg5 npixels: %d\n",store->npixels); fprintf(stderr,"dbg5 spare1: %d\n",store->spare1); fprintf(stderr,"dbg5 spare2: %d\n",store->spare2); fprintf(stderr,"dbg5 spare3: %d\n",store->spare3); fprintf(stderr,"dbg5 spare4: %d\n",store->spare4); fprintf(stderr,"dbg5 spare5: %d\n",store->spare5); fprintf(stderr,"dbg5 spare6: %d\n",store->spare6); } /* 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_sb2100bi_rd_br(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error) { char *function_name = "mbr_sb2100bi_rd_br"; int status = MB_SUCCESS; int read_length; unsigned int checksum_read; unsigned int checksum; char eor_read[6]; int index; 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 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 record_len: %d\n",record_length); } /* check record size */ if (record_length != store->nbeams * MBF_SB2100BI_BR_WRITE_LEN + 6) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* if success read rest of record */ if (status == MB_SUCCESS) { /* read data into structure */ read_length = store->nbeams * MBF_SB2100BI_BR_WRITE_LEN; if (read_length > 0) if ((status = fread(buffer, read_length, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } index = 0; for (i=0;inbeams;i++) { mb_get_binary_float(MB_NO, &buffer[index], &store->beams[i].depth); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->beams[i].acrosstrack); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->beams[i].alongtrack); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->beams[i].range); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->beams[i].angle_across); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &store->beams[i].angle_forward); index += 4; mb_get_binary_short(MB_NO, &buffer[index], &store->beams[i].amplitude); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->beams[i].signal_to_noise); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &store->beams[i].echo_length); index += 2; store->beams[i].quality = buffer[index]; index++; store->beams[i].source = buffer[index]; index++; } /* read checksum and eor */ if ((status = fread(&eor_read[0], 6, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } mb_get_binary_int(MB_NO, &eor_read[0], (int *) &checksum_read); /* do checksum */ if (verbose >= 2) { checksum = 0; for (i=0;i\n",function_name); fprintf(stderr,"dbg5 checksum read: %d\n",checksum_read); fprintf(stderr,"dbg5 checksum calculated: %d\n",checksum); if (checksum != checksum_read) { fprintf(stderr,"dbg5 CHECKSUM ERROR!!\n"); } else { fprintf(stderr,"dbg5 checksum ok\n"); } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 beam depth xtrack ltrack tt angle angfor amp sig2noise echo src quality\n"); for (i=0;inbeams;i++) { fprintf(stderr,"dbg5 %3d %8.2f %9.2f %8.2f %6.3f %7.3f %7.3f %3d %3d %3d %c %c\n", i, store->beams[i].depth, store->beams[i].acrosstrack, store->beams[i].alongtrack, store->beams[i].range, store->beams[i].angle_across, store->beams[i].angle_forward, store->beams[i].amplitude, store->beams[i].signal_to_noise, store->beams[i].echo_length, store->beams[i].source, store->beams[i].quality); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_rd_sr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, short record_length, int *error) { char *function_name = "mbr_sb2100bi_rd_sr"; int status = MB_SUCCESS; int read_length; unsigned int checksum_read; unsigned int checksum; char eor_read[6]; short amplitude_short; short alongtrack_short; int index; 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 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 record_len: %d\n",record_length); } /* check record size */ if (record_length != store->npixels * MBF_SB2100BI_SR_WRITE_LEN + 6) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* if success read rest of record */ if (status == MB_SUCCESS) { /* read store into structure */ read_length = store->npixels * MBF_SB2100BI_SR_WRITE_LEN; if (read_length > 0) if ((status = fread(buffer, read_length, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } index = 0; for (i=0;inpixels;i++) { mb_get_binary_short(MB_NO, &buffer[index], &litude_short); index += 2; mb_get_binary_short(MB_NO, &buffer[index], &alongtrack_short); index += 2; store->pixels[i].amplitude = (float) amplitude_short; store->pixels[i].alongtrack = 0.1 * ((float) alongtrack_short); } /* read checksum and eor */ if ((status = fread(&eor_read[0], 6, 1, mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } mb_get_binary_int(MB_NO, &eor_read[0], (int *) &checksum_read); /* do checksum */ if (verbose >= 2) { checksum = 0; for (i=0;i\n",function_name); fprintf(stderr,"dbg5 checksum read: %d\n",checksum_read); fprintf(stderr,"dbg5 checksum calculated: %d\n",checksum); if (checksum != checksum_read) { fprintf(stderr,"dbg5 CHECKSUM ERROR!!