/*-------------------------------------------------------------------- * The MB-system: mbr_sb2100rw.c 3/3/94 * $Id: mbr_sb2100rw.c 1987 2012-09-29 06:13:00Z caress $ * * Copyright (c) 1994-2012 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_sb2100rw.c contains the functions for reading and writing * multibeam data in the SB2100RW format. * These functions include: * mbr_alm_sb2100rw - allocate read/write memory * mbr_dem_sb2100rw - deallocate read/write memory * mbr_rt_sb2100rw - read and translate data * mbr_wt_sb2100rw - translate and write data * * Author: D. W. Caress * Date: March 3, 1994 * $Log: mbr_sb2100rw.c,v $ * Revision 5.13 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.12 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 5.11 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.10 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.9 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.8 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.7 2002/04/30 17:41:29 caress * Fixed writing of number of pixels. * * Revision 5.6 2001/12/18 04:27:45 caress * Release 5.0.beta11. * * Revision 5.5 2001/07/27 19:07:16 caress * Added data cutting. * * Revision 5.4 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.3 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.2 2001/01/23 01:16:54 caress * Fixed passing of bathymetry when sidescan records don't * have range scale value. * * 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 4.29 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.28 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.27 1999/09/14 20:39:11 caress * Fixed bugs handling HSMD * * Revision 4.26 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.25 1997/07/25 14:19:53 caress * Version 4.5beta2. * Much mucking, particularly with Simrad formats. * * Revision 4.24 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.24 1997/04/17 15:07:36 caress * MB-System 4.5 Beta Release * * Revision 4.23 1996/06/05 21:06:27 caress * Fixed problem handling gain of sidescan and amplitude data. * Previously transmit attenuation was treated as a gain value * (positive) rather than an attenuation value. * * Revision 4.22 1996/04/22 13:21:19 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.21 1996/01/26 21:23:30 caress * Version 4.3 distribution * * Revision 4.20 1995/09/28 18:10:48 caress * Various bug fixes working toward release 4.3. * * Revision 4.19 1995/08/17 14:42:45 caress * Revision for release 4.3. * * Revision 4.18 1995/07/18 15:38:29 caress * Added rounding to calculation of output navigation. * * Revision 4.17 1995/07/13 19:13:36 caress * Intermediate check-in during major bug-fixing flail. * * Revision 4.16 1995/06/06 13:28:49 caress * Explicit cast to int on line 1298 fixes warning under Solaris 2.4 * * Revision 4.15 1995/06/03 03:25:13 caress * Fixes to handling of changes to vendor SB2100 format * * Revision 4.14 1995/05/08 21:26:28 caress * Made changes consistent with new i/o spec for SB2100 data. * * Revision 4.13 1995/03/06 19:38:54 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.12 1995/02/15 14:37:51 caress * Changed "signed short" declarations to "short" in order to * placate the SunOS 4.1 compiler. * * Revision 4.11 1995/02/14 21:59:53 caress * Version 4.2 * * Revision 4.10 1995/01/17 23:19:57 caress * Fixed bug where fractional seconds were set to zero * when writing data. * * Revision 4.9 1995/01/16 12:32:15 caress * Changed output of transmit_attenuation values so they * are not prepended with a "+", as Dale Chayes found * this was breaking Palmer data. * * Revision 4.8 1994/12/21 20:18:10 caress * Not sure what changes have been made. * * Revision 4.7 1994/11/07 14:04:33 caress * Fixed data flagging. * * Revision 4.6 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.5 1994/07/29 18:46:51 caress * Changes associated with supporting Lynx OS (byte swapped) and * using unix second time base (for time_d values). * * Revision 4.4 1994/06/21 22:54:21 caress * Added #ifdef statements to handle byte swapping. * * Revision 4.3 1994/04/09 15:49:21 caress * Altered to fit latest iteration of SeaBeam 2100 vendor format. * * Revision 4.2 1994/03/25 14:02:38 caress * Made changes in accordance with latest iteration of * SeaBeam 2100 vendor format. * * Revision 4.1 1994/03/13 04:48:05 caress * Changed order in which parameters are read and written. * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.0 1994/03/05 02:13:52 caress * First cut for MBF_SB2100RW format. * * Revision 1.1 1994/03/05 02:09:29 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" #include "../../include/mbf_sb2100rw.h" /* include for byte swapping on little-endian machines */ #ifdef BYTESWAPPED #include "../../include/mb_swap.h" #endif /* essential function prototypes */ int mbr_register_sb2100rw(int verbose, void *mbio_ptr, int *error); int mbr_info_sb2100rw(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_sb2100rw(int verbose, void *mbio_ptr, int *error); int mbr_dem_sb2100rw(int verbose, void *mbio_ptr, int *error); int mbr_zero_sb2100rw(int verbose, void *data_ptr, int *error); int mbr_rt_sb2100rw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_sb2100rw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_sb2100rw_rd_data(int verbose, void *mbio_ptr, int *error); int mbr_sb2100rw_read_line(int verbose, FILE *mbfp,int minimum_size, char *line, int *error); int mbr_sb2100rw_rd_label(int verbose, FILE *mbfp, char *line, int *type, int *error); int mbr_sb2100rw_rd_pr(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error); int mbr_sb2100rw_rd_tr(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error); int mbr_sb2100rw_rd_dr(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error); int mbr_sb2100rw_rd_ss(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error); int mbr_sb2100rw_wr_data(int verbose, void *mbio_ptr, void *data_ptr, int *error); int mbr_sb2100rw_wr_label(int verbose, FILE *mbfp, char type, int *error); int mbr_sb2100rw_write_line(int verbose, FILE *mbfp, char *line, int *error); int mbr_sb2100rw_wr_rawline(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_sb2100rw_wr_pr(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_sb2100rw_wr_tr(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_sb2100rw_wr_dr(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_sb2100rw_wr_ss(int verbose, FILE *mbfp, void *data_ptr, int *error); static char rcs_id[]="$Id: mbr_sb2100rw.c 1987 2012-09-29 06:13:00Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_sb2100rw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_sb2100rw"; 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_sb2100rw(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_sb2100rw; mb_io_ptr->mb_io_format_free = &mbr_dem_sb2100rw; 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_sb2100rw; mb_io_ptr->mb_io_write_ping = &mbr_wt_sb2100rw; 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_sb2100rw(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_sb2100rw"; 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, "SB2100RW", MB_NAME_LENGTH); strncpy(system_name, "SB2100", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_SB2100RW\nInformal Description: SeaBeam 2100 series vender format\nAttributes: SeaBeam 2100, bathymetry, amplitude \n and sidescan, 151 beams and 2000 pixels, ascii \n with binary sidescan, SeaBeam Instruments.