/*-------------------------------------------------------------------- * The MB-system: mbr_xtfr8101.c 8/8/94 * $Id: mbr_xtfr8101.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2001-2012 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_xtfr8101.c contains the functions for reading and writing * multibeam data in the XTFR8101 format. * These functions include: * mbr_alm_xtfr8101 - allocate read/write memory * mbr_dem_xtfr8101 - deallocate read/write memory * mbr_rt_xtfr8101 - read and translate data * mbr_wt_xtfr8101 - translate and write data * * Author: D. W. Caress * Date: August 26, 2001 * * $Log: mbr_xtfr8101.c,v $ * Revision 5.11 2008/09/13 06:08:09 caress * Updates to apply suggested patches to segy handling. Also fixes to remove compiler warnings. * * Revision 5.10 2006/03/06 21:47:48 caress * Implemented changes suggested by Bob Courtney of the Geological Survey of Canada to support translating Reson data to GSF. * * Revision 5.9 2005/11/05 00:48:05 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * 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 2003/01/15 20:51:48 caress * Release 5.0.beta28 * * Revision 5.5 2002/09/25 20:41:04 caress * Fixed some problems. * * Revision 5.4 2002/09/19 01:12:39 caress * Release 5.0.beta23 * * Revision 5.3 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.2 2001/11/16 01:32:31 caress * Working on it... * * Revision 5.1 2001/10/12 21:08:37 caress * Added interpolation of attitude data. * * Revision 5.0 2001/09/17 23:24:10 caress * Added XTF format. * * * */ /* 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_reson8k.h" #include "../../include/mbf_xtfr8101.h" /* turn on debug statements here */ /* #define MBR_XTFR8101_DEBUG 1 */ /* essential function prototypes */ int mbr_register_xtfr8101(int verbose, void *mbio_ptr, int *error); int mbr_info_xtfr8101(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_xtfr8101(int verbose, void *mbio_ptr, int *error); int mbr_dem_xtfr8101(int verbose, void *mbio_ptr, int *error); int mbr_zero_xtfr8101(int verbose, char *data_ptr, int *error); int mbr_rt_xtfr8101(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_xtfr8101(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_xtfr8101_rd_data(int verbose, void *mbio_ptr, int *error); static char rcs_id[]="$Id: mbr_xtfr8101.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_xtfr8101(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_xtfr8101"; 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_xtfr8101(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_xtfr8101; mb_io_ptr->mb_io_format_free = &mbr_dem_xtfr8101; mb_io_ptr->mb_io_store_alloc = &mbsys_reson8k_alloc; mb_io_ptr->mb_io_store_free = &mbsys_reson8k_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_xtfr8101; mb_io_ptr->mb_io_write_ping = &mbr_wt_xtfr8101; mb_io_ptr->mb_io_dimensions = &mbsys_reson8k_dimensions; mb_io_ptr->mb_io_extract = &mbsys_reson8k_extract; mb_io_ptr->mb_io_insert = &mbsys_reson8k_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_reson8k_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_reson8k_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_reson8k_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_reson8k_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_reson8k_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_reson8k_ttimes; mb_io_ptr->mb_io_detects = &mbsys_reson8k_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_reson8k_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_xtfr8101(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_xtfr8101"; 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_RESON8K; *beams_bath_max = MBSYS_RESON8K_MAXBEAMS; *beams_amp_max = MBSYS_RESON8K_MAXBEAMS; *pixels_ss_max = MBSYS_RESON8K_MAXPIXELS; strncpy(format_name, "XTFR8101", MB_NAME_LENGTH); strncpy(system_name, "RESON8K", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_XTFR8101\nInformal Description: XTF format Reson SeaBat 81XX\nAttributes: 240 beam bathymetry and amplitude,\n 1024 pixel sidescan\n binary, read-only,\n Triton-Elics.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_NO; *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 = 1.5; *beamwidth_ltrack = 1.5; /* 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_xtfr8101(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_xtfr8101"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; int *fileheaderread; double *pixel_size; double *swath_width; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set initial status */ status = MB_SUCCESS; /* allocate memory for data structure */ mb_io_ptr->structure_size = sizeof(struct mbf_xtfr8101_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_reson8k_struct), &mb_io_ptr->store_data,error); /* set saved flags */ fileheaderread = (int *) &(mb_io_ptr->save1); pixel_size = &mb_io_ptr->saved1; swath_width = &mb_io_ptr->saved2; *fileheaderread = MB_NO; *pixel_size = 0.0; *swath_width = 0.0; /* initialize everything to zeros */ mbr_zero_xtfr8101(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_xtfr8101(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_xtfr8101"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for data descriptor */ status = 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_xtfr8101(int verbose, char *data_ptr, int *error) { char *function_name = "mbr_zero_xtfr8101"; int status = MB_SUCCESS; struct mbf_xtfr8101_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 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to data descriptor */ data = (struct mbf_xtfr8101_struct *) data_ptr; /* initialize everything to zeros */ if (data != NULL) { data->kind = MB_DATA_NONE; data->sonar = MBSYS_RESON8K_UNKNOWN; } /* 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_xtfr8101(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_xtfr8101"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_xtfr8101_struct *data; struct mbsys_reson8k_struct *store; int nchan; int time_i[7]; double time_d, ntime_d, dtime, timetag; double ttscale, angscale; int icenter, quality; int intensity_max; double angle, theta, phi; double rr, xx, zz; double *pixel_size, *swath_width; double lever_x, lever_y, lever_z; int badtime; double gain_correction; double lon, lat; 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_xtfr8101_struct *) mb_io_ptr->raw_data; store = (struct mbsys_reson8k_struct *) store_ptr; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; /* read next data from file */ status = mbr_xtfr8101_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; /* handle navigation fix delay */ if (status == MB_SUCCESS && data->kind == MB_DATA_DATA) { /* get ping time */ time_i[0] = data->bathheader.Year; time_i[1] = data->bathheader.Month; time_i[2] = data->bathheader.Day; time_i[3] = data->bathheader.Hour; time_i[4] = data->bathheader.Minute; time_i[5] = data->bathheader.Second; time_i[6] = 10000 * data->bathheader.HSeconds; mb_get_time(verbose, time_i, &time_d); /* do check on time here - we sometimes get a bad fix */ badtime = MB_NO; if (time_i[0] < 1970 && time_i[0] > 2100 ) badtime = MB_YES; if (time_i[1] < 0 && time_i[1] > 12) badtime = MB_YES; if (time_i[2] < 0 && time_i[2] > 31 ) badtime = MB_YES; if (badtime == MB_YES) { if (verbose > 0) fprintf(stderr," Bad time from XTF in bathy header\n"); data->kind = MB_DATA_NONE; status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* get nav time */ dtime = 3600.0 * (data->bathheader.FixTimeHour - data->bathheader.Hour) + 60.0 * (data->bathheader.FixTimeMinute - data->bathheader.Minute) + data->bathheader.FixTimeSecond - data->bathheader.Second - 0.01 * data->bathheader.HSeconds; if (data->bathheader.FixTimeHour - data->bathheader.Hour > 1) dtime -= 3600.0 * 24; ntime_d = time_d + dtime; /* check for use of projected coordinates XTF allows projected coordinates like UTM but the format spec lists the projection specification values as unused! Assume UTM zone 1N as we have to assume something */ if (mb_io_ptr->projection_initialized == MB_YES) { mb_proj_inverse(verbose, mb_io_ptr->pjptr, data->bathheader.SensorXcoordinate, data->bathheader.SensorYcoordinate, &lon, &lat, error); } else { lon = data->bathheader.SensorXcoordinate; lat = data->bathheader.SensorYcoordinate; } /* add latest fix to list */ mb_navint_add(verbose, mbio_ptr, ntime_d, lon, lat, error); } /* translate values to reson data storage structure */ if (status == MB_SUCCESS && store != NULL) { /* type of data record */ store->kind = data->kind; /* type of sonar */ store->sonar = data->sonar; /* Type of Reson sonar */ /* parameter info */ nchan = data->fileheader.NumberOfSonarChannels + data->fileheader.NumberOfBathymetryChannels; for (i=0;ifileheader.chaninfo[i].TypeOfChannel == 3) { store->MBOffsetX = data->fileheader.chaninfo[i].OffsetX; store->MBOffsetY = data->fileheader.chaninfo[i].OffsetY; store->MBOffsetZ = data->fileheader.chaninfo[i].OffsetZ; } } store->NavLatency = data->fileheader.NavigationLatency; /* GPS_time_received - GPS_time_sent (sec) */ store->NavOffsetY = data->fileheader.NavOffsetY; /* Nav offset (m) */ store->NavOffsetX = data->fileheader.NavOffsetX; /* Nav offset (m) */ store->NavOffsetZ = data->fileheader.NavOffsetZ; /* Nav z offset (m) */ store->NavOffsetYaw = data->fileheader.NavOffsetZ; /* Heading offset (m) */ store->MRUOffsetY = data->fileheader.MRUOffsetY; /* Multibeam MRU y offset (m) */ store->MRUOffsetX = data->fileheader.MRUOffsetX; /* Multibeam MRU x offset (m) */ store->MRUOffsetZ = data->fileheader.MRUOffsetZ; /* Multibeam MRU z offset (m) */ store->MRUOffsetPitch = data->fileheader.MRUOffsetPitch; /* Multibeam MRU pitch offset (degrees) */ store->MRUOffsetRoll = data->fileheader.MRUOffsetRoll; /* Multibeam MRU roll offset (degrees) */ /* attitude data */ store->att_timetag = data->attitudeheader.TimeTag; store->att_heading = data->attitudeheader.Heading; store->att_heave = data->attitudeheader.Heave; store->att_roll = data->attitudeheader.Roll; store->att_pitch = data->attitudeheader.Pitch; /* comment */ for (i=0;icomment[i] = data->comment[i]; /* survey data */ store->png_latency = 0.001 * data->reson8100rit.latency; time_i[0] = data->bathheader.Year; time_i[1] = data->bathheader.Month; time_i[2] = data->bathheader.Day; time_i[3] = data->bathheader.Hour; time_i[4] = data->bathheader.Minute; time_i[5] = data->bathheader.Second; time_i[6] = 10000 * data->bathheader.HSeconds; mb_get_time(verbose, time_i, &(store->png_time_d)); store->png_time_d -= store->png_latency; store->png_longitude = data->bathheader.SensorXcoordinate; store->png_latitude = data->bathheader.SensorYcoordinate; store->png_speed = 0.0; /* interpolate attitude if possible */ if (mb_io_ptr->nattitude > 1) { /* time tag is on receive; average reception is closer to the midpoint of the two way travel time but will vary on beam angle and water depth set the receive time delay to the average ( 0 to 60 deg) two way travel time for a seabed located at 80% of the maximum range Old code: timetag = 0.001 * data->bathheader.AttitudeTimeTag - store->png_latency + 2.0 * ((double)data->reson8100rit.range_set) / ((double)data->reson8100rit.velocity); */ timetag = 0.001 * data->bathheader.AttitudeTimeTag - store->png_latency + 1.4*((double)data->reson8100rit.range_set) / ((double)data->reson8100rit.velocity); mb_attint_interp(verbose, mbio_ptr, timetag, &(store->png_heave), &(store->png_roll), &(store->png_pitch), error); mb_hedint_interp(verbose, mbio_ptr, timetag, &(store->png_heading), error); #ifdef MBR_XTFR8101_DEBUG fprintf(stderr, "roll: %d %f %f %f %f latency:%f time:%f %f roll:%f\n", mb_io_ptr->nattitude, mb_io_ptr->attitude_time_d[0], mb_io_ptr->attitude_time_d[mb_io_ptr->nattitude-1], mb_io_ptr->attitude_roll[0], mb_io_ptr->attitude_roll[mb_io_ptr->nattitude-1], store->png_latency, (double)(0.001 * data->bathheader.AttitudeTimeTag), timetag, store->png_roll); #endif } else { store->png_roll = data->bathheader.SensorRoll; store->png_pitch = data->bathheader.SensorPitch; store->png_heading = data->bathheader.SensorHeading; store->png_heave = data->bathheader.Heave; } /* interpolate nav if possible */ if (mb_io_ptr->nfix > 0) { mb_navint_interp(verbose, mbio_ptr, store->png_time_d, store->png_heading, 0.0, &(store->png_longitude), &(store->png_latitude), &(store->png_speed), error); /* now deal with odd case where original nav is in eastings and northings - since the projection is initialized, it will be applied when data are extracted using mb_extract(), mb_extract_nav(), etc., so we have to reproject the lon lat values to eastings northings for now */ if (mb_io_ptr->projection_initialized == MB_YES) { mb_proj_forward(verbose, mb_io_ptr->pjptr, store->png_longitude, store->png_latitude, &(store->png_longitude), &(store->png_latitude), error); } } /* get lever arm correction for heave */ mb_lever(verbose, (double) store->MBOffsetX, (double) store->MBOffsetY, (double) store->MBOffsetZ, (double) store->NavOffsetX, (double) store->NavOffsetY, (double) store->NavOffsetZ, (double) store->MRUOffsetX, (double) store->MRUOffsetY, (double) store->MRUOffsetZ, (double) (store->png_roll - store->MRUOffsetRoll), (double) (store->MRUOffsetPitch - store->png_pitch), &lever_x, &lever_y, &lever_z, error); store->png_heave -= lever_z; #ifdef MBR_XTFR8101_DEBUG fprintf(stderr,"offsets: %f %f %f roll:%f pitch:%f dz:%f\n", store->MBOffsetX - store->MRUOffsetX, store->MBOffsetY - store->MRUOffsetY, store->MBOffsetZ - store->MRUOffsetZ, (double) (store->png_roll - store->MRUOffsetRoll), (double) (store->MRUOffsetPitch - store->png_pitch), lever_z); #endif store->packet_type = data->reson8100rit.packet_type; /* identifier for packet type */ store->packet_subtype = data->reson8100rit.packet_subtype; /* identifier for packet subtype */ /* for dual head system, most significant bit (bit 7) */ /* indicates which sonar head to associate with packet */ /* head 1 - bit 7 set to 0 */ /* head 2 - bit 7 set to 1 */ store->latency = data->reson8100rit.latency; /* time from ping to output (milliseconds) */ store->Seconds = data->reson8100rit.Seconds; /* seconds since 00:00:00, 1 January 1970 */ store->Millisecs = data->reson8100rit.Millisecs; /* milliseconds, LSB = 1 ms */ store->ping_number = data->reson8100rit.ping_number; /* sequential ping number from sonar startup/reset */ store->sonar_id = data->reson8100rit.sonar_id; /* least significant four bytes of Ethernet address */ store->sonar_model = data->reson8100rit.sonar_model; /* coded model number of sonar */ store->frequency = data->reson8100rit.frequency; /* sonar frequency in KHz */ store->velocity = data->reson8100rit.velocity; /* programmed sound velocity (LSB = 1 m/sec) */ store->sample_rate = data->reson8100rit.sample_rate; /* A/D sample rate (samples per second) */ store->ping_rate = data->reson8100rit.ping_rate; /* Ping rate (pings per second * 1000) */ store->range_set = data->reson8100rit.range_set; /* range setting for SeaBat (meters ) */ store->power = data->reson8100rit.power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ store->gain = data->reson8100rit.gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ store->pulse_width = data->reson8100rit.pulse_width; /* transmit pulse width (microseconds) */ store->tvg_spread = data->reson8100rit.tvg_spread; /* spreading coefficient for tvg * 4 */ /* valid values = 0 to 240 (0.0 to 60.0 in 0.25 steps) */ store->tvg_absorp = data->reson8100rit.tvg_absorp; /* absorption coefficient for tvg */ store->projector_type = data->reson8100rit.projector_type; /* bits 0-4 = projector type */ /* 0 = stick projector */ /* 1 = array face */ /* 2 = ER projector */ /* bit 7 - pitch steering (1=enabled, 0=disabled) */ store->projector_beam_width = data->reson8100rit.projector_beam_width; /* along track transmit beam width (degrees * 10) */ store->beam_width_num = data->reson8100rit.beam_width_num; /* cross track receive beam width numerator */ store->beam_width_denom = data->reson8100rit.beam_width_denom; /* cross track receive beam width denominator */ /* beam width degrees = numerator / denominator */ store->projector_angle = data->reson8100rit.projector_angle; /* projector pitch steering angle (degrees * 100) */ store->min_range = data->reson8100rit.min_range; /* sonar filter settings */ store->max_range = data->reson8100rit.max_range; store->min_depth = data->reson8100rit.min_depth; store->max_depth = data->reson8100rit.max_depth; store->filters_active = data->reson8100rit.filters_active; /* range/depth filters active */ /* bit 0 - range filter (0 = off, 1 = active) */ /* bit 1 - depth filter (0 = off, 1 = active) */ store->temperature = data->reson8100rit.temperature; /* temperature at sonar head (deg C * 10) */ store->beam_count = data->reson8100rit.beam_count; /* number of sets of beam data in packet */ for (i=0;ibeam_count;i++) store->range[i] = data->reson8100rit.range[i]; /* range for beam where n = Beam Count */ /* range units = sample cells * 4 */ for (i=0;ibeam_count/2+1;i++) store->quality[i] = data->reson8100rit.quality[i]; /* packed quality array (two 4 bit values/char) */ /* cnt = n/2 if beam count even, n/2+1 if odd */ /* cnt then rounded up to next even number */ /* e.g. if beam count=101, cnt=52 */ /* unused trailing quality values set to zero */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ intensity_max = 0; for (i=0;ibeam_count;i++) { store->intensity[i] = data->reson8100rit.intensity[i]; /* intensities at bottom detect */ intensity_max = MAX(intensity_max, (int)store->intensity[i]); } store->beams_bath = data->reson8100rit.beam_count; if (intensity_max > 0) store->beams_amp = store->beams_bath; else store->beams_amp = 0; /* ttscale in seconds per range count ( 4 counts per time interval) */ ttscale = 0.25 / store->sample_rate; icenter = store->beams_bath / 2; angscale = ((double)store->beam_width_num) / ((double)store->beam_width_denom); for (i=0;ibeams_bath;i++) { /* get beamflag */ if (i % 2 == 0) quality = ((store->quality[i/2]) & 15) & 3; else quality = ((store->quality[i/2] >> 4) & 15) & 3; if (quality == 0) store->beamflag[i] = MB_FLAG_NULL; else if (quality < 3) store->beamflag[i] = MB_FLAG_FLAG + MB_FLAG_SONAR; else store->beamflag[i] = MB_FLAG_NONE; if (store->beamflag[i] == MB_FLAG_NULL) { store->bath[i] = 0.0; /* bathymetry (m) */ store->bath_acrosstrack[i] = 0.0;/* acrosstrack distance (m) */ store->bath_alongtrack[i] = 0.0; /* alongtrack distance (m) */ } else { angle = 90.0 + (icenter - i) * angscale + store->png_roll; mb_rollpitch_to_takeoff( verbose, store->png_pitch, angle, &theta, &phi, error); rr = 0.5 * store->velocity * ttscale * store->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); store->bath_acrosstrack[i] = xx * cos(DTR * phi); store->bath_alongtrack[i] = xx * sin(DTR * phi); store->bath[i] = zz - store->png_heave + store->MBOffsetZ; /*if (i==store->beams_bath/2 && timetag > 1.0) fprintf(stderr,"%f %f %f %f %f\n",timetag,zz,store->png_heave,lever_z,store->bath[i]);*/ } } gain_correction = 2.2 * (store->gain & 63) + 6 * store->power; for (i=0;ibeams_amp;i++) { store->amp[i] = (double)(40.0 * log10(store->intensity[i])- gain_correction); } store->ssrawtimedelay = data->pingchanportheader.TimeDelay; store->ssrawtimeduration = data->pingchanportheader.TimeDuration; store->ssrawbottompick = data->sidescanheader.SensorPrimaryAltitude / data->sidescanheader.SoundVelocity; store->ssrawportsamples = data->pingchanportheader.NumSamples; store->ssrawstbdsamples = data->pingchanstbdheader.NumSamples; for (i=0;issrawportsamples;i++) store->ssrawport[i] = data->ssrawport[store->ssrawportsamples - i - 1]; for (i=0;issrawstbdsamples;i++) store->ssrawstbd[i] = data->ssrawstbd[i]; /* generate processed sidescan */ store->pixel_size = 0.0; store->pixels_ss = 0; status = mbsys_reson8k_makess(verbose, mbio_ptr, store_ptr, MB_NO, pixel_size, MB_NO, swath_width, 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_wt_xtfr8101(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_xtfr8101"; 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); 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; /* set error as this is a read only format */ status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; /* 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_xtfr8101_rd_data(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_xtfr8101_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_xtfr8101_struct *data; char line[MBF_XTFR8101_MAXLINE]; int *fileheaderread; struct mbf_xtfr8101_xtffileheader *fileheader; struct mbf_xtfpacketheader packetheader; struct mbf_xtfattitudeheader *attitudeheader; struct mbf_xtfbathheader *bathheader; struct RESON8100_RIT *reson8100rit; struct mbf_xtfbathheader *sidescanheader; struct mbf_xtfpingchanheader *pingchanportheader; struct mbf_xtfpingchanheader *pingchanstbdheader; int index; int ichan; int done, found; int synch; int read_len, read_bytes; int skip; int quality; mb_u_char *mb_u_char_ptr; double timetag, heave, roll, pitch, heading; int utm_zone; char projection[MB_NAME_LENGTH]; 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; /* set saved flags */ fileheaderread = (int *) &(mb_io_ptr->save1); /* get pointer to raw data structure */ data = (struct mbf_xtfr8101_struct *) mb_io_ptr->raw_data; fileheader = (struct mbf_xtfr8101_xtffileheader *) &(data->fileheader); attitudeheader = (struct mbf_xtfattitudeheader *) &(data->attitudeheader); bathheader = (struct mbf_xtfbathheader *) &(data->bathheader); reson8100rit = (struct RESON8100_RIT *) &(data->reson8100rit); sidescanheader = (struct mbf_xtfbathheader *) &(data->sidescanheader); pingchanportheader = (struct mbf_xtfpingchanheader *) &(data->pingchanportheader); pingchanstbdheader = (struct mbf_xtfpingchanheader *) &(data->pingchanstbdheader); /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; /* read file header if required */ if (*fileheaderread == MB_NO) { read_len = fread(line,1,MBF_XTFR8101_FILEHEADERLEN,mb_io_ptr->mbfp); if (read_len == MBF_XTFR8101_FILEHEADERLEN) { /* extract data from buffer */ *fileheaderread = MB_YES; status = MB_SUCCESS; index = 0; fileheader->FileFormat = line[index]; index++; fileheader->SystemType = line[index]; index++; for (i=0;i<8;i++) fileheader->RecordingProgramName[i] = line[index+i]; index += 8; for (i=0;i<8;i++) fileheader->RecordingProgramVersion[i] = line[index+i]; index += 8; for (i=0;i<16;i++) fileheader->SonarName[i] = line[index+i]; index += 16; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->SonarType)); index += 2; for (i=0;i<64;i++) fileheader->NoteString[i] = line[index+i]; index += 64; for (i=0;i<64;i++) fileheader->ThisFileName[i] = line[index+i]; index += 64; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->NavUnits)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->NumberOfSonarChannels)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->NumberOfBathymetryChannels)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->Reserved1)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->Reserved2)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->Reserved3)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->Reserved4)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->Reserved5)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->Reserved6)); index += 2; for (i=0;i<12;i++) fileheader->ProjectionType[i] = line[index+i]; index += 12; for (i=0;i<10;i++) fileheader->SpheroidType[i] = line[index+i]; index += 10; mb_get_binary_int(MB_YES, &line[index], (int *)&(fileheader->NavigationLatency)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->OriginY)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->OriginX)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->NavOffsetY)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->NavOffsetX)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->NavOffsetZ)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->NavOffsetYaw)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->MRUOffsetY)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->MRUOffsetX)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->MRUOffsetZ)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->MRUOffsetYaw)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->MRUOffsetPitch)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->MRUOffsetRoll)); index += 4; for (ichan=0;ichan<6;ichan++) { fileheader->chaninfo[ichan].TypeOfChannel = line[index]; index++; fileheader->chaninfo[ichan].SubChannelNumber = line[index]; index++; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->chaninfo[ichan].CorrectionFlags)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->chaninfo[ichan].UniPolar)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(fileheader->chaninfo[ichan].BytesPerSample)); index += 2; mb_get_binary_int(MB_YES, &line[index], (int *)&(fileheader->chaninfo[ichan].SamplesPerChannel)); index += 4; for (i=0;i<16;i++) fileheader->chaninfo[ichan].ChannelName[i] = line[index+i]; index += 16; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].VoltScale)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].Frequency)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].HorizBeamAngle)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].TiltAngle)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].BeamWidth)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].OffsetX)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].OffsetY)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].OffsetZ)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].OffsetYaw)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].OffsetPitch)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(fileheader->chaninfo[ichan].OffsetRoll)); index += 4; for (i=0;i<56;i++) fileheader->chaninfo[ichan].ReservedArea[i] = line[index+i]; index += 56; } /* if NavUnits indicates use of projected coordinates (the format spec indicates the projection parameters are unused!) assume UTM zone 1N and set up the projection */ if (fileheader->NavUnits == 0 && mb_io_ptr->projection_initialized == MB_NO) { /* initialize UTM projection */ utm_zone = (int)(((RTD * 0.0 + 183.0) / 6.0) + 0.5); sprintf(projection,"UTM%2.2dN", utm_zone); mb_proj_init(verbose, projection, &(mb_io_ptr->pjptr), error); mb_io_ptr->projection_initialized = MB_YES; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 FileFormat: %d\n",fileheader->FileFormat); fprintf(stderr,"dbg5 SystemType: %d\n",fileheader->SystemType); fprintf(stderr,"dbg5 RecordingProgramName: %s\n",fileheader->RecordingProgramName); fprintf(stderr,"dbg5 RecordingProgramVersion: %s\n",fileheader->RecordingProgramVersion); fprintf(stderr,"dbg5 SonarName: %s\n",fileheader->SonarName); fprintf(stderr,"dbg5 SonarType: %d\n",fileheader->SonarType); fprintf(stderr,"dbg5 NoteString: %s\n",fileheader->NoteString); fprintf(stderr,"dbg5 ThisFileName: %s\n",fileheader->ThisFileName); fprintf(stderr,"dbg5 NavUnits: %d\n",fileheader->NavUnits); fprintf(stderr,"dbg5 NumberOfSonarChannels: %d\n",fileheader->NumberOfSonarChannels); fprintf(stderr,"dbg5 NumberOfBathymetryChannels: %d\n",fileheader->NumberOfBathymetryChannels); fprintf(stderr,"dbg5 Reserved1: %d\n",fileheader->Reserved1); fprintf(stderr,"dbg5 Reserved2: %d\n",fileheader->Reserved2); fprintf(stderr,"dbg5 Reserved3: %d\n",fileheader->Reserved3); fprintf(stderr,"dbg5 Reserved4: %d\n",fileheader->Reserved4); fprintf(stderr,"dbg5 Reserved5: %d\n",fileheader->Reserved5); fprintf(stderr,"dbg5 Reserved6: %d\n",fileheader->Reserved6); fprintf(stderr,"dbg5 ProjectionType: %s\n",fileheader->ProjectionType); fprintf(stderr,"dbg5 SpheroidType: %s\n",fileheader->SpheroidType); fprintf(stderr,"dbg5 NavigationLatency: %d\n",fileheader->NavigationLatency); fprintf(stderr,"dbg5 OriginY: %f\n",fileheader->OriginY); fprintf(stderr,"dbg5 