\n"); } else { fprintf(stderr,"dbg5 checksum ok\n"); } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 pixel amplitude alongtrack\n"); for (i=0;inpixels;i++) { fprintf(stderr,"dbg5 %3d %f %f\n", i, store->pixels[i].amplitude, store->pixels[i].alongtrack); } } /* 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_sb2100bi_wr_data(int verbose, void *mbio_ptr, char *store_ptr, int *error) { char *function_name = "mbr_sb2100bi_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_sb2100_struct *store; 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 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_sb2100_struct *) store_ptr; mbfp = mb_io_ptr->mbfp; /* write file header if not written yet */ if (mb_io_ptr->save_flag == MB_NO) { status = mbr_sb2100bi_wr_fh(verbose,mbfp,error); mb_io_ptr->save_flag = MB_YES; } if (store->kind == MB_DATA_VELOCITY_PROFILE) { status = mbr_sb2100bi_wr_pr(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_COMMENT) { status = mbr_sb2100bi_wr_tr(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_DATA) { status = mbr_sb2100bi_wr_dh(verbose,mbfp,store,error); status = mbr_sb2100bi_wr_br(verbose,mbfp,store,error); status = mbr_sb2100bi_wr_sr(verbose,mbfp,store,error); } else { status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* print output debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 store record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",store->kind); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_wr_fh(int verbose, FILE *mbfp, int *error) { char *function_name = "mbr_sb2100bi_wr_fh"; int status = MB_SUCCESS; int record_length; char record_length_str[8]; /* 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); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 file_header_text: \n%s%s\n", mbf_sb2100bi_file_header_text_1, mbf_sb2100bi_file_header_text_2); } /* write the record label */ if (fwrite(mbf_sb2100bi_labels[MBF_SB2100BI_FH], MBF_SB2100BI_LABEL_LEN, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* write the record length */ if (status == MB_SUCCESS) { record_length = strlen(mbf_sb2100bi_file_header_text_1) + strlen(mbf_sb2100bi_file_header_text_2); sprintf(record_length_str, "%6d", record_length); if (fwrite(record_length_str, 6, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the store */ if (status == MB_SUCCESS) { /* write the data */ if (fwrite(mbf_sb2100bi_file_header_text_1, strlen(mbf_sb2100bi_file_header_text_1), 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } if (fwrite(mbf_sb2100bi_file_header_text_2, strlen(mbf_sb2100bi_file_header_text_2), 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_wr_pr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error) { char *function_name = "mbr_sb2100bi_wr_pr"; int status = MB_SUCCESS; short record_length; int write_length; unsigned int checksum; int index; 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 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 julian day: %d\n",store->jday); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->sec); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 roll_bias_port: %f\n",store->roll_bias_port); fprintf(stderr,"dbg5 roll_bias_strbrd: %f\n",store->roll_bias_starboard); fprintf(stderr,"dbg5 pitch_bias: %f\n",store->pitch_bias); fprintf(stderr,"dbg5 ship_draft: %f\n",store->ship_draft); fprintf(stderr,"dbg5 offset_x: %f\n",store->offset_x); fprintf(stderr,"dbg5 offset_y: %f\n",store->offset_y); fprintf(stderr,"dbg5 offset_z: %f\n",store->offset_z); fprintf(stderr,"dbg5 num_svp: %d\n",store->num_svp); fprintf(stderr,"dbg5 Sound Velocity Profile:\n"); for (i=0;inum_svp;i++) fprintf(stderr,"dbg5 %d depth:%f velocity:%f\n", i,store->svp[i].depth,store->svp[i].velocity); } /* write the record label */ if (fwrite(mbf_sb2100bi_labels[MBF_SB2100BI_PR], MBF_SB2100BI_LABEL_LEN, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* write the record length */ if (status == MB_SUCCESS) { record_length = MBF_SB2100BI_PR_WRITE_LEN + 6; mb_put_binary_short(MB_NO, record_length, &buffer[0]); if (fwrite(buffer, 2, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the data */ if (status == MB_SUCCESS) { index = 0; mb_put_binary_short(MB_NO, store->year, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->jday, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->hour, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->minute, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->sec, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->msec, &buffer[index]); index += 2; mb_put_binary_float(MB_NO, store->roll_bias_port, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->roll_bias_starboard, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->pitch_bias, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->ship_draft, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->offset_x, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->offset_y, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->offset_z, &buffer[index]); index += 4; mb_put_binary_int(MB_NO, store->num_svp, &buffer[index]); index += 4; for (i=0;inum_svp;i++) { mb_put_binary_float(MB_NO, store->svp[i].depth, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->svp[i].velocity, &buffer[index]); index += 4; } /* do checksum */ write_length = MBF_SB2100BI_PR_WRITE_LEN; checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_wr_tr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error) { char *function_name = "mbr_sb2100bi_wr_tr"; int status = MB_SUCCESS; short record_length; int write_length; unsigned int checksum; int index; 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 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n", store->comment); } /* write the record label */ if (fwrite(mbf_sb2100bi_labels[MBF_SB2100BI_TR], MBF_SB2100BI_LABEL_LEN, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* write the record length */ if (status == MB_SUCCESS) { record_length = strlen(store->comment) + 1; if (record_length >= MBSYS_SB2100_MAXLINE) { store->comment[MBSYS_SB2100_MAXLINE-1] = '\0'; record_length = MBSYS_SB2100_MAXLINE; } record_length += 6; mb_put_binary_short(MB_NO, record_length, &buffer[0]); if (fwrite(buffer, 2, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the data */ if (status == MB_SUCCESS) { /* do checksum */ strcpy(buffer,store->comment); write_length = strlen(buffer) + 1; checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_wr_dh(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error) { char *function_name = "mbr_sb2100bi_wr_dh"; int status = MB_SUCCESS; short record_length; int write_length; unsigned int checksum; int index; 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 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 julian day: %d\n",store->jday); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->sec); fprintf(stderr,"dbg5 msec: %d\n",store->msec); fprintf(stderr,"dbg5 longitude: %f\n",store->longitude); fprintf(stderr,"dbg5 latitude: %f\n",store->latitude); fprintf(stderr,"dbg5 heading: %f\n",store->heading); fprintf(stderr,"dbg5 speed: %f\n",store->speed); fprintf(stderr,"dbg5 roll: %f\n",store->roll); fprintf(stderr,"dbg5 pitch: %f\n",store->pitch); fprintf(stderr,"dbg5 heave: %f\n",store->heave); fprintf(stderr,"dbg5 ssv: %f\n",store->ssv); fprintf(stderr,"dbg5 frequency: %c\n",store->frequency); fprintf(stderr,"dbg5 depth_gate_mode: %d\n",store->depth_gate_mode); fprintf(stderr,"dbg5 ping_gain: %d\n",store->ping_gain); fprintf(stderr,"dbg5 ping_pulse_width: %d\n",store->ping_pulse_width); fprintf(stderr,"dbg5 trans_atten: %d\n",store->transmitter_attenuation); fprintf(stderr,"dbg5 ssv_source: %c\n",store->ssv_source); fprintf(stderr,"dbg5 svp_correction: %c\n",store->svp_correction); fprintf(stderr,"dbg5 pixel_algorithm: %c\n",store->pixel_algorithm); fprintf(stderr,"dbg5 pixel_size: %f\n",store->pixel_size); fprintf(stderr,"dbg5 nbeams: %d\n",store->nbeams); fprintf(stderr,"dbg5 npixels: %d\n",store->npixels); fprintf(stderr,"dbg5 spare1: %d\n",store->spare1); fprintf(stderr,"dbg5 spare2: %d\n",store->spare2); fprintf(stderr,"dbg5 spare3: %d\n",store->spare3); fprintf(stderr,"dbg5 spare4: %d\n",store->spare4); fprintf(stderr,"dbg5 spare5: %d\n",store->spare5); fprintf(stderr,"dbg5 spare6: %d\n",store->spare6); } /* write the record label */ if (fwrite(mbf_sb2100bi_labels[MBF_SB2100BI_DH], MBF_SB2100BI_LABEL_LEN, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* write the record length */ if (status == MB_SUCCESS) { record_length = MBF_SB2100BI_DH_WRITE_LEN + 6; mb_put_binary_short(MB_NO, record_length, &buffer[0]); if (fwrite(buffer, 2, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the data */ if (status == MB_SUCCESS) { index = 0; mb_put_binary_short(MB_NO, store->year, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->jday, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->hour, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->minute, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->sec, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->msec, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->spare1, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->spare2, &buffer[index]); index += 2; mb_put_binary_double(MB_NO, store->longitude, &buffer[index]); index += 8; mb_put_binary_double(MB_NO, store->latitude, &buffer[index]); index += 8; mb_put_binary_float(MB_NO, store->heading, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->speed, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->roll, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->heave, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->ssv, &buffer[index]); index += 4; buffer[index] = store->frequency; index++; buffer[index] = store->depth_gate_mode; index++; buffer[index] = store->ping_gain; index++; buffer[index] = store->ping_pulse_width; index++; buffer[index] = store->transmitter_attenuation; index++; buffer[index] = store->ssv_source; index++; buffer[index] = store->svp_correction; index++; buffer[index] = store->pixel_algorithm; index++; mb_put_binary_float(MB_NO, store->pixel_size, &buffer[index]); index += 4; mb_put_binary_int(MB_NO, store->nbeams, &buffer[index]); index += 4; mb_put_binary_int(MB_NO, store->npixels, &buffer[index]); index += 4; mb_put_binary_short(MB_NO, store->spare3, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->spare4, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->spare5, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->spare6, &buffer[index]); index += 2; /* do checksum */ checksum = 0; write_length = MBF_SB2100BI_DH_WRITE_LEN; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_wr_br(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error) { char *function_name = "mbr_sb2100bi_wr_br"; int status = MB_SUCCESS; short record_length; int write_length; unsigned int checksum; int index; 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 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 beam depth xtrack ltrack tt angle angfor amp sig2noise echo src quality\n"); for (i=0;inbeams;i++) { fprintf(stderr,"dbg5 %3d %8.2f %9.2f %8.2f %6.3f %7.3f %7.3f %3d %3d %3d %c %c\n", i, store->beams[i].depth, store->beams[i].acrosstrack, store->beams[i].alongtrack, store->beams[i].range, store->beams[i].angle_across, store->beams[i].angle_forward, store->beams[i].amplitude, store->beams[i].signal_to_noise, store->beams[i].echo_length, store->beams[i].source, store->beams[i].quality); } } /* write the record label */ if (fwrite(mbf_sb2100bi_labels[MBF_SB2100BI_BR], MBF_SB2100BI_LABEL_LEN, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* write the record length */ if (status == MB_SUCCESS) { record_length = store->nbeams * MBF_SB2100BI_BR_WRITE_LEN + 6; mb_put_binary_short(MB_NO, record_length, &buffer[0]); if (fwrite(buffer, 2, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the data */ if (status == MB_SUCCESS) { index = 0; for (i=0;inbeams;i++) { mb_put_binary_float(MB_NO, store->beams[i].depth, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->beams[i].acrosstrack, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->beams[i].alongtrack, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->beams[i].range, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->beams[i].angle_across, &buffer[index]); index += 4; mb_put_binary_float(MB_NO, store->beams[i].angle_forward, &buffer[index]); index += 4; mb_put_binary_short(MB_NO, store->beams[i].amplitude, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->beams[i].signal_to_noise, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, store->beams[i].echo_length, &buffer[index]); index += 2; buffer[index] = store->beams[i].quality; index++; buffer[index] = store->beams[i].source; index++; } /* do checksum */ checksum = 0; write_length = store->nbeams * MBF_SB2100BI_BR_WRITE_LEN; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100bi_wr_sr(int verbose, FILE *mbfp, struct mbsys_sb2100_struct *store, int *error) { char *function_name = "mbr_sb2100bi_wr_sr"; int status = MB_SUCCESS; short record_length; int write_length; unsigned int checksum; short amplitude_short; short alongtrack_short; int index; 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 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 pixel amplitude alongtrack\n"); for (i=0;inpixels;i++) { fprintf(stderr,"dbg5 %3d %f %f\n", i, store->pixels[i].amplitude, store->pixels[i].alongtrack); } } /* write the record label */ if (fwrite(mbf_sb2100bi_labels[MBF_SB2100BI_SR], MBF_SB2100BI_LABEL_LEN, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* write the record length */ if (status == MB_SUCCESS) { record_length = store->npixels * MBF_SB2100BI_SR_WRITE_LEN + 6; mb_put_binary_short(MB_NO, record_length, &buffer[0]); if (fwrite(buffer, 2, 1, mbfp) != 1) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the data */ if (status == MB_SUCCESS) { index = 0; for (i=0;inpixels;i++) { amplitude_short = (short) store->pixels[i].amplitude; alongtrack_short = (short) (10 * store->pixels[i].alongtrack); mb_put_binary_short(MB_NO, amplitude_short, &buffer[index]); index += 2; mb_put_binary_short(MB_NO, alongtrack_short, &buffer[index]); index += 2; } /* do checksum */ checksum = 0; write_length = store->npixels * MBF_SB2100BI_SR_WRITE_LEN; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/