\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_sb2100rw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_sb2100rw"; 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 mbf_sb2100rw_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_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_sb2100rw(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_sb2100rw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_sb2100rw"; 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_sb2100rw(int verbose, void *data_ptr, int *error) { char *function_name = "mbr_zero_sb2100rw"; int status = MB_SUCCESS; struct mbf_sb2100rw_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); } /* get pointer to data descriptor */ data = (struct mbf_sb2100rw_struct *) data_ptr; /* initialize everything to zeros */ if (data != NULL) { /* type of data record */ data->kind = MB_DATA_NONE; /* time stamp (all records ) */ data->year = 0; data->jday = 0; data->hour = 0; data->minute = 0; data->msec = 0; /* sonar parameters (PR) */ data->roll_bias_port = 0; data->roll_bias_starboard = 0; data->pitch_bias = 0; data->ship_draft = 0; data->num_svp = 0; for (i=0;ivdepth[i] = 0; data->velocity[i] = 0; } /* DR and SS header info */ data->longitude = 0.0; data->latitude = 0.0; data->speed = 0; data->heave = 0; data->range_scale = 'D'; data->surface_sound_velocity = 0; data->ssv_source = 'U'; data->depth_gate_mode = 'U'; /* DR header info */ data->num_beams = 0; data->svp_corr_beams = '0'; for (i=0;i<2;i++) data->spare_dr[i] = ' '; data->num_algorithms = 1; for (i=0;i<4;i++) data->algorithm_order[i] = ' '; /* SS header info */ data->num_pixels = 0; data->ss_data_length = 0; data->pixel_algorithm = 'D'; data->pixel_size_scale = 'D'; data->svp_corr_ss = '0'; data->num_pixels_12khz = 0; data->pixel_size_12khz = 0.0; data->num_pixels_36khz = 0; data->pixel_size_36khz = 0.0; data->spare_ss = ' '; /* transmit parameters and navigation (DR and SS) */ data->frequency[0] = 'L'; data->frequency[1] = 'L'; data->ping_gain_12khz = 0; data->ping_pulse_width_12khz = 0; data->transmitter_attenuation_12khz = 0; data->pitch_12khz = 0; data->roll_12khz = 0; data->heading_12khz = 0; data->ping_gain_36khz = 0; data->ping_pulse_width_36khz = 0; data->transmitter_attenuation_36khz = 0; data->pitch_36khz = 0; data->roll_36khz = 0; data->heading_36khz = 0; /* formed beam data (DR) */ for (i=0;isource[i] = 'U'; data->travel_time[i] = 0; data->angle_across[i] = 0; data->angle_forward[i] = 0; data->depth[i] = 0; data->acrosstrack_beam[i] = 0; data->alongtrack_beam[i] = 0; data->amplitude_beam[i] = 0; data->signal_to_noise[i] = 0; data->echo_length[i] = 0; data->quality[i] = '0'; } /* sidescan data (SS) */ for (i=0;iamplitude_ss[i] = 0; data->alongtrack_ss[i] = 0; } /* comment (TR) */ strncpy(data->comment,"\0",MBF_SB2100RW_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_sb2100rw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_sb2100rw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_sb2100rw_struct *data; struct mbsys_sb2100_struct *store; double scale; 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_sb2100rw_struct *) mb_io_ptr->raw_data; store = (struct mbsys_sb2100_struct *) store_ptr; /* read next data from file */ status = mbr_sb2100rw_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 sb2100 data storage structure */ if (status == MB_SUCCESS && store != NULL) { /* type of data record */ store->kind = data->kind; /* sonar parameters (PR) */ if (data->kind == MB_DATA_VELOCITY_PROFILE) { store->year = data->year; store->jday = data->jday; store->hour = data->hour; store->minute = data->minute; store->sec = 0.001 * data->msec; store->msec = data->msec - 1000 * store->sec; store->roll_bias_port = 0.01 * data->roll_bias_port; store->roll_bias_starboard = 0.01 * data->roll_bias_starboard; store->pitch_bias = 0.01 * data->pitch_bias; store->ship_draft = 0.01 * data->ship_draft; store->offset_x = 0.0; store->offset_y = 0.0; store->offset_z = 0.0; store->num_svp = data->num_svp; for (i=0;isvp[i].depth = 0.01 * data->vdepth[i]; store->svp[i].velocity = 0.01 * data->velocity[i]; } } /* ping data */ else if (data->kind == MB_DATA_DATA) { /* time stamp */ store->year = data->year; store->jday = data->jday; store->hour = data->hour; store->minute = data->minute; store->sec = 0.001 * data->msec; store->msec = data->msec - 1000 * store->sec; /* DR and SS header info */ store->longitude = data->longitude; store->latitude = data->latitude; store->speed = 0.01 * data->speed; store->heave = 0.001 * data->heave; store->range_scale = data->range_scale; store->ssv = 0.01 * data->surface_sound_velocity; store->ssv_source = data->ssv_source; store->depth_gate_mode = data->depth_gate_mode; /* DR header info */ store->nbeams = data->num_beams; store->svp_correction = data->svp_corr_beams; for (i=0;i<2;i++) store->spare_dr[i] = data->spare_dr[i]; store->num_algorithms = data->num_algorithms; for (i=0;i<4;i++) store->algorithm_order[i] = data->algorithm_order[i]; /* transmit parameters and navigation (DR and SS) */ store->frequency = data->frequency[0]; if (data->frequency[0] != 'H') { store->ping_gain = data->ping_gain_12khz; store->ping_pulse_width = data->ping_pulse_width_12khz; store->transmitter_attenuation = data->transmitter_attenuation_12khz; store->pitch = 0.001 * data->pitch_12khz; store->roll = 0.001 * data->roll_12khz; store->heading = 0.001 * data->heading_12khz; } else { store->ping_gain = data->ping_gain_36khz; store->ping_pulse_width = data->ping_pulse_width_36khz; store->transmitter_attenuation = data->transmitter_attenuation_36khz; store->pitch = 0.001 * data->pitch_36khz; store->roll = 0.001 * data->roll_36khz; store->heading = 0.001 * data->heading_36khz; } /* formed beam data (DR) */ if (data->range_scale == 'S') scale = 0.01; else if (data->range_scale == 'I') scale = 0.1; else if (data->range_scale == 'D') scale = 1.0; for (i=0;ibeams[i].depth = scale * data->depth[i]; store->beams[i].acrosstrack = scale * data->acrosstrack_beam[i]; store->beams[i].alongtrack = scale * data->alongtrack_beam[i]; store->beams[i].range = 0.001 * data->travel_time[i]; store->beams[i].angle_across = 0.001 * data->angle_across[i]; store->beams[i].angle_forward = 0.01 * data->angle_forward[i]; store->beams[i].amplitude = data->amplitude_beam[i]; store->beams[i].signal_to_noise = data->signal_to_noise[i]; store->beams[i].echo_length = data->echo_length[i]; store->beams[i].quality = data->quality[i]; store->beams[i].source = data->source[i]; } /* SS header info */ store->ss_data_length = data->ss_data_length; store->npixels = data->num_pixels; store->pixel_algorithm = data->pixel_algorithm; store->pixel_size_scale = data->pixel_size_scale; store->svp_corr_ss = data->svp_corr_ss; if (data->frequency[0] != 'H') store->pixel_size = data->pixel_size_12khz; else store->pixel_size = data->pixel_size_36khz; store->spare_ss = data->spare_ss; /* sidescan data (SS) */ for (i=0;ipixels[i].amplitude = data->amplitude_ss[i]; store->pixels[i].alongtrack = scale * data->alongtrack_ss[i]; } } /* comment (TR) */ else if (data->kind == MB_DATA_COMMENT) strncpy(store->comment,data->comment, MBF_SB2100RW_MAXLINE); } /* 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_sb2100rw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_sb2100rw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_sb2100rw_struct *data; char *data_ptr; struct mbsys_sb2100_struct *store; double scale; double depth_max, across_max, along_max; 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_sb2100rw_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; store = (struct mbsys_sb2100_struct *) store_ptr; /* first translate values from data storage structure */ if (store != NULL) { /* type of data record */ data->kind = store->kind; /* sonar parameters (PR) */ if (data->kind == MB_DATA_VELOCITY_PROFILE) { data->year = store->year; data->jday = store->jday; data->hour = store->hour; data->minute = store->minute; data->msec = 1000 * store->sec + store->msec; data->roll_bias_port = 100 * store->roll_bias_port; data->roll_bias_starboard = 100 * store->roll_bias_starboard; data->pitch_bias = 100 * store->pitch_bias; data->ship_draft = 100 * store->ship_draft; data->num_svp = store->num_svp; for (i=0;ivdepth[i] = 100 * store->svp[i].depth; data->velocity[i] = 100 * store->svp[i].velocity; } } /* ping data */ else if (data->kind == MB_DATA_DATA) { /* time stamp */ data->year = store->year; data->jday = store->jday; data->hour = store->hour; data->minute = store->minute; data->msec = 1000 * store->sec + store->msec; /* DR and SS header info */ data->longitude = store->longitude; data->latitude = store->latitude; data->speed = 100 * store->speed; data->heave = 1000 * store->heave; data->range_scale = store->range_scale; data->surface_sound_velocity = 100 * store->ssv; data->ssv_source = store->ssv_source; data->depth_gate_mode = store->depth_gate_mode; /* DR header info */ data->num_beams = store->nbeams; data->svp_corr_beams = store->svp_correction; for (i=0;i<2;i++) data->spare_dr[i] = store->spare_dr[i]; data->num_algorithms = store->num_algorithms; for (i=0;i<4;i++) data->algorithm_order[i] = store->algorithm_order[i]; /* transmit parameters and navigation (DR and SS) */ data->frequency[0] = store->frequency; data->frequency[1] = store->frequency; if (store->frequency != 'H') { if (store->frequency == 'L') { data->frequency[0] = 'L'; data->frequency[1] = 'L'; } else if (store->frequency == '2') { data->frequency[0] = '2'; data->frequency[1] = '0'; } data->ping_gain_12khz = store->ping_gain; data->ping_pulse_width_12khz = store->ping_pulse_width; data->transmitter_attenuation_12khz = store->transmitter_attenuation; data->pitch_12khz = 1000 * store->pitch; data->roll_12khz = 1000 * store->roll; data->heading_12khz = 1000 * store->heading; data->ping_gain_36khz = 0; data->ping_pulse_width_36khz = 0; data->transmitter_attenuation_36khz = 0; data->pitch_36khz = 0; data->roll_36khz = 0; data->heading_36khz = 0; } else { data->frequency[0] = 'H'; data->frequency[1] = 'H'; data->ping_gain_12khz = 0; data->ping_pulse_width_12khz = 0; data->transmitter_attenuation_12khz = 0; data->pitch_12khz = 0; data->roll_12khz = 0; data->heading_12khz = 0; data->ping_gain_36khz = store->ping_gain; data->ping_pulse_width_36khz = store->ping_pulse_width; data->transmitter_attenuation_36khz = store->transmitter_attenuation; data->pitch_36khz = 1000 * store->pitch; data->roll_36khz = 1000 * store->roll; data->heading_36khz = 1000 * store->heading; } /* formed beam data (DR) */ if (data->range_scale == 'S') scale = 0.01; else if (data->range_scale == 'I') scale = 0.1; else if (data->range_scale == 'D') scale = 1.0; else { /* find best scale for data */ depth_max = 0.0; across_max = 0.0; along_max = 0.0; for (i=0;ibeams[i].depth != 0.0 && store->beams[i].quality == ' ') { depth_max = MAX(depth_max, fabs(store->beams[i].depth)); across_max = MAX(across_max, fabs(store->beams[i].acrosstrack)); along_max = MAX(along_max, fabs(store->beams[i].alongtrack)); } } if (depth_max > 9999.9 || across_max > 9999.9 || along_max > 9999.9) { scale = 1.0; data->range_scale = 'D'; } else if (depth_max > 999.9 || across_max > 999.9 || along_max > 999.9) { scale = 0.1; data->range_scale = 'I'; } else { scale = 0.01; data->range_scale = 'S'; } } for (i=0;idepth[i] = store->beams[i].depth / scale; data->acrosstrack_beam[i] = store->beams[i].acrosstrack / scale; data->alongtrack_beam[i] = store->beams[i].alongtrack / scale; data->travel_time[i] = 1000 * store->beams[i].range; data->angle_across[i] = 1000 * store->beams[i].angle_across; data->angle_forward[i] = 100 * store->beams[i].angle_forward; data->amplitude_beam[i] = store->beams[i].amplitude; data->signal_to_noise[i] = store->beams[i].signal_to_noise; data->echo_length[i] = store->beams[i].echo_length; data->quality[i] = store->beams[i].quality; data->source[i] = store->beams[i].source; } /* SS header info */ data->ss_data_length = store->ss_data_length; data->num_pixels = store->npixels; data->pixel_algorithm = store->pixel_algorithm; data->pixel_size_scale = 'D'; data->svp_corr_ss = store->svp_corr_ss; if (data->frequency[0] != 'H') { data->num_pixels_12khz = store->npixels; data->pixel_size_12khz = store->pixel_size; data->num_pixels_36khz = 0; data->pixel_size_36khz = 0.0; } else { data->num_pixels_12khz = 0; data->pixel_size_12khz = 0.0; data->num_pixels_36khz = store->npixels; data->pixel_size_36khz = store->pixel_size; } store->spare_ss = data->spare_ss; /* sidescan data (SS) */ for (i=0;iamplitude_ss[i] = store->pixels[i].amplitude; data->alongtrack_ss[i] = store->pixels[i].alongtrack / scale; } } /* comment (TR) */ else if (data->kind == MB_DATA_COMMENT) strncpy(data->comment,store->comment, MBF_SB2100RW_MAXLINE); } /* write next data to file */ status = mbr_sb2100rw_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_sb2100rw_rd_data(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_sb2100rw_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_sb2100rw_struct *data; char *data_ptr; FILE *mbfp; int done; int expect; static int line_save_flag = MB_NO; static char raw_line[MBF_SB2100RW_MAXLINE] = "\0"; static