OriginX: %f\n",fileheader->OriginX); fprintf(stderr,"dbg5 NavOffsetY: %f\n",fileheader->NavOffsetY); fprintf(stderr,"dbg5 NavOffsetX: %f\n",fileheader->NavOffsetX); fprintf(stderr,"dbg5 NavOffsetZ: %f\n",fileheader->NavOffsetZ); fprintf(stderr,"dbg5 NavOffsetYaw: %f\n",fileheader->NavOffsetYaw); fprintf(stderr,"dbg5 MRUOffsetY: %f\n",fileheader->MRUOffsetY); fprintf(stderr,"dbg5 MRUOffsetX: %f\n",fileheader->MRUOffsetX); fprintf(stderr,"dbg5 MRUOffsetZ: %f\n",fileheader->MRUOffsetZ); fprintf(stderr,"dbg5 MRUOffsetYaw: %f\n",fileheader->MRUOffsetYaw); fprintf(stderr,"dbg5 MRUOffsetPitch: %f\n",fileheader->MRUOffsetPitch); fprintf(stderr,"dbg5 MRUOffsetRoll: %f\n",fileheader->MRUOffsetRoll); for (i=0;iNumberOfSonarChannels + fileheader->NumberOfBathymetryChannels;i++) { fprintf(stderr,"dbg5 TypeOfChannel: %d\n",fileheader->chaninfo[i].TypeOfChannel); fprintf(stderr,"dbg5 SubChannelNumber: %d\n",fileheader->chaninfo[i].SubChannelNumber); fprintf(stderr,"dbg5 CorrectionFlags: %d\n",fileheader->chaninfo[i].CorrectionFlags); fprintf(stderr,"dbg5 UniPolar: %d\n",fileheader->chaninfo[i].UniPolar); fprintf(stderr,"dbg5 BytesPerSample: %d\n",fileheader->chaninfo[i].BytesPerSample); fprintf(stderr,"dbg5 SamplesPerChannel: %d\n",fileheader->chaninfo[i].SamplesPerChannel); fprintf(stderr,"dbg5 ChannelName: %s\n",fileheader->chaninfo[i].ChannelName); fprintf(stderr,"dbg5 VoltScale: %f\n",fileheader->chaninfo[i].VoltScale); fprintf(stderr,"dbg5 Frequency: %f\n",fileheader->chaninfo[i].Frequency); fprintf(stderr,"dbg5 HorizBeamAngle: %f\n",fileheader->chaninfo[i].HorizBeamAngle); fprintf(stderr,"dbg5 TiltAngle: %f\n",fileheader->chaninfo[i].TiltAngle); fprintf(stderr,"dbg5 BeamWidth: %f\n",fileheader->chaninfo[i].BeamWidth); fprintf(stderr,"dbg5 OffsetX: %f\n",fileheader->chaninfo[i].OffsetX); fprintf(stderr,"dbg5 OffsetY: %f\n",fileheader->chaninfo[i].OffsetY); fprintf(stderr,"dbg5 OffsetZ: %f\n",fileheader->chaninfo[i].OffsetZ); fprintf(stderr,"dbg5 OffsetYaw: %f\n",fileheader->chaninfo[i].OffsetYaw); fprintf(stderr,"dbg5 OffsetPitch: %f\n",fileheader->chaninfo[i].OffsetPitch); fprintf(stderr,"dbg5 OffsetRoll: %f\n",fileheader->chaninfo[i].OffsetRoll); fprintf(stderr,"dbg5 ReservedArea: %s\n",fileheader->chaninfo[i].ReservedArea); } } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* look for next recognizable record */ done = MB_NO; while (status == MB_SUCCESS && done == MB_NO) { /* find the next packet beginning */ found = MB_NO; skip = 0; read_len = fread(line,1,2,mb_io_ptr->mbfp); if (read_len != 2) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else if (((mb_u_char)line[0]) == 0xce && ((mb_u_char)line[1] == 0xfa)) found = MB_YES; while (status == MB_SUCCESS && found == MB_NO) { line[0] = line[1]; read_len = fread(&(line[1]),1,1,mb_io_ptr->mbfp); skip++; if (read_len != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else if (((mb_u_char)line[0]) == 0xce && ((mb_u_char)line[1] == 0xfa)) found = MB_YES; } /* read the next packet header */ read_len = fread(&(line[2]),1,12,mb_io_ptr->mbfp); if (read_len == 12) { /* extract data from buffer */ index = 0; packetheader.MagicNumber[0] = line[index]; index++; packetheader.MagicNumber[1] = line[index]; index++; packetheader.HeaderType = line[index]; index++; packetheader.SubChannelNumber = line[index]; index++; mb_get_binary_short(MB_YES, &line[index], (short int *)&(packetheader.NumChansToFollow)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(packetheader.Reserved1[0])); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(packetheader.Reserved1[1])); index += 2; mb_get_binary_int(MB_YES, &line[index], (int *)&(packetheader.NumBytesThisRecord)); index += 4; /* check packet header details */ if( packetheader.NumChansToFollow > 20) { if (verbose > 0) fprintf(stderr,"Bad packet header in xtf - skip this record\n"); packetheader.NumBytesThisRecord = 0; packetheader.HeaderType = 99; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Bytes Skipped: %d\n",skip); fprintf(stderr,"dbg5 MagicNumber: %d %d %x%x\n", packetheader.MagicNumber[0],packetheader.MagicNumber[1], packetheader.MagicNumber[0],packetheader.MagicNumber[1]); fprintf(stderr,"dbg5 HeaderType: %d\n",packetheader.HeaderType); fprintf(stderr,"dbg5 SubChannelNumber: %d\n",packetheader.SubChannelNumber); fprintf(stderr,"dbg5 NumChansToFollow: %d\n",packetheader.NumChansToFollow); fprintf(stderr,"dbg5 Reserved1: %d %d\n",packetheader.Reserved1[0],packetheader.Reserved1[1]); fprintf(stderr,"dbg5 NumBytesThisRecord: %d\n",packetheader.NumBytesThisRecord); } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* read rest of attitude packet */ if (status == MB_SUCCESS && packetheader.HeaderType == XTF_DATA_ATTITUDE && packetheader.NumBytesThisRecord == 64) { #ifdef MBR_XTFR8101_DEBUG fprintf(stderr,"Reading attitude packet type:%d bytes:%d\n", packetheader.HeaderType,packetheader.NumBytesThisRecord); #endif attitudeheader->packetheader = packetheader; read_len = fread(line,1,50,mb_io_ptr->mbfp); if (read_len == 50) { /* parse the rest of the attitude record */ index = 0; for (i=0;i<4;i++) { mb_get_binary_int(MB_YES, &line[index], (int *)&(attitudeheader->Reserved2[i])); index += 4; } mb_get_binary_float(MB_YES, &line[index], &(attitudeheader->Pitch)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(attitudeheader->Roll)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(attitudeheader->Heave)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(attitudeheader->Yaw)); index += 4; mb_get_binary_int(MB_YES, &line[index], (int *)&(attitudeheader->TimeTag)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(attitudeheader->Heading)); index += 4; for (i=0;i<10;i++) { attitudeheader->Reserved3[i] = line[index]; index++; } /* add attitude to list for interpolation */ timetag = 0.001 * attitudeheader->TimeTag; heave = attitudeheader->Heave; roll = attitudeheader->Roll; pitch = attitudeheader->Pitch; heading = attitudeheader->Heading; /* add latest attitude to list */ mb_attint_add(verbose, mbio_ptr, timetag, heave, roll, pitch, error); mb_hedint_add(verbose, mbio_ptr, timetag, heading, error); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 MagicNumber: %d %d %x%x\n", attitudeheader->packetheader.MagicNumber[0],attitudeheader->packetheader.MagicNumber[1], attitudeheader->packetheader.MagicNumber[0],attitudeheader->packetheader.MagicNumber[1]); fprintf(stderr,"dbg5 HeaderType: %d\n",attitudeheader->packetheader.HeaderType); fprintf(stderr,"dbg5 SubChannelNumber: %d\n",attitudeheader->packetheader.SubChannelNumber); fprintf(stderr,"dbg5 NumChansToFollow: %d\n",attitudeheader->packetheader.NumChansToFollow); fprintf(stderr,"dbg5 Reserved1: %d %d\n",attitudeheader->packetheader.Reserved1[0],attitudeheader->packetheader.Reserved1[1]); fprintf(stderr,"dbg5 NumBytesThisRecord: %d\n",attitudeheader->packetheader.NumBytesThisRecord); fprintf(stderr,"dbg5 Reserved2[0]: %d\n",attitudeheader->Reserved2[0]); fprintf(stderr,"dbg5 Reserved2[1]: %d\n",attitudeheader->Reserved2[1]); fprintf(stderr,"dbg5 Reserved2[2]: %d\n",attitudeheader->Reserved2[2]); fprintf(stderr,"dbg5 Reserved2[3]: %d\n",attitudeheader->Reserved2[3]); fprintf(stderr,"dbg5 Pitch: %f\n",attitudeheader->Pitch); fprintf(stderr,"dbg5 Roll: %f\n",attitudeheader->Roll); fprintf(stderr,"dbg5 Heave: %f\n",attitudeheader->Heave); fprintf(stderr,"dbg5 Yaw: %f\n",attitudeheader->Yaw); fprintf(stderr,"dbg5 TimeTag: %d\n",attitudeheader->TimeTag); fprintf(stderr,"dbg5 Heading: %f\n",attitudeheader->Heading); } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } } /* read rest of sidescan packet */ else if (status == MB_SUCCESS && packetheader.HeaderType == XTF_DATA_SIDESCAN) { #ifdef MBR_XTFR8101_DEBUG fprintf(stderr,"Reading sidescan packet type:%d bytes:%d\n", packetheader.HeaderType,packetheader.NumBytesThisRecord); #endif /* read and parse the the sidescan header */ sidescanheader->packetheader = packetheader; read_len = fread(line,1,242,mb_io_ptr->mbfp); if (read_len == 242) { index = 0; mb_get_binary_short(MB_YES, &line[index], (short int *)&(sidescanheader->Year)); index += 2; sidescanheader->Month = line[index]; index++; sidescanheader->Day = line[index]; index++; sidescanheader->Hour = line[index]; index++; sidescanheader->Minute = line[index]; index++; sidescanheader->Second = line[index]; index++; sidescanheader->HSeconds = line[index]; index++; mb_get_binary_short(MB_YES, &line[index], (short int *)&(sidescanheader->JulianDay)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(sidescanheader->CurrentLineID)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(sidescanheader->EventNumber)); index += 2; mb_get_binary_int(MB_YES, &line[index], (int *)&(sidescanheader->PingNumber)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SoundVelocity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->OceanTide)); index += 4; mb_get_binary_int(MB_YES, &line[index], (int *)&(sidescanheader->Reserved2)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->ConductivityFreq)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->TemperatureFreq)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->PressureFreq)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->PressureTemp)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->Conductivity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->WaterTemperature)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->Pressure)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->ComputedSoundVelocity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->MagX)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->MagY)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->MagZ)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->AuxVal1)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->AuxVal2)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->AuxVal3)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->AuxVal4)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->AuxVal5)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->AuxVal6)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SpeedLog)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->Turbidity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->ShipSpeed)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->ShipGyro)); index += 4; mb_get_binary_double(MB_YES, &line[index], &(sidescanheader->ShipYcoordinate)); index += 8; mb_get_binary_double(MB_YES, &line[index], &(sidescanheader->ShipXcoordinate)); index += 8; mb_get_binary_short(MB_YES, &line[index], (short int *)&(sidescanheader->ShipAltitude)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(sidescanheader->ShipDepth)); index += 2; sidescanheader->FixTimeHour = line[index]; index++; sidescanheader->FixTimeMinute = line[index]; index++; sidescanheader->FixTimeSecond = line[index]; index++; sidescanheader->Reserved4 = line[index]; index++; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorSpeed)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->KP)); index += 4; mb_get_binary_double(MB_YES, &line[index], &(sidescanheader->SensorYcoordinate)); index += 8; mb_get_binary_double(MB_YES, &line[index], &(sidescanheader->SensorXcoordinate)); index += 8; mb_get_binary_short(MB_YES, &line[index], &(sidescanheader->Reserved6)); index += 2; mb_get_binary_short(MB_YES, &line[index], &(sidescanheader->RangeToSensor)); index += 2; mb_get_binary_short(MB_YES, &line[index], &(sidescanheader->BearingToSensor)); index += 2; mb_get_binary_short(MB_YES, &line[index], &(sidescanheader->CableOut)); index += 2; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->Layback)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->CableTension)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorDepth)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorPrimaryAltitude)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorAuxAltitude)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorPitch)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorRoll)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->SensorHeading)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->Heave)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->Yaw)); index += 4; mb_get_binary_int(MB_YES, &line[index], &(sidescanheader->AttitudeTimeTag)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(sidescanheader->DOT)); index += 4; for (i=0;i<20;i++) { sidescanheader->ReservedSpace[i] = line[index]; index++; } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* read and parse the port sidescan channel header */ if (status == MB_SUCCESS) read_len = fread(line,1,64,mb_io_ptr->mbfp); if (status == MB_SUCCESS && read_len == 64) { index = 0; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->ChannelNumber)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->DownsampleMethod)); index += 2; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->SlantRange)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->GroundRange)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->TimeDelay)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->TimeDuration)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->SecondsPerPing)); index += 4; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->ProcessingFlags)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->Frequency)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->InitialGainCode)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->GainCode)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->BandWidth)); index += 2; mb_get_binary_int(MB_YES, &line[index], (int *)&(pingchanportheader->ContactNumber)); index += 4; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->ContactClassification)); index += 2; pingchanportheader->ContactSubNumber = (mb_u_char) line[index]; index++; pingchanportheader->ContactType = (mb_u_char) line[index]; index++; mb_get_binary_int(MB_YES, &line[index], (int *)&(pingchanportheader->NumSamples)); index += 4; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanportheader->Reserved)); index += 2; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->ContactTimeOffTrack)); index += 4; pingchanportheader->ContactCloseNumber = (mb_u_char) line[index]; index++; pingchanportheader->Reserved2 = (mb_u_char) line[index]; index++; mb_get_binary_float(MB_YES, &line[index], &(pingchanportheader->FixedVSOP)); index += 4; for (i=0;i<6;i++) { pingchanportheader->ReservedSpace[i] = (mb_u_char) line[index]; index++; } /* fix up on time duration if needed */ if ( pingchanportheader->TimeDuration == 0.0) { pingchanportheader->TimeDuration = pingchanportheader->SlantRange / sidescanheader->SoundVelocity; } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* check for corrupted record */ if (pingchanportheader->ChannelNumber > (fileheader->NumberOfSonarChannels + fileheader->NumberOfBathymetryChannels - 1)) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } else if (pingchanportheader->NumSamples > fileheader->chaninfo[pingchanportheader->ChannelNumber].SamplesPerChannel) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* read port sidescan data */ if (status == MB_SUCCESS) { read_bytes = pingchanportheader->NumSamples * fileheader->chaninfo[pingchanportheader->ChannelNumber].BytesPerSample; read_len = fread(line,1,read_bytes,mb_io_ptr->mbfp); } if (status == MB_SUCCESS && read_len == read_bytes) { if (fileheader->chaninfo[pingchanportheader->ChannelNumber].BytesPerSample == 1) { for (i=0;iNumSamples;i++) { mb_u_char_ptr = (mb_u_char *) &line[i]; data->ssrawport[i] = (unsigned short) (*mb_u_char_ptr); } } else if (fileheader->chaninfo[pingchanportheader->ChannelNumber].BytesPerSample == 2) { index = 0; for (i=0;iNumSamples;i++) { mb_get_binary_short(MB_YES, &line[index], (short *)&(data->ssrawport[i])); index += 2; } } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* read and parse the starboard sidescan channel header */ if (status == MB_SUCCESS) read_len = fread(line,1,64,mb_io_ptr->mbfp); if (status == MB_SUCCESS && read_len == 64) { index = 0; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->ChannelNumber)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->DownsampleMethod)); index += 2; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->SlantRange)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->GroundRange)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->TimeDelay)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->TimeDuration)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->SecondsPerPing)); index += 4; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->ProcessingFlags)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->Frequency)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->InitialGainCode)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->GainCode)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->BandWidth)); index += 2; mb_get_binary_int(MB_YES, &line[index], (int *)&(pingchanstbdheader->ContactNumber)); index += 4; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->ContactClassification)); index += 2; pingchanstbdheader->ContactSubNumber = (mb_u_char) line[index]; index++; pingchanstbdheader->ContactType = (mb_u_char) line[index]; index++; mb_get_binary_int(MB_YES, &line[index], (int *)&(pingchanstbdheader->NumSamples)); index += 4; mb_get_binary_short(MB_YES, &line[index], (short int *)&(pingchanstbdheader->Reserved)); index += 2; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->ContactTimeOffTrack)); index += 4; pingchanstbdheader->ContactCloseNumber = (mb_u_char) line[index]; index++; pingchanstbdheader->Reserved2 = (mb_u_char) line[index]; index++; mb_get_binary_float(MB_YES, &line[index], &(pingchanstbdheader->FixedVSOP)); index += 4; for (i=0;i<6;i++) { pingchanstbdheader->ReservedSpace[i] = (mb_u_char) line[index]; index++; } /* fix up on time duration if needed */ if ( pingchanstbdheader->TimeDuration == 0.0) { pingchanstbdheader->TimeDuration = pingchanstbdheader->SlantRange / sidescanheader->SoundVelocity; } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* check for corrupted record */ if (pingchanstbdheader->ChannelNumber > (fileheader->NumberOfSonarChannels + fileheader->NumberOfBathymetryChannels - 1)) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } else if (pingchanstbdheader->NumSamples > fileheader->chaninfo[pingchanstbdheader->ChannelNumber].SamplesPerChannel) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* read starboard sidescan data */ if (status == MB_SUCCESS) { read_bytes = pingchanstbdheader->NumSamples * fileheader->chaninfo[pingchanstbdheader->ChannelNumber].BytesPerSample; read_len = fread(line,1,read_bytes,mb_io_ptr->mbfp); } if (status == MB_SUCCESS && read_len == read_bytes) { if (fileheader->chaninfo[pingchanstbdheader->ChannelNumber].BytesPerSample == 1) { for (i=0;iNumSamples;i++) { mb_u_char_ptr = (mb_u_char *) &line[i]; data->ssrawstbd[i] = (unsigned short) (*mb_u_char_ptr); } } else if (fileheader->chaninfo[pingchanstbdheader->ChannelNumber].BytesPerSample == 2) { index = 0; for (i=0;iNumSamples;i++) { mb_get_binary_short(MB_YES, &line[index], (short *)&(data->ssrawstbd[i])); index += 2; } } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 MagicNumber: %d %d %x%x\n", sidescanheader->packetheader.MagicNumber[0],sidescanheader->packetheader.MagicNumber[1], sidescanheader->packetheader.MagicNumber[0],sidescanheader->packetheader.MagicNumber[1]); fprintf(stderr,"dbg5 HeaderType: %d\n",sidescanheader->packetheader.HeaderType); fprintf(stderr,"dbg5 SubChannelNumber: %d\n",sidescanheader->packetheader.SubChannelNumber); fprintf(stderr,"dbg5 NumChansToFollow: %d\n",sidescanheader->packetheader.NumChansToFollow); fprintf(stderr,"dbg5 Reserved1: %d %d\n",sidescanheader->packetheader.Reserved1[0],sidescanheader->packetheader.Reserved1[1]); fprintf(stderr,"dbg5 NumBytesThisRecord: %d\n",sidescanheader->packetheader.NumBytesThisRecord); fprintf(stderr,"dbg5 Year: %d\n",sidescanheader->Year); fprintf(stderr,"dbg5 Month: %d\n",sidescanheader->Month); fprintf(stderr,"dbg5 Day: %d\n",sidescanheader->Day); fprintf(stderr,"dbg5 Hour: %d\n",sidescanheader->Hour); fprintf(stderr,"dbg5 Minute: %d\n",sidescanheader->Minute); fprintf(stderr,"dbg5 Second: %d\n",sidescanheader->Second); fprintf(stderr,"dbg5 HSeconds: %d\n",sidescanheader->HSeconds); fprintf(stderr,"dbg5 JulianDay: %d\n",sidescanheader->JulianDay); fprintf(stderr,"dbg5 CurrentLineID: %d\n",sidescanheader->CurrentLineID); fprintf(stderr,"dbg5 EventNumber: %d\n",sidescanheader->EventNumber); fprintf(stderr,"dbg5 PingNumber: %d\n",sidescanheader->PingNumber); fprintf(stderr,"dbg5 SoundVelocity: %f\n",sidescanheader->SoundVelocity); fprintf(stderr,"dbg5 OceanTide: %f\n",sidescanheader->OceanTide); fprintf(stderr,"dbg5 Reserved2: %d\n",sidescanheader->Reserved2); fprintf(stderr,"dbg5 ConductivityFreq: %f\n",sidescanheader->ConductivityFreq); fprintf(stderr,"dbg5 TemperatureFreq: %f\n",sidescanheader->TemperatureFreq); fprintf(stderr,"dbg5 PressureFreq: %f\n",sidescanheader->PressureFreq); fprintf(stderr,"dbg5 PressureTemp: %f\n",sidescanheader->PressureTemp); fprintf(stderr,"dbg5 Conductivity: %f\n",sidescanheader->Conductivity); fprintf(stderr,"dbg5 WaterTemperature: %f\n",sidescanheader->WaterTemperature); fprintf(stderr,"dbg5 Pressure: %f\n",sidescanheader->Pressure); fprintf(stderr,"dbg5 ComputedSoundVelocity: %f\n",sidescanheader->ComputedSoundVelocity); fprintf(stderr,"dbg5 MagX: %f\n",sidescanheader->MagX); fprintf(stderr,"dbg5 MagY: %f\n",sidescanheader->MagY); fprintf(stderr,"dbg5 MagZ: %f\n",sidescanheader->MagZ); fprintf(stderr,"dbg5 AuxVal1: %f\n",sidescanheader->AuxVal1); fprintf(stderr,"dbg5 AuxVal2: %f\n",sidescanheader->AuxVal2); fprintf(stderr,"dbg5 AuxVal3: %f\n",sidescanheader->AuxVal3); fprintf(stderr,"dbg5 AuxVal4: %f\n",sidescanheader->AuxVal4); fprintf(stderr,"dbg5 AuxVal5: %f\n",sidescanheader->AuxVal5); fprintf(stderr,"dbg5 AuxVal6: %f\n",sidescanheader->AuxVal6); fprintf(stderr,"dbg5 SpeedLog: %f\n",sidescanheader->SpeedLog); fprintf(stderr,"dbg5 Turbidity: %f\n",sidescanheader->Turbidity); fprintf(stderr,"dbg5 ShipSpeed: %f\n",sidescanheader->ShipSpeed); fprintf(stderr,"dbg5 ShipGyro: %f\n",sidescanheader->ShipGyro); fprintf(stderr,"dbg5 ShipYcoordinate: %f\n",sidescanheader->ShipYcoordinate); fprintf(stderr,"dbg5 ShipXcoordinate: %f\n",sidescanheader->ShipXcoordinate); fprintf(stderr,"dbg5 ShipAltitude: %d\n",sidescanheader->ShipAltitude); fprintf(stderr,"dbg5 ShipDepth: %d\n",sidescanheader->ShipDepth); fprintf(stderr,"dbg5 FixTimeHour: %d\n",sidescanheader->FixTimeHour); fprintf(stderr,"dbg5 FixTimeMinute: %d\n",sidescanheader->FixTimeMinute); fprintf(stderr,"dbg5 FixTimeSecond: %d\n",sidescanheader->FixTimeSecond); fprintf(stderr,"dbg5 Reserved4: %d\n",sidescanheader->Reserved4); fprintf(stderr,"dbg5 SensorSpeed: %f\n",sidescanheader->SensorSpeed); fprintf(stderr,"dbg5 KP: %f\n",sidescanheader->KP); fprintf(stderr,"dbg5 SensorYcoordinate: %f\n",sidescanheader->SensorYcoordinate); fprintf(stderr,"dbg5 SensorXcoordinate: %f\n",sidescanheader->SensorXcoordinate); fprintf(stderr,"dbg5 Reserved6: %d\n",sidescanheader->Reserved6); fprintf(stderr,"dbg5 RangeToSensor: %d\n",sidescanheader->RangeToSensor); fprintf(stderr,"dbg5 BearingToSensor: %d\n",sidescanheader->BearingToSensor); fprintf(stderr,"dbg5 CableOut: %d\n",sidescanheader->CableOut); fprintf(stderr,"dbg5 Layback: %f\n",sidescanheader->Layback); fprintf(stderr,"dbg5 CableTension: %f\n",sidescanheader->CableTension); fprintf(stderr,"dbg5 SensorDepth: %f\n",sidescanheader->SensorDepth); fprintf(stderr,"dbg5 SensorPrimaryAltitude: %f\n",sidescanheader->SensorPrimaryAltitude); fprintf(stderr,"dbg5 SensorAuxAltitude: %f\n",sidescanheader->SensorAuxAltitude); fprintf(stderr,"dbg5 SensorPitch: %f\n",sidescanheader->SensorPitch); fprintf(stderr,"dbg5 SensorRoll: %f\n",sidescanheader->SensorRoll); fprintf(stderr,"dbg5 SensorHeading: %f\n",sidescanheader->SensorHeading); fprintf(stderr,"dbg5 Heave: %f\n",sidescanheader->Heave); fprintf(stderr,"dbg5 Yaw: %f\n",sidescanheader->Yaw); fprintf(stderr,"dbg5 AttitudeTimeTag: %d\n",sidescanheader->AttitudeTimeTag); fprintf(stderr,"dbg5 DOT: %f\n",sidescanheader->DOT); for (i=0;i<20;i++) fprintf(stderr,"dbg5 ReservedSpace[%2.2d]: %d\n",i,sidescanheader->ReservedSpace[i]); fprintf(stderr,"dbg5 ChannelNumber: %d\n",pingchanportheader->ChannelNumber); fprintf(stderr,"dbg5 DownsampleMethod: %d\n",pingchanportheader->DownsampleMethod); fprintf(stderr,"dbg5 SlantRange: %f\n",pingchanportheader->SlantRange); fprintf(stderr,"dbg5 GroundRange: %f\n",pingchanportheader->GroundRange); fprintf(stderr,"dbg5 TimeDelay: %f\n",pingchanportheader->TimeDelay); fprintf(stderr,"dbg5 TimeDuration: %f\n",pingchanportheader->TimeDuration); fprintf(stderr,"dbg5 SecondsPerPing: %f\n",pingchanportheader->SecondsPerPing); fprintf(stderr,"dbg5 ProcessingFlags: %d\n",pingchanportheader->ProcessingFlags); fprintf(stderr,"dbg5 Frequency: %d\n",pingchanportheader->Frequency); fprintf(stderr,"dbg5 InitialGainCode: %d\n",pingchanportheader->InitialGainCode); fprintf(stderr,"dbg5 GainCode: %d\n",pingchanportheader->GainCode); fprintf(stderr,"dbg5 BandWidth: %d\n",pingchanportheader->BandWidth); fprintf(stderr,"dbg5 ContactNumber: %d\n",pingchanportheader->ContactNumber); fprintf(stderr,"dbg5 ContactClassification: %d\n",pingchanportheader->ContactClassification); fprintf(stderr,"dbg5 ContactSubNumber: %d\n",pingchanportheader->ContactSubNumber); fprintf(stderr,"dbg5 ContactType: %d\n",pingchanportheader->ContactType); fprintf(stderr,"dbg5 NumSamples: %d\n",pingchanportheader->NumSamples); fprintf(stderr,"dbg5 Reserved: %d\n",pingchanportheader->Reserved); fprintf(stderr,"dbg5 ContactTimeOffTrack: %f\n",pingchanportheader->ContactTimeOffTrack); fprintf(stderr,"dbg5 ContactCloseNumber: %d\n",pingchanportheader->ContactCloseNumber); fprintf(stderr,"dbg5 Reserved2: %d\n",pingchanportheader->Reserved2); fprintf(stderr,"dbg5 FixedVSOP: %f\n",pingchanportheader->FixedVSOP); for (i=0;i<6;i++) fprintf(stderr,"dbg5 ReservedSpace[%2.2d]: %d\n",i,pingchanportheader->ReservedSpace[i]); fprintf(stderr,"dbg5 ChannelNumber: %d\n",pingchanstbdheader->ChannelNumber); fprintf(stderr,"dbg5 DownsampleMethod: %d\n",pingchanstbdheader->DownsampleMethod); fprintf(stderr,"dbg5 SlantRange: %f\n",pingchanstbdheader->SlantRange); fprintf(stderr,"dbg5 GroundRange: %f\n",pingchanstbdheader->GroundRange); fprintf(stderr,"dbg5 TimeDelay: %f\n",pingchanstbdheader->TimeDelay); fprintf(stderr,"dbg5 TimeDuration: %f\n",pingchanstbdheader->TimeDuration); fprintf(stderr,"dbg5 SecondsPerPing: %f\n",pingchanstbdheader->SecondsPerPing); fprintf(stderr,"dbg5 ProcessingFlags: %d\n",pingchanstbdheader->ProcessingFlags); fprintf(stderr,"dbg5 Frequency: %d\n",pingchanstbdheader->Frequency); fprintf(stderr,"dbg5 InitialGainCode: %d\n",pingchanstbdheader->InitialGainCode); fprintf(stderr,"dbg5 GainCode: %d\n",pingchanstbdheader->GainCode); fprintf(stderr,"dbg5 BandWidth: %d\n",pingchanstbdheader->BandWidth); fprintf(stderr,"dbg5 ContactNumber: %d\n",pingchanstbdheader->ContactNumber); fprintf(stderr,"dbg5 ContactClassification: %d\n",pingchanstbdheader->ContactClassification); fprintf(stderr,"dbg5 ContactSubNumber: %d\n",pingchanstbdheader->ContactSubNumber); fprintf(stderr,"dbg5 ContactType: %d\n",pingchanstbdheader->ContactType); fprintf(stderr,"dbg5 NumSamples: %d\n",pingchanstbdheader->NumSamples); fprintf(stderr,"dbg5 Reserved: %d\n",pingchanstbdheader->Reserved); fprintf(stderr,"dbg5 ContactTimeOffTrack: %f\n",pingchanstbdheader->ContactTimeOffTrack); fprintf(stderr,"dbg5 ContactCloseNumber: %d\n",pingchanstbdheader->ContactCloseNumber); fprintf(stderr,"dbg5 Reserved2: %d\n",pingchanstbdheader->Reserved2); fprintf(stderr,"dbg5 FixedVSOP: %f\n",pingchanstbdheader->FixedVSOP); for (i=0;i<6;i++) fprintf(stderr,"dbg5 ReservedSpace[%2.2d]: %d\n",i,pingchanstbdheader->ReservedSpace[i]); for (i=0;iNumSamples,pingchanstbdheader->NumSamples);i++) fprintf(stderr,"dbg5 sidescan[%4.4d]: %d %d\n",i,data->ssrawport[i], data->ssrawstbd[i]); } } /* read rest of bathymetry packet */ else if (status == MB_SUCCESS && packetheader.HeaderType == XTF_DATA_BATHYMETRY) { #ifdef MBR_XTFR8101_DEBUG fprintf(stderr,"Reading bathymetry packet type:%d bytes:%d\n", packetheader.HeaderType,packetheader.NumBytesThisRecord); #endif data->kind = MB_DATA_DATA; bathheader->packetheader = packetheader; read_len = fread(line,1,242,mb_io_ptr->mbfp); if (read_len == 242) { /* parse the rest of the bathymetry header */ index = 0; mb_get_binary_short(MB_YES, &line[index], (short int *)&(bathheader->Year)); index += 2; bathheader->Month = line[index]; index++; bathheader->Day = line[index]; index++; bathheader->Hour = line[index]; index++; bathheader->Minute = line[index]; index++; bathheader->Second = line[index]; index++; bathheader->HSeconds = line[index]; index++; mb_get_binary_short(MB_YES, &line[index], (short int *)&(bathheader->JulianDay)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(bathheader->CurrentLineID)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(bathheader->EventNumber)); index += 2; mb_get_binary_int(MB_YES, &line[index], (int *)&(bathheader->PingNumber)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SoundVelocity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->OceanTide)); index += 4; mb_get_binary_int(MB_YES, &line[index], (int *)&(bathheader->Reserved2)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->ConductivityFreq)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->TemperatureFreq)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->PressureFreq)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->PressureTemp)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->Conductivity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->WaterTemperature)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->Pressure)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->ComputedSoundVelocity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->MagX)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->MagY)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->MagZ)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->AuxVal1)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->AuxVal2)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->AuxVal3)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->AuxVal4)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->AuxVal5)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->AuxVal6)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SpeedLog)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->Turbidity)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->ShipSpeed)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->ShipGyro)); index += 4; mb_get_binary_double(MB_YES, &line[index], &(bathheader->ShipYcoordinate)); index += 8; mb_get_binary_double(MB_YES, &line[index], &(bathheader->ShipXcoordinate)); index += 8; mb_get_binary_short(MB_YES, &line[index], (short int *)&(bathheader->ShipAltitude)); index += 2; mb_get_binary_short(MB_YES, &line[index], (short int *)&(bathheader->ShipDepth)); index += 2; bathheader->FixTimeHour = line[index]; index++; bathheader->FixTimeMinute = line[index]; index++; bathheader->FixTimeSecond = line[index]; index++; bathheader->Reserved4 = line[index]; index++; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorSpeed)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->KP)); index += 4; mb_get_binary_double(MB_YES, &line[index], &(bathheader->SensorYcoordinate)); index += 8; mb_get_binary_double(MB_YES, &line[index], &(bathheader->SensorXcoordinate)); index += 8; mb_get_binary_short(MB_YES, &line[index], &(bathheader->Reserved6)); index += 2; mb_get_binary_short(MB_YES, &line[index], &(bathheader->RangeToSensor)); index += 2; mb_get_binary_short(MB_YES, &line[index], &(bathheader->BearingToSensor)); index += 2; mb_get_binary_short(MB_YES, &line[index], &(bathheader->CableOut)); index += 2; mb_get_binary_float(MB_YES, &line[index], &(bathheader->Layback)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->CableTension)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorDepth)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorPrimaryAltitude)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorAuxAltitude)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorPitch)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorRoll)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->SensorHeading)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->Heave)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->Yaw)); index += 4; mb_get_binary_int(MB_YES, &line[index], &(bathheader->AttitudeTimeTag)); index += 4; mb_get_binary_float(MB_YES, &line[index], &(bathheader->DOT)); index += 4; for (i=0;i<20;i++) { bathheader->ReservedSpace[i] = line[index]; index++; } /* read rest of record */ read_len = fread(line,1,bathheader->packetheader.NumBytesThisRecord-242-14,mb_io_ptr->mbfp); if (read_len == bathheader->packetheader.NumBytesThisRecord-242-14) { /* check synch value */ mb_get_binary_int(MB_YES, &line[0], (int *)&(synch)); if (synch != 65535) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; done = MB_YES; } /* handle RESON_PACKETID_RT_VERY_OLD */ else if (line[4] == 0x13) { index = 0; for (i=0;i<4;i++) { reson8100rit->synch_header[i] = line[index]; index++; } reson8100rit->packet_type = line[index]; index++; reson8100rit->packet_subtype = line[index]; index++; mb_get_binary_int(MB_NO, &line[index], (int *)&(reson8100rit->Seconds)); index += 4; mb_get_binary_int(MB_NO, &line[index], (int *)&(reson8100rit->Millisecs)); index += 4; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->latency)); index += 2; reson8100rit->ping_number = 0; reson8100rit->sonar_id = 0; reson8100rit->sonar_model = 0; reson8100rit->frequency = 0; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->velocity)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->sample_rate)); index += 2; reson8100rit->pulse_width = (unsigned short) (mb_u_char) line[index]; index++; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->ping_rate)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->range_set)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->power)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->gain)); index += 2; index += 2; /* skip projector value */ reson8100rit->tvg_spread = (mb_u_char) line[index]; index++; reson8100rit->tvg_absorp = (mb_u_char) line[index]; index++; reson8100rit->projector_beam_width = 0; reson8100rit->beam_width_num = (mb_u_char) line[index]; reson8100rit->beam_width_denom = 10; index++; reson8100rit->projector_angle = 0; reson8100rit->min_range = 0; reson8100rit->max_range = 0; reson8100rit->min_depth = 0; reson8100rit->max_depth = 0; reson8100rit->filters_active = 0; reson8100rit->spare[0] = 0; reson8100rit->spare[1] = 0; reson8100rit->spare[2] = 0; reson8100rit->temperature = 0; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->beam_count)); index += 2; for (i=0;ibeam_count;i++) { mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->range[i])); reson8100rit->intensity[i] = 0; index += 2; } for (i=0;ibeam_count/2+reson8100rit->beam_count%2;i++) { reson8100rit->quality[i] = (mb_u_char) line[index]; index++; } } /* handle RESON_PACKETID_RIT */ else if (line[4] == 0x18) { index = 0; for (i=0;i<4;i++) { reson8100rit->synch_header[i] = line[index]; index++; } reson8100rit->packet_type = line[index]; index++; reson8100rit->packet_subtype = line[index]; index++; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->latency)); index += 2; mb_get_binary_int(MB_NO, &line[index], (int *)&(reson8100rit->Seconds)); index += 4; mb_get_binary_int(MB_NO, &line[index], (int *)&(reson8100rit->Millisecs)); index += 4; mb_get_binary_int(MB_NO, &line[index], (int *)&(reson8100rit->ping_number)); index += 4; mb_get_binary_int(MB_NO, &line[index], (int *)&(reson8100rit->sonar_id)); index += 4; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->sonar_model)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->frequency)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->velocity)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->sample_rate)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->ping_rate)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->range_set)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->power)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->gain)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->pulse_width)); index += 2; reson8100rit->tvg_spread = (mb_u_char) line[index]; index++; reson8100rit->tvg_absorp = (mb_u_char) line[index]; index++; reson8100rit->projector_type = (mb_u_char) line[index]; index++; reson8100rit->projector_beam_width = (mb_u_char) line[index]; index++; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->beam_width_num)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->beam_width_denom)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->projector_angle)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->min_range)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->max_range)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->min_depth)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->max_depth)); index += 2; reson8100rit->filters_active = (mb_u_char) line[index]; index++; reson8100rit->spare[0] = (mb_u_char) line[index]; index++; reson8100rit->spare[1] = (mb_u_char) line[index]; index++; reson8100rit->spare[2] = (mb_u_char) line[index]; index++; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->temperature)); index += 2; mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->beam_count)); index += 2; for (i=0;ibeam_count;i++) { mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->range[i])); index += 2; } for (i=0;ibeam_count/2+reson8100rit->beam_count%2;i++) { reson8100rit->quality[i] = (mb_u_char) line[index]; index++; } for (i=0;ibeam_count;i++) { mb_get_binary_short(MB_NO, &line[index], (short int *)&(reson8100rit->intensity[i])); index += 2; } } else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; done = MB_YES; } } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 MagicNumber: %d %d %x%x\n", bathheader->packetheader.MagicNumber[0],bathheader->packetheader.MagicNumber[1], bathheader->packetheader.MagicNumber[0],bathheader->packetheader.MagicNumber[1]); fprintf(stderr,"dbg5 HeaderType: %d\n",bathheader->packetheader.HeaderType); fprintf(stderr,"dbg5 SubChannelNumber: %d\n",bathheader->packetheader.SubChannelNumber); fprintf(stderr,"dbg5 NumChansToFollow: %d\n",bathheader->packetheader.NumChansToFollow); fprintf(stderr,"dbg5 Reserved1: %d %d\n",bathheader->packetheader.Reserved1[0],bathheader->packetheader.Reserved1[1]); fprintf(stderr,"dbg5 NumBytesThisRecord: %d\n",bathheader->packetheader.NumBytesThisRecord); fprintf(stderr,"dbg5 Year: %d\n",bathheader->Year); fprintf(stderr,"dbg5 Month: %d\n",bathheader->Month); fprintf(stderr,"dbg5 Day: %d\n",bathheader->Day); fprintf(stderr,"dbg5 Hour: %d\n",bathheader->Hour); fprintf(stderr,"dbg5 Minute: %d\n",bathheader->Minute); fprintf(stderr,"dbg5 Second: %d\n",bathheader->Second); fprintf(stderr,"dbg5 HSeconds: %d\n",bathheader->HSeconds); fprintf(stderr,"dbg5 JulianDay: %d\n",bathheader->JulianDay); fprintf(stderr,"dbg5 CurrentLineID: %d\n",bathheader->CurrentLineID); fprintf(stderr,"dbg5 EventNumber: %d\n",bathheader->EventNumber); fprintf(stderr,"dbg5 PingNumber: %d\n",bathheader->PingNumber); fprintf(stderr,"dbg5 SoundVelocity: %f\n",bathheader->SoundVelocity); fprintf(stderr,"dbg5 OceanTide: %f\n",bathheader->OceanTide); fprintf(stderr,"dbg5 Reserved2: %d\n",bathheader->Reserved2); fprintf(stderr,"dbg5 ConductivityFreq: %f\n",bathheader->ConductivityFreq); fprintf(stderr,"dbg5 TemperatureFreq: %f\n",bathheader->TemperatureFreq); fprintf(stderr,"dbg5 PressureFreq: %f\n",bathheader->PressureFreq); fprintf(stderr,"dbg5 PressureTemp: %f\n",bathheader->PressureTemp); fprintf(stderr,"dbg5 Conductivity: %f\n",bathheader->Conductivity); fprintf(stderr,"dbg5 WaterTemperature: %f\n",bathheader->WaterTemperature); fprintf(stderr,"dbg5 Pressure: %f\n",bathheader->Pressure); fprintf(stderr,"dbg5 ComputedSoundVelocity: %f\n",bathheader->ComputedSoundVelocity); fprintf(stderr,"dbg5 MagX: %f\n",bathheader->MagX); fprintf(stderr,"dbg5 MagY: %f\n",bathheader->MagY); fprintf(stderr,"dbg5 MagZ: %f\n",bathheader->MagZ); fprintf(stderr,"dbg5 AuxVal1: %f\n",bathheader->AuxVal1); fprintf(stderr,"dbg5 AuxVal2: %f\n",bathheader->AuxVal2); fprintf(stderr,"dbg5 AuxVal3: %f\n",bathheader->AuxVal3); fprintf(stderr,"dbg5 AuxVal4: %f\n",bathheader->AuxVal4); fprintf(stderr,"dbg5 AuxVal5: %f\n",bathheader->AuxVal5); fprintf(stderr,"dbg5 AuxVal6: %f\n",bathheader->AuxVal6); fprintf(stderr,"dbg5 SpeedLog: %f\n",bathheader->SpeedLog); fprintf(stderr,"dbg5 Turbidity: %f\n",bathheader->Turbidity); fprintf(stderr,"dbg5 ShipSpeed: %f\n",bathheader->ShipSpeed); fprintf(stderr,"dbg5 ShipGyro: %f\n",bathheader->ShipGyro); fprintf(stderr,"dbg5 ShipYcoordinate: %f\n",bathheader->ShipYcoordinate); fprintf(stderr,"dbg5 ShipXcoordinate: %f\n",bathheader->ShipXcoordinate); fprintf(stderr,"dbg5 ShipAltitude: %d\n",bathheader->ShipAltitude); fprintf(stderr,"dbg5 ShipDepth: %d\n",bathheader->ShipDepth); fprintf(stderr,"dbg5 FixTimeHour: %d\n",bathheader->FixTimeHour); fprintf(stderr,"dbg5 FixTimeMinute: %d\n",bathheader->FixTimeMinute); fprintf(stderr,"dbg5 FixTimeSecond: %d\n",bathheader->FixTimeSecond); fprintf(stderr,"dbg5 Reserved4: %d\n",bathheader->Reserved4); fprintf(stderr,"dbg5 SensorSpeed: %f\n",bathheader->SensorSpeed); fprintf(stderr,"dbg5 KP: %f\n",bathheader->KP); fprintf(stderr,"dbg5 SensorYcoordinate: %f\n",bathheader->SensorYcoordinate); fprintf(stderr,"dbg5 SensorXcoordinate: %f\n",bathheader->SensorXcoordinate); fprintf(stderr,"dbg5 Reserved6: %d\n",bathheader->Reserved6); fprintf(stderr,"dbg5 RangeToSensor: %d\n",bathheader->RangeToSensor); fprintf(stderr,"dbg5 BearingToSensor: %d\n",bathheader->BearingToSensor); fprintf(stderr,"dbg5 CableOut: %d\n",bathheader->CableOut); fprintf(stderr,"dbg5 Layback: %f\n",bathheader->Layback); fprintf(stderr,"dbg5 CableTension: %f\n",bathheader->CableTension); fprintf(stderr,"dbg5 SensorDepth: %f\n",bathheader->SensorDepth); fprintf(stderr,"dbg5 SensorPrimaryAltitude: %f\n",bathheader->SensorPrimaryAltitude); fprintf(stderr,"dbg5 SensorAuxAltitude: %f\n",bathheader->SensorAuxAltitude); fprintf(stderr,"dbg5 SensorPitch: %f\n",bathheader->SensorPitch); fprintf(stderr,"dbg5 SensorRoll: %f\n",bathheader->SensorRoll); fprintf(stderr,"dbg5 SensorHeading: %f\n",bathheader->SensorHeading); fprintf(stderr,"dbg5 Heave: %f\n",bathheader->Heave); fprintf(stderr,"dbg5 Yaw: %f\n",bathheader->Yaw); fprintf(stderr,"dbg5 AttitudeTimeTag: %d\n",bathheader->AttitudeTimeTag); fprintf(stderr,"dbg5 DOT: %f\n",bathheader->DOT); for (i=0;i<20;i++) fprintf(stderr,"dbg5 ReservedSpace[%2.2d]: %d\n",i,bathheader->ReservedSpace[i]); fprintf(stderr,"dbg5 synch_header: %x %x %x %x \n", reson8100rit->synch_header[0], reson8100rit->synch_header[1], reson8100rit->synch_header[2], reson8100rit->synch_header[3]); fprintf(stderr,"dbg5 packet_type: %d\n",reson8100rit->packet_type); fprintf(stderr,"dbg5 packet_subtype: %d\n",reson8100rit->packet_subtype); fprintf(stderr,"dbg5 latency: %d\n",reson8100rit->latency); fprintf(stderr,"dbg5 Seconds: %d\n",reson8100rit->Seconds); fprintf(stderr,"dbg5 Millisecs: %d\n",reson8100rit->Millisecs); fprintf(stderr,"dbg5 ping_number: %d\n",reson8100rit->ping_number); fprintf(stderr,"dbg5 sonar_id: %d\n",reson8100rit->sonar_id); fprintf(stderr,"dbg5 sonar_model: %d\n",reson8100rit->sonar_model); fprintf(stderr,"dbg5 frequency: %d\n",reson8100rit->frequency); fprintf(stderr,"dbg5 velocity: %d\n",reson8100rit->velocity); fprintf(stderr,"dbg5 sample_rate: %d\n",reson8100rit->sample_rate); fprintf(stderr,"dbg5 ping_rate: %d\n",reson8100rit->ping_rate); fprintf(stderr,"dbg5 range_set: %d\n",reson8100rit->range_set); fprintf(stderr,"dbg5 power: %d\n",reson8100rit->power); fprintf(stderr,"dbg5 gain: %d\n",reson8100rit->gain); fprintf(stderr,"dbg5 tvg_spread: %d\n",reson8100rit->tvg_spread); fprintf(stderr,"dbg5 tvg_absorp: %d\n",reson8100rit->tvg_absorp); fprintf(stderr,"dbg5 projector_type: %d\n",reson8100rit->projector_type); fprintf(stderr,"dbg5 projector_beam_width: %d\n",reson8100rit->projector_beam_width); fprintf(stderr,"dbg5 beam_width_num: %d\n",reson8100rit->beam_width_num); fprintf(stderr,"dbg5 beam_width_denom: %d\n",reson8100rit->beam_width_denom); fprintf(stderr,"dbg5 projector_angle: %d\n",reson8100rit->projector_angle); fprintf(stderr,"dbg5 min_range: %d\n",reson8100rit->min_range); fprintf(stderr,"dbg5 max_range: %d\n",reson8100rit->max_range); fprintf(stderr,"dbg5 min_depth: %d\n",reson8100rit->min_depth); fprintf(stderr,"dbg5 max_depth: %d\n",reson8100rit->max_depth); fprintf(stderr,"dbg5 filters_active: %d\n",reson8100rit->filters_active); fprintf(stderr,"dbg5 spare: %d\n",reson8100rit->spare[0]); fprintf(stderr,"dbg5 spare: %d\n",reson8100rit->spare[1]); fprintf(stderr,"dbg5 spare: %d\n",reson8100rit->spare[2]); fprintf(stderr,"dbg5 temperature: %d\n",reson8100rit->temperature); fprintf(stderr,"dbg5 beam_count: %d\n",reson8100rit->beam_count); for (i=0;ibeam_count;i++) { fprintf(stderr,"dbg5 beam[%3.3d] range:%5.5d", i,reson8100rit->range[i]); if (i % 2 == 0) quality = ((reson8100rit->quality[i/2]) & 15); else quality = ((reson8100rit->quality[i/2] >> 4) & 15); fprintf(stderr," quality:%3.3d %d%d%d%d\n",quality,quality & 1, quality >>1 & 1, quality >> 2 & 1, quality >> 3 & 1); } } /* set success */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; done = MB_YES; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } } /* else read rest of unknown packet */ else if (status == MB_SUCCESS) { if (((int)packetheader.NumBytesThisRecord) > 14) { for (i=0;i<((int)packetheader.NumBytesThisRecord)-14;i++) { read_len = fread(line,1,1,mb_io_ptr->mbfp); } if (read_len != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; } } #ifdef MBR_XTFR8101_DEBUG fprintf(stderr,"Reading unknown packet type:%d bytes:%d\n", packetheader.HeaderType,packetheader.NumBytesThisRecord); #endif } } /* get file position */ mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/