int type = MBF_SB2100RW_NONE; /* 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_sb2100rw_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; mbfp = mb_io_ptr->mbfp; /* initialize everything to zeros */ mbr_zero_sb2100rw(verbose,data_ptr,error); /* get file position at record beginning */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; done = MB_NO; expect = MBF_SB2100RW_NONE; while (done == MB_NO) { /* get next record label */ if (line_save_flag == MB_NO) { /* save position in file */ mb_io_ptr->file_bytes = ftell(mbfp); /* read the label */ status = mbr_sb2100rw_rd_label(verbose,mbfp, raw_line,&type,error); } else line_save_flag = MB_NO; /* read the appropriate data records */ if (status == MB_FAILURE && expect == MBF_SB2100RW_NONE) { mb_io_ptr->file_bytes = ftell(mbfp); done = MB_YES; } else if (status == MB_FAILURE && expect != MBF_SB2100RW_NONE) { mb_io_ptr->file_bytes = ftell(mbfp); done = MB_YES; *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else if (expect != MBF_SB2100RW_NONE && expect != type) { done = MB_YES; expect = MBF_SB2100RW_NONE; line_save_flag = MB_YES; } else if (type == MBF_SB2100RW_RAW_LINE) { strcpy(data->comment,raw_line); 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_SB2100RW_PR) { status = mbr_sb2100rw_rd_pr( verbose,mbfp,data,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_SB2100RW_TR) { status = mbr_sb2100rw_rd_tr( verbose,mbfp,data,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_COMMENT; } } else if (type == MBF_SB2100RW_DR) { status = mbr_sb2100rw_rd_dr( verbose,mbfp,data,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS) { done = MB_NO; data->kind = MB_DATA_DATA; expect = MBF_SB2100RW_SS; } } else if (type == MBF_SB2100RW_SS) { status = mbr_sb2100rw_rd_ss( verbose,mbfp,data,error); mb_io_ptr->file_bytes = ftell(mbfp); if (status == MB_SUCCESS && expect == MBF_SB2100RW_SS) { done = MB_YES; } else if (status == MB_SUCCESS) { done = MB_YES; expect = MBF_SB2100RW_NONE; *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } else if (status == MB_FAILURE && *error == MB_ERROR_UNINTELLIGIBLE && expect == MBF_SB2100RW_SS) { /* 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_sb2100rw_rd_label(int verbose, FILE *mbfp, char *line, int *type, int *error) { char *function_name = "mbr_sb2100rw_rd_label"; int status = MB_SUCCESS; int i, j; char *label; 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_sb2100rw_read_line(verbose,mbfp,1,line,error); /* see if we just encountered an identifier record */ if (status == MB_SUCCESS) { *type = MBF_SB2100RW_RAW_LINE; 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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_sb2100rw_read_line(int verbose, FILE *mbfp, int minimum_size, char *line, int *error) { char *function_name = "mbr_sb2100rw_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_SB2100RW_MAXLINE); result = fgets(line,MBF_SB2100RW_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_sb2100rw_rd_pr(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error) { char *function_name = "mbr_sb2100rw_rd_pr"; int status = MB_SUCCESS; char line[MBF_SB2100RW_MAXLINE]; 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); } /* read and parse data from first line of record */ status = mbr_sb2100rw_read_line(verbose,mbfp,1,line,error); /* parse data from first line */ if (status == MB_SUCCESS) { mb_get_int(&(data->year), line, 4); mb_get_int(&(data->jday), line+4, 3); mb_get_int(&(data->hour), line+7, 2); mb_get_int(&(data->minute), line+9, 2); mb_get_int(&(data->msec), line+11, 5); if ((int)strlen(line) >= 39) { mb_get_int(&(data->roll_bias_port), line+16, 6); data->roll_bias_starboard = data->roll_bias_port; mb_get_int(&(data->pitch_bias), line+22, 6); mb_get_int(&(data->num_svp), line+28, 2); mb_get_int(&(data->ship_draft), line+30, 7); } else { mb_get_int(&(data->roll_bias_port), line+16, 6); mb_get_int(&(data->roll_bias_starboard), line+22, 6); mb_get_int(&(data->pitch_bias), line+28, 6); mb_get_int(&(data->num_svp), line+34, 2); data->ship_draft = 0; } } /* read and parse data from other lines of record */ for (i=0;inum_svp;i++) { if ((status = mbr_sb2100rw_read_line(verbose,mbfp,1,line,error)) == MB_SUCCESS) { mb_get_int(&(data->vdepth[i]),line,7); mb_get_int(&(data->velocity[i]),line+7,6); } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 julian day: %d\n",data->jday); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n",data->minute); fprintf(stderr,"dbg5 msec: %d\n",data->msec); fprintf(stderr,"dbg5 roll_bias_port: %d\n",data->roll_bias_port); fprintf(stderr,"dbg5 roll_bias_strbrd: %d\n",data->roll_bias_starboard); fprintf(stderr,"dbg5 pitch_bias: %d\n",data->pitch_bias); fprintf(stderr,"dbg5 num_svp: %d\n",data->num_svp); fprintf(stderr,"dbg5 ship_draft: %d\n",data->ship_draft); fprintf(stderr,"dbg5 Sound Velocity Profile:\n"); for (i=0;inum_svp;i++) fprintf(stderr,"dbg5 %d depth:%d velocity:%d\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_sb2100rw_rd_tr(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error) { char *function_name = "mbr_sb2100rw_rd_tr"; int status = MB_SUCCESS; char line[MBF_SB2100RW_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); } /* read comment record from file */ status = mbr_sb2100rw_read_line(verbose,mbfp,1,line,error); /* copy comment into data structure */ if (status == MB_SUCCESS) { nchars = strlen(line); strncpy(data->comment,line,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_sb2100rw_rd_dr(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error) { char *function_name = "mbr_sb2100rw_rd_dr"; int status = MB_SUCCESS; char line[MBF_SB2100RW_MAXLINE]; int shift; char ew, ns; int degrees, minutes; 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); } /* read and parse data from first line of record */ status = mbr_sb2100rw_read_line(verbose,mbfp,1,line,error); /* parse data from first line */ if (status == MB_SUCCESS) { /* get time and navigation */ mb_get_int(&(data->year), line, 4); mb_get_int(&(data->jday), line+4, 3); mb_get_int(&(data->hour), line+7, 2); mb_get_int(&(data->minute), line+9, 2); mb_get_int(&(data->msec), line+11, 5); ns = line[16]; mb_get_int(°rees, line+17,2); mb_get_int(&minutes, line+19,6); data->latitude = degrees + 0.0001*minutes/60.; if (ns == 's' || ns == 'S') data->latitude = -data->latitude; ew = line[25]; mb_get_int(°rees, line+26,3); mb_get_int(&minutes, line+29,6); data->longitude = degrees + 0.0001*minutes/60.; if (ew == 'W' || ns == 'w') data->longitude = -data->longitude; mb_get_int(&(data->speed), line+35,7); /* now get other stuff */ mb_get_int(&(data->num_beams), line+42, 4); data->svp_corr_beams = line[46]; data->frequency[0] = line[47]; data->frequency[1] = line[48]; mb_get_int(&(data->heave), line+49, 6); for (i=0;i<2;i++) data->spare_dr[i] = line[55+i]; data->range_scale = line[57]; mb_get_int(&(data->surface_sound_velocity),line+58,6); data->ssv_source = line[64]; data->depth_gate_mode = line[65]; /* handle 12 kHz parameters if not in 36 kHz mode */ shift = 66; if (data->frequency[0] != 'H') { mb_get_int(&(data->ping_gain_12khz), line+shift, 2); mb_get_int(&(data->ping_pulse_width_12khz), line+2+shift, 2); mb_get_int(&(data->transmitter_attenuation_12khz), line+4+shift, 2); mb_get_int(&(data->pitch_12khz), line+6+shift, 6); mb_get_int(&(data->roll_12khz), line+12+shift, 6); mb_get_int(&(data->heading_12khz), line+18+shift, 6); shift = shift + 24; } /* handle 36 kHz parameters if if in 36 kHz or dual frequency mode */ else { mb_get_int(&(data->ping_gain_36khz), line+shift, 2); mb_get_int(&(data->ping_pulse_width_36khz), line+2+shift, 2); mb_get_int(&(data->transmitter_attenuation_36khz), line+4+shift, 2); mb_get_int(&(data->pitch_36khz), line+6+shift, 6); mb_get_int(&(data->roll_36khz), line+12+shift, 6); mb_get_int(&(data->heading_36khz), line+18+shift, 6); shift = shift + 24; } /* now get last things in header */ mb_get_int(&(data->num_algorithms), line+shift, 1); for (i=0;i<4;i++) data->algorithm_order[i] = line[1+shift+i]; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 julian day: %d\n",data->jday); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 msec: %d\n",data->msec); fprintf(stderr,"dbg5 latitude: %f\n", data->latitude); fprintf(stderr,"dbg5 longitude: %f\n", data->longitude); fprintf(stderr,"dbg5 speed: %d\n", data->speed); fprintf(stderr,"dbg5 num_beams: %d\n", data->num_beams); fprintf(stderr,"dbg5 svp_corr_beams: %c\n", data->svp_corr_beams); fprintf(stderr,"dbg5 frequency: %c%c\n", data->frequency[0],data->frequency[1]); fprintf(stderr,"dbg5 heave: %d\n", data->heave); fprintf(stderr,"dbg5 spare: "); for (i=0;i<2;i++) fprintf(stderr,"%c",data->spare_dr[i]); fprintf(stderr,"\n"); fprintf(stderr,"dbg5 range_scale: %c\n", data->range_scale); fprintf(stderr,"dbg5 surface_sound_velocity: %d\n", data->surface_sound_velocity); fprintf(stderr,"dbg5 ssv_source: %c\n", data->ssv_source); fprintf(stderr,"dbg5 depth_gate_mode: %c\n", data->depth_gate_mode); fprintf(stderr,"dbg5 ping_gain_12khz: %d\n", data->ping_gain_12khz); fprintf(stderr,"dbg5 ping_pulse_width_12khz: %d\n", data->ping_pulse_width_12khz); fprintf(stderr,"dbg5 transmitter_attenuation_12khz: %d\n", data->transmitter_attenuation_12khz); fprintf(stderr,"dbg5 pitch_12khz: %d\n", data->pitch_12khz); fprintf(stderr,"dbg5 roll_12khz: %d\n", data->roll_12khz); fprintf(stderr,"dbg5 heading_12khz: %d\n", data->heading_12khz); fprintf(stderr,"dbg5 ping_gain_36khz: %d\n", data->ping_gain_36khz); fprintf(stderr,"dbg5 ping_pulse_width_36khz: %d\n", data->ping_pulse_width_36khz); fprintf(stderr,"dbg5 transmitter_attenuation_36khz: %d\n", data->transmitter_attenuation_36khz); fprintf(stderr,"dbg5 pitch_36khz: %d\n", data->pitch_36khz); fprintf(stderr,"dbg5 roll_36khz: %d\n", data->roll_36khz); fprintf(stderr,"dbg5 heading_36khz: %d\n", data->heading_36khz); fprintf(stderr,"dbg5 num_algorithms: %d\n", data->num_algorithms); fprintf(stderr,"dbg5 algorithm_order: "); for (i=0;i<4;i++) fprintf(stderr,"%c",data->algorithm_order[i]); fprintf(stderr,"\n"); } /* read and parse data from subsequent lines of record - one line per beam */ for (i=0;inum_beams;i++) { if ((status = mbr_sb2100rw_read_line(verbose,mbfp,1,line,error)) == MB_SUCCESS) { data->source[i] = line[0]; mb_get_int(&(data->travel_time[i]), line+1, 5); mb_get_int(&(data->angle_across[i]), line+6, 6); mb_get_int(&(data->angle_forward[i]), line+12, 5); mb_get_int(&(data->depth[i]), line+17, 5); mb_get_int(&(data->acrosstrack_beam[i]), line+22, 6); mb_get_int(&(data->alongtrack_beam[i]), line+28, 6); mb_get_int(&(data->amplitude_beam[i]), line+34, 3); mb_get_int(&(data->signal_to_noise[i]), line+37, 2); mb_get_int(&(data->echo_length[i]), line+39, 3); data->quality[i] = line[42]; } } /* make sure the rest of the beam arrays are null */ for (i=data->num_beams;isource[i] = ' '; data->travel_time[i] = 0; data->angle_across[i] = 0; data->angle_forward[i] = 0; data->depth[i] = 0; data->acrosstrack_beam[i] = 0; data->alongtrack_beam[i] = 0; data->amplitude_beam[i] = 0; data->signal_to_noise[i] = 0; data->echo_length[i] = 0; data->quality[i] = '0'; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"dbg5 beam src tt angle angfor depth xtrack ltrack amp sig2noise echo quality\n"); for (i=0;inum_beams;i++) { fprintf(stderr,"dbg5 %3d %c %5d %6d %5d %5d %6d %6d %3d %2d %3d %c\n", i, data->source[i], data->travel_time[i], data->angle_across[i], data->angle_forward[i], data->depth[i], data->acrosstrack_beam[i], data->alongtrack_beam[i], data->amplitude_beam[i], data->signal_to_noise[i], data->echo_length[i], data->quality[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_sb2100rw_rd_ss(int verbose, FILE *mbfp, struct mbf_sb2100rw_struct *data, int *error) { char *function_name = "mbr_sb2100rw_rd_ss"; int status = MB_SUCCESS; char line[MBF_SB2100RW_MAXLINE]; int shift; char ew, ns; unsigned short read_ss[2*MBF_SB2100RW_PIXELS+2]; char *char_ptr; short *read_ss_ptr; int degrees, minutes; 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); } /* read and parse data from first line of record */ status = mbr_sb2100rw_read_line(verbose,mbfp,1,line,error); /* parse data from first line */ if (status == MB_SUCCESS) { /* get time and navigation */ mb_get_int(&(data->year), line, 4); mb_get_int(&(data->jday), line+4, 3); mb_get_int(&(data->hour), line+7, 2); mb_get_int(&(data->minute), line+9, 2); mb_get_int(&(data->msec), line+11, 5); ns = line[16]; mb_get_int(°rees, line+17,2); mb_get_int(&minutes, line+19,6); data->latitude = degrees + 0.0001*minutes/60.; if (ns == 's' || ns == 'S') data->latitude = -data->latitude; ew = line[25]; mb_get_int(°rees, line+26,3); mb_get_int(&minutes, line+29,6); data->longitude = degrees + 0.0001*minutes/60.; if (ew == 'W' || ns == 'w') data->longitude = -data->longitude; mb_get_int(&(data->speed), line+35, 7); /* now get other stuff */ mb_get_int(&(data->ss_data_length), line+42, 4); data->num_pixels = (data->ss_data_length)/4; data->svp_corr_beams = line[46]; data->frequency[0] = line[47]; data->frequency[1] = line[48]; mb_get_int(&(data->heave), line+49, 6); if (line[55] != ' ') data->range_scale = line[55]; data->spare_ss = line[56]; data->pixel_size_scale = line[57]; data->pixel_algorithm = line[58]; mb_get_int(&(data->surface_sound_velocity),line+59,6); data->ssv_source = line[65]; data->depth_gate_mode = line[66]; /* handle 12 kHz parameters if not in 36 kHz mode */ shift = 67; if (data->frequency[0] != 'H') { mb_get_int(&(data->num_pixels_12khz), line+shift, 4); mb_get_double(&(data->pixel_size_12khz),line+4+shift, 4); mb_get_int(&(data->ping_gain_12khz), line+8+shift, 2); mb_get_int(&(data->ping_pulse_width_12khz), line+10+shift, 2); mb_get_int(&(data->transmitter_attenuation_12khz), line+12+shift, 2); mb_get_int(&(data->pitch_12khz), line+14+shift, 6); mb_get_int(&(data->roll_12khz), line+20+shift, 6); mb_get_int(&(data->heading_12khz), line+26+shift, 6); shift = shift + 32; } /* handle 36 kHz parameters if if in 36 kHz or dual frequency mode */ else { mb_get_int(&(data->num_pixels_36khz), line+shift, 4); mb_get_double(&(data->pixel_size_36khz),line+4+shift, 4); mb_get_int(&(data->ping_gain_36khz), line+8+shift,2); mb_get_int(&(data->ping_pulse_width_36khz), line+10+shift,2); mb_get_int(&(data->transmitter_attenuation_36khz), line+12+shift,2); mb_get_int(&(data->pitch_36khz), line+14+shift,6); mb_get_int(&(data->roll_36khz), line+20+shift,6); mb_get_int(&(data->heading_36khz), line+26+shift,6); shift = shift + 32; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->year); fprintf(stderr,"dbg5 julian day: %d\n",data->jday); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 msec: %d\n",data->msec); fprintf(stderr,"dbg5 latitude: %f\n", data->latitude); fprintf(stderr,"dbg5 longitude: %f\n", data->longitude); fprintf(stderr,"dbg5 speed: %d\n", data->speed); fprintf(stderr,"dbg5 num_pixels: %d\n", data->num_pixels); fprintf(stderr,"dbg5 svp_corr_beams: %c\n", data->svp_corr_beams); fprintf(stderr,"dbg5 frequency: %c%c\n", data->frequency[0],data->frequency[1]); fprintf(stderr,"dbg5 heave: %d\n", data->heave); fprintf(stderr,"dbg5 range_scale: %c\n", data->range_scale); fprintf(stderr,"dbg5 spare_ss: %c\n", data->spare_ss); fprintf(stderr,"dbg5 pixel_size_scale: %c\n", data->pixel_size_scale); fprintf(stderr,"dbg5 pixel_algorithm: %c\n", data->pixel_algorithm); fprintf(stderr,"dbg5 surface_sound_velocity: %d\n", data->surface_sound_velocity); fprintf(stderr,"dbg5 ssv_source: %c\n", data->ssv_source); fprintf(stderr,"dbg5 depth_gate_mode: %c\n", data->depth_gate_mode); fprintf(stderr,"dbg5 num_pixels_12khz: %d\n", data->num_pixels_12khz); fprintf(stderr,"dbg5 pixel_size_12khz: %f\n", data->pixel_size_12khz); fprintf(stderr,"dbg5 ping_gain_12khz: %d\n", data->ping_gain_12khz); fprintf(stderr,"dbg5 ping_pulse_width_12khz: %d\n", data->ping_pulse_width_12khz); fprintf(stderr,"dbg5 transmitter_attenuation_12khz: %d\n", data->transmitter_attenuation_12khz); fprintf(stderr,"dbg5 pitch_12khz: %d\n", data->pitch_12khz); fprintf(stderr,"dbg5 roll_12khz: %d\n", data->roll_12khz); fprintf(stderr,"dbg5 heading_12khz: %d\n", data->heading_12khz); fprintf(stderr,"dbg5 num_pixels_36khz: %d\n", data->num_pixels_36khz); fprintf(stderr,"dbg5 pixel_size_36khz: %f\n", data->pixel_size_36khz); fprintf(stderr,"dbg5 ping_gain_36khz: %d\n", data->ping_gain_36khz); fprintf(stderr,"dbg5 ping_pulse_width_36khz: %d\n", data->ping_pulse_width_36khz); fprintf(stderr,"dbg5 transmitter_attenuation_36khz: %d\n", data->transmitter_attenuation_36khz); fprintf(stderr,"dbg5 pitch_36khz: %d\n", data->pitch_36khz); fprintf(stderr,"dbg5 roll_36khz: %d\n", data->roll_36khz); fprintf(stderr,"dbg5 heading_36khz: %d\n", data->heading_36khz); fprintf(stderr,"dbg5 ss_data_length: %d\n", data->ss_data_length); } /* read sidescan data from character array */ if ((status = fread(read_ss,1,data->ss_data_length+2, mbfp)) != data->ss_data_length+2) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; } /* check for CR LF end of record - if out of place we have a broken record */ if (status == MB_SUCCESS) { char_ptr = ((char *) &read_ss[0]) + data->ss_data_length; if (char_ptr[0] != '\r' || char_ptr[1] != '\n') { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } /* get the data */ if (status == MB_SUCCESS) { read_ss_ptr = (short *) read_ss; for (i=0;inum_pixels;i++) { /* deal with byte swapping if necessary */ #ifdef BYTESWAPPED data->amplitude_ss[i] = (int) mb_swap_short(read_ss[2*i]); data->alongtrack_ss[i] = (int) ((short) mb_swap_short(read_ss_ptr[2*i+1])); #else data->amplitude_ss[i] = (int) read_ss[2*i]; data->alongtrack_ss[i] = (int) read_ss_ptr[2*i+1]; #endif } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"dbg5 beam amp_ss ltrack\n"); for (i=0;inum_pixels;i++) { fprintf(stderr,"dbg5 %3d %6d %6d\n", i, data->amplitude_ss[i], data->alongtrack_ss[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_sb2100rw_wr_data(int verbose, void *mbio_ptr, void *data_ptr, int *error) { char *function_name = "mbr_sb2100rw_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_sb2100rw_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_sb2100rw_struct *) data_ptr; mbfp = mb_io_ptr->mbfp; if (data->kind == MB_DATA_RAW_LINE) { status = mbr_sb2100rw_wr_rawline(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_VELOCITY_PROFILE) { status = mbr_sb2100rw_wr_pr(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_COMMENT) { status = mbr_sb2100rw_wr_tr(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_DATA) { status = mbr_sb2100rw_wr_dr(verbose,mbfp,data,error); status = mbr_sb2100rw_wr_ss(verbose,mbfp,data,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_sb2100rw_wr_label(int verbose, FILE *mbfp, char type, int *error) { char *function_name = "mbr_sb2100rw_wr_label"; int status = MB_SUCCESS; char line[MBF_SB2100RW_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",(int)type); } /* write label in file */ sprintf(line,"%8s\r\n",mbf_sb2100rw_labels[(int)type]); status = mbr_sb2100rw_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_sb2100rw_write_line(int verbose, FILE *mbfp, char *line, int *error) { char *function_name = "mbr_sb2100rw_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_sb2100rw_wr_rawline(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_sb2100rw_wr_rawline"; int status = MB_SUCCESS; struct mbf_sb2100rw_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_sb2100rw_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_sb2100rw_wr_pr(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_sb2100rw_wr_pr"; int status = MB_SUCCESS; struct mbf_sb2100rw_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_sb2100rw_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 year: %d\n",data->year); fprintf(stderr,"dbg5 julian day: %d\n",data->jday); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n",data->minute); fprintf(stderr,"dbg5 msec: %d\n",data->msec); fprintf(stderr,"dbg5 roll_bias_port: %d\n",data->roll_bias_port); fprintf(stderr,"dbg5 roll_bias_strbrd: %d\n",data->roll_bias_starboard); fprintf(stderr,"dbg5 pitch_bias: %d\n",data->pitch_bias); fprintf(stderr,"dbg5 ship_draft: %d\n",data->ship_draft); fprintf(stderr,"dbg5 num_svp: %d\n",data->num_svp); fprintf(stderr,"dbg5 Sound Velocity Profile:\n"); for (i=0;inum_svp;i++) fprintf(stderr,"dbg5 %d depth:%d velocity:%d\n", i,data->vdepth[i],data->velocity[i]); } /* write the record label */ status = mbr_sb2100rw_wr_label(verbose,mbfp, MBF_SB2100RW_PR,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the first line */ status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%3.3d",data->jday); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%5.5d",data->msec); status = fprintf(mbfp,"%+06d",data->roll_bias_port); status = fprintf(mbfp,"%+06d",data->pitch_bias); status = fprintf(mbfp,"%2.2d",data->num_svp); status = fprintf(mbfp,"%7.7d",data->ship_draft); status = fprintf(mbfp,"\r\n"); /* output the second line */ for (i=0;inum_svp;i++) { status = fprintf(mbfp,"%7.7d",data->vdepth[i]); status = fprintf(mbfp,"%6.6d",data->velocity[i]); status = fprintf(mbfp,"\r\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_sb2100rw_wr_tr(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_sb2100rw_wr_tr"; int status = MB_SUCCESS; struct mbf_sb2100rw_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_sb2100rw_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_sb2100rw_wr_label(verbose,mbfp, MBF_SB2100RW_TR,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%s\r\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); } /*--------------------------------------------------------------------*/ int mbr_sb2100rw_wr_dr(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_sb2100rw_wr_dr"; int status = MB_SUCCESS; struct mbf_sb2100rw_struct *data; double degrees; int idegrees, minutes; 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_sb2100rw_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 year: %d\n",data->year); fprintf(stderr,"dbg5 julian day: %d\n",data->jday); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 msec: %d\n",data->msec); fprintf(stderr,"dbg5 latitude: %f\n", data->latitude); fprintf(stderr,"dbg5 longitude: %f\n", data->longitude); fprintf(stderr,"dbg5 speed: %d\n", data->speed); fprintf(stderr,"dbg5 num_beams: %d\n", data->num_beams); fprintf(stderr,"dbg5 svp_corr_beams: %c\n", data->svp_corr_beams); fprintf(stderr,"dbg5 frequency: %c%c\n", data->frequency[0],data->frequency[1]); fprintf(stderr,"dbg5 heave: %d\n", data->heave); fprintf(stderr,"dbg5 spare: "); for (i=0;i<2;i++) fprintf(stderr,"%c",data->spare_dr[i]); fprintf(stderr,"\n"); fprintf(stderr,"dbg5 range_scale: %c\n", data->range_scale); fprintf(stderr,"dbg5 num_algorithms: %d\n", data->num_algorithms); fprintf(stderr,"dbg5 algorithm_order: "); for (i=0;i<4;i++) fprintf(stderr,"%c",data->algorithm_order[i]); fprintf(stderr,"\n"); fprintf(stderr,"dbg5 ping_gain_12khz: %d\n", data->ping_gain_12khz); fprintf(stderr,"dbg5 ping_pulse_width_12khz: %d\n", data->ping_pulse_width_12khz); fprintf(stderr,"dbg5 transmitter_attenuation_12khz: %d\n", data->transmitter_attenuation_12khz); fprintf(stderr,"dbg5 pitch_12khz: %d\n", data->pitch_12khz); fprintf(stderr,"dbg5 roll_12khz: %d\n", data->roll_12khz); fprintf(stderr,"dbg5 heading_12khz: %d\n", data->heading_12khz); fprintf(stderr,"dbg5 ping_gain_36khz: %d\n", data->ping_gain_36khz); fprintf(stderr,"dbg5 ping_pulse_width_36khz: %d\n", data->ping_pulse_width_36khz); fprintf(stderr,"dbg5 transmitter_attenuation_36khz: %d\n", data->transmitter_attenuation_36khz); fprintf(stderr,"dbg5 pitch_36khz: %d\n", data->pitch_36khz); fprintf(stderr,"dbg5 roll_36khz: %d\n", data->roll_36khz); fprintf(stderr,"dbg5 heading_36khz: %d\n", data->heading_36khz); fprintf(stderr,"dbg5 surface_sound_velocity: %d\n", data->surface_sound_velocity); fprintf(stderr,"dbg5 ssv_source: %c\n", data->ssv_source); fprintf(stderr,"dbg5 depth_gate_mode: %c\n", data->depth_gate_mode); fprintf(stderr,"dbg5 beam src tt angle angfor depth xtrack ltrack amp sig2noise echo quality\n"); for (i=0;inum_beams;i++) { fprintf(stderr,"dbg5 %3d %c %5d %6d %5d %5d %6d %6d %3d %2d %3d %c\n", i, data->source[i], data->travel_time[i], data->angle_across[i], data->angle_forward[i], data->depth[i], data->acrosstrack_beam[i], data->alongtrack_beam[i], data->amplitude_beam[i], data->signal_to_noise[i], data->echo_length[i], data->quality[i]); } } /* write the record label */ status = mbr_sb2100rw_wr_label(verbose,mbfp, MBF_SB2100RW_DR,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the first line */ status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%3.3d",data->jday); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%5.5d",data->msec); degrees = data->latitude; if (degrees < 0.0) { status = fprintf(mbfp,"S"); degrees = -degrees; } else status = fprintf(mbfp,"N"); idegrees = (int) degrees; minutes = (int) (600000.0*(degrees - idegrees) + 0.5); status = fprintf(mbfp,"%2.2d",idegrees); status = fprintf(mbfp,"%6.6d",minutes); degrees = data->longitude; if (degrees < -180.0) degrees = degrees + 360.0; if (degrees > 180.0) degrees = degrees - 360.0; if (degrees < 0.0) { status = fprintf(mbfp,"W"); degrees = -degrees; } else status = fprintf(mbfp,"E"); idegrees = (int) degrees; minutes = (int) (600000.0*(degrees - idegrees) + 0.5); status = fprintf(mbfp,"%3.3d",idegrees); status = fprintf(mbfp,"%6.6d",minutes); if (data->speed > 999999 || data->speed < -999999) data->speed = 0; status = fprintf(mbfp,"%+07d",data->speed); status = fprintf(mbfp,"%4.4d",data->num_beams); status = fprintf(mbfp,"%c",data->svp_corr_beams); status = fprintf(mbfp,"%c%c", data->frequency[0],data->frequency[1]); status = fprintf(mbfp,"%+06d",data->heave); for (i=0;i<2;i++) status = fprintf(mbfp,"%c",data->spare_dr[i]); status = fprintf(mbfp,"%c",data->range_scale); status = fprintf(mbfp,"%6.6d",data->surface_sound_velocity); status = fprintf(mbfp,"%c",data->ssv_source); status = fprintf(mbfp,"%c",data->depth_gate_mode); if (data->frequency[0] != 'H') { status = fprintf(mbfp,"%2.2d",data->ping_gain_12khz); status = fprintf(mbfp,"%2.2d", data->ping_pulse_width_12khz); status = fprintf(mbfp,"%02d", data->transmitter_attenuation_12khz); status = fprintf(mbfp,"%+06d",data->pitch_12khz); status = fprintf(mbfp,"%+06d",data->roll_12khz); status = fprintf(mbfp,"%6.6d",data->heading_12khz); } else { status = fprintf(mbfp,"%2.2d",data->ping_gain_36khz); status = fprintf(mbfp,"%2.2d",data-> ping_pulse_width_36khz); status = fprintf(mbfp,"%02d", data->transmitter_attenuation_36khz); status = fprintf(mbfp,"%+06d",data->pitch_36khz); status = fprintf(mbfp,"%+06d",data->roll_36khz); status = fprintf(mbfp,"%6.6d",data->heading_36khz); } status = fprintf(mbfp,"%1d",data->num_algorithms); for (i=0;i<4;i++) status = fprintf(mbfp,"%c",data->algorithm_order[i]); status = fprintf(mbfp,"\r\n"); /* output a line for each beam */ for (i=0;inum_beams;i++) { if (data->quality[i] == '0') { status = fprintf(mbfp," 0\r\n"); } else { status = fprintf(mbfp,"%c",data->source[i]); status = fprintf(mbfp,"%5.5d",data->travel_time[i]); status = fprintf(mbfp,"%+06d",data->angle_across[i]); status = fprintf(mbfp,"%+05d",data->angle_forward[i]); status = fprintf(mbfp,"%5.5d",data->depth[i]); status = fprintf(mbfp,"%+06d",data->acrosstrack_beam[i]); status = fprintf(mbfp,"%+06d",data->alongtrack_beam[i]); status = fprintf(mbfp,"%3.3d",data->amplitude_beam[i]); status = fprintf(mbfp,"%2.2d",data->signal_to_noise[i]); status = fprintf(mbfp,"%3.3d",data->echo_length[i]); status = fprintf(mbfp,"%c",data->quality[i]); status = fprintf(mbfp,"\r\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_sb2100rw_wr_ss(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_sb2100rw_wr_ss"; int status = MB_SUCCESS; struct mbf_sb2100rw_struct *data; unsigned short write_ss[2*MBF_SB2100RW_PIXELS]; short *write_ss_ptr; double degrees; int idegrees, minutes; 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_sb2100rw_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 year: %d\n",data->year); fprintf(stderr,"dbg5 julian day: %d\n",data->jday); fprintf(stderr,"dbg5 hour: %d\n",data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 msec: %d\n",data->msec); fprintf(stderr,"dbg5 latitude: %f\n", data->latitude); fprintf(stderr,"dbg5 longitude: %f\n", data->longitude); fprintf(stderr,"dbg5 speed: %d\n", data->speed); fprintf(stderr,"dbg5 num_pixels: %d\n", data->num_pixels); fprintf(stderr,"dbg5 ss_data_length: %d\n", data->ss_data_length); fprintf(stderr,"dbg5 svp_corr_beams: %c\n", data->svp_corr_beams); fprintf(stderr,"dbg5 frequency: %c%c\n", data->frequency[0],data->frequency[1]); fprintf(stderr,"dbg5 heave: %d\n", data->heave); fprintf(stderr,"dbg5 range_scale: %c\n", data->range_scale); fprintf(stderr,"dbg5 spare_ss: %c\n", data->spare_ss); fprintf(stderr,"dbg5 pixel_size_scale: %c\n", data->pixel_size_scale); fprintf(stderr,"dbg5 pixel_algorithm: %c\n", data->pixel_algorithm); fprintf(stderr,"dbg5 surface_sound_velocity: %d\n", data->surface_sound_velocity); fprintf(stderr,"dbg5 ssv_source: %c\n", data->ssv_source); fprintf(stderr,"dbg5 depth_gate_mode: %c\n", data->depth_gate_mode); fprintf(stderr,"dbg5 num_pixels_12khz: %d\n", data->num_pixels_12khz); fprintf(stderr,"dbg5 pixel_size_12khz: %f\n", data->pixel_size_12khz); fprintf(stderr,"dbg5 ping_gain_12khz: %d\n", data->ping_gain_12khz); fprintf(stderr,"dbg5 ping_pulse_width_12khz: %d\n", data->ping_pulse_width_12khz); fprintf(stderr,"dbg5 transmitter_attenuation_12khz: %d\n", data->transmitter_attenuation_12khz); fprintf(stderr,"dbg5 pitch_12khz: %d\n", data->pitch_12khz); fprintf(stderr,"dbg5 roll_12khz: %d\n", data->roll_12khz); fprintf(stderr,"dbg5 heading_12khz: %d\n", data->heading_12khz); fprintf(stderr,"dbg5 num_pixels_36khz: %d\n", data->num_pixels_36khz); fprintf(stderr,"dbg5 pixel_size_36khz: %f\n", data->pixel_size_36khz); fprintf(stderr,"dbg5 ping_gain_36khz: %d\n", data->ping_gain_36khz); fprintf(stderr,"dbg5 ping_pulse_width_36khz: %d\n", data->ping_pulse_width_36khz); fprintf(stderr,"dbg5 transmitter_attenuation_36khz: %d\n", data->transmitter_attenuation_36khz); fprintf(stderr,"dbg5 pitch_36khz: %d\n", data->pitch_36khz); fprintf(stderr,"dbg5 roll_36khz: %d\n", data->roll_36khz); fprintf(stderr,"dbg5 heading_36khz: %d\n", data->heading_36khz); fprintf(stderr,"dbg5 beam amp_ss ltrack\n"); for (i=0;inum_pixels;i++) { fprintf(stderr,"dbg5 %3d %6d %6d\n", i, data->amplitude_ss[i], data->alongtrack_ss[i]); } } /* write the record label */ status = mbr_sb2100rw_wr_label(verbose,mbfp, MBF_SB2100RW_SS,error); /* write out the data */ if (status == MB_SUCCESS) { /* output the event line */ status = fprintf(mbfp,"%4.4d",data->year); status = fprintf(mbfp,"%3.3d",data->jday); status = fprintf(mbfp,"%2.2d",data->hour); status = fprintf(mbfp,"%2.2d",data->minute); status = fprintf(mbfp,"%5.5d",data->msec); degrees = data->latitude; if (degrees < 0.0) { status = fprintf(mbfp,"S"); degrees = -degrees; } else status = fprintf(mbfp,"N"); idegrees = (int) degrees; minutes = (int) (600000.0*(degrees - idegrees) + 0.5); status = fprintf(mbfp,"%2.2d",idegrees); status = fprintf(mbfp,"%6.6d",minutes); degrees = data->longitude; if (degrees < -180.0) degrees = degrees + 360.0; if (degrees > 180.0) degrees = degrees - 360.0; if (degrees < 0.0) { status = fprintf(mbfp,"W"); degrees = -degrees; } else status = fprintf(mbfp,"E"); idegrees = (int) degrees; minutes = (int) (600000.0*(degrees - idegrees) + 0.5); status = fprintf(mbfp,"%3.3d",idegrees); status = fprintf(mbfp,"%6.6d",minutes); status = fprintf(mbfp,"%+07d",data->speed); data->ss_data_length = 4*data->num_pixels; status = fprintf(mbfp,"%4.4d",data->ss_data_length); status = fprintf(mbfp,"%c",data->svp_corr_beams); status = fprintf(mbfp,"%c%c", data->frequency[0],data->frequency[1]); status = fprintf(mbfp,"%+06d",data->heave); status = fprintf(mbfp,"%c",data->range_scale); status = fprintf(mbfp,"%c",data->spare_ss); status = fprintf(mbfp,"%c",data->pixel_size_scale); status = fprintf(mbfp,"%c",data->pixel_algorithm); status = fprintf(mbfp,"%6.6d",data->surface_sound_velocity); status = fprintf(mbfp,"%c",data->ssv_source); status = fprintf(mbfp,"%c",data->depth_gate_mode); if (data->frequency[0] != 'H') { status = fprintf(mbfp,"%4.4d",data->num_pixels_12khz); if (data->pixel_size_12khz > 9.99) status = fprintf(mbfp,"%4.1f", data->pixel_size_12khz); else if (data->pixel_size_12khz > 0.999) status = fprintf(mbfp,"%4.2f", data->pixel_size_12khz); else status = fprintf(mbfp,".%03d", (int)(1000*data->pixel_size_12khz)); status = fprintf(mbfp,"%2.2d",data->ping_gain_12khz); status = fprintf(mbfp,"%2.2d", data->ping_pulse_width_12khz); status = fprintf(mbfp,"%02d", data->transmitter_attenuation_12khz); status = fprintf(mbfp,"%+06d",data->pitch_12khz); status = fprintf(mbfp,"%+06d",data->roll_12khz); status = fprintf(mbfp,"%6.6d",data->heading_12khz); } else { status = fprintf(mbfp,"%4.4d",data->num_pixels_36khz); if (data->pixel_size_36khz > 9.99) status = fprintf(mbfp,"%4.1f", data->pixel_size_36khz); else if (data->pixel_size_36khz > 0.999) status = fprintf(mbfp,"%4.2f", data->pixel_size_36khz); else status = fprintf(mbfp,".%03d", (int)(1000*data->pixel_size_36khz)); status = fprintf(mbfp,"%2.2d",data->ping_gain_36khz); status = fprintf(mbfp,"%2.2d",data-> ping_pulse_width_36khz); status = fprintf(mbfp,"%02d", data->transmitter_attenuation_36khz); status = fprintf(mbfp,"%+06d",data->pitch_36khz); status = fprintf(mbfp,"%+06d",data->roll_36khz); status = fprintf(mbfp,"%6.6d",data->heading_36khz); } status = fprintf(mbfp,"\r\n"); /* construct and write out sidescan data */ write_ss_ptr = (short *) write_ss; for (i=0;inum_pixels;i++) { /* deal with byte swapping if necessary */ #ifdef BYTESWAPPED write_ss[2*i] = mb_swap_short((unsigned short) data->amplitude_ss[i]); write_ss_ptr[2*i+1] = mb_swap_short((short) data->alongtrack_ss[i]); #else write_ss[2*i] = (unsigned short) data->amplitude_ss[i]; write_ss_ptr[2*i+1] = (short) data->alongtrack_ss[i]; #endif } if ((status = fwrite(write_ss,1,data->ss_data_length,mbfp)) != data->ss_data_length) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; status = fprintf(mbfp,"\r\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); } /*--------------------------------------------------------------------*/