/*-------------------------------------------------------------------- * The MB-system: mbsys_hysweep.c 3.00 12/23/2011 * $Id: mbsys_hysweep.c 1994 2012-10-27 07:49:28Z caress $ * * Copyright (c) 2011-2012 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. *--------------------------------------------------------------------*/ /* * mbsys_hysweep.c contains the MBIO functions for handling data logged * in the HYSWEEP format using HYSWEEP from HYPACK Inc. * The data format associated with this representation is: * MBF_HYSWEEP1 : MBIO ID 201 * * Author: D. W. Caress * Date: December 23, 2011 * * $Log: mbsys_hysweep.c,v $ * */ /* standard include files */ #include #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_hysweep.h" /* turn on debug statements here */ /* #define MSYS_HYSWEEP_DEBUG 1 */ static char rcs_id[]="$Id: mbsys_hysweep.c 1994 2012-10-27 07:49:28Z caress $"; /*--------------------------------------------------------------------*/ int mbsys_hysweep_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_hysweep_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; struct mbsys_hysweep_device_struct *device; struct mbsys_hysweep_device_offset_struct *offset; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* allocate memory for data structure */ status = mb_mallocd(verbose, __FILE__, __LINE__, sizeof(struct mbsys_hysweep_struct), (void **)store_ptr, error); /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) *store_ptr; /* initialize everything */ /* Type of data record */ store->kind = MB_DATA_NONE; store->type = MBSYS_HYSWEEP_RECORDTYPE_NONE; /* HYSWEEP file header */ for (i=0;iFTP_record[i] = '\0'; /* FTP NEW 2: HYSWEEP file type */ store->HSX_record = 0; /* HSX: HYSWEEP format version number */ for (i=0;iVER_version[i] = '\0'; /* VER: HYSWEEP distribution version */ for (i=0;i<7;i++) store->TND_survey_time_i[i] = 0;/* TND: Survey time and date (system startup) hh:mm:ss mm/dd/yy */ store->TND_survey_time_d = 0.0; for (i=0;iINF_surveyor[i] = '\0'; /* INF: surveyor name */ for (i=0;iINF_boat[i] = '\0'; /* INF: boat name */ for (i=0;iINF_project[i] = '\0'; /* INF: project name */ for (i=0;iINF_area[i] = '\0'; /* INF: area name */ store->INF_tide_correction = 0.0; /* INF: initial tide correction */ store->INF_draft_correction = 0.0; /* INF: initial draft correction */ store->INF_sound_velocity = 0.0; /* INF: initial sound velocity */ store->HSP_minimum_depth = 0.0; /* HSP: minimum depth in work units */ store->HSP_maximum_depth = 0.0; /* HSP: maximum depth in work units */ store->HSP_port_offset_limit = 0.0; /* HSP: port side offset limit in work units */ store->HSP_stbd_offset_limit = 0.0; /* HSP: starboard side offset limit in work units */ store->HSP_port_angle_limit = 0.0; /* HSP: port side angle limit in degrees */ store->HSP_stbd_angle_limit = 0.0; /* HSP: starboard side angle limit in degrees */ store->HSP_high_beam_quality = 0; /* HSP: high beam quality; codes >= this are good */ store->HSP_low_beam_quality = 0; /* HSP: low beam quality; codes < this are bad */ store->HSP_sonar_range = 0.0; /* HSP: sonar range setting in work units */ store->HSP_towfish_layback = 0.0; /* HSP: towfish layback in work units */ store->HSP_units = 0; /* HSP: work units: 0: = meters 1 = US foot 2 = international foot */ store->HSP_sonar_id = 0; /* HSP: sonar id for advanced processing (see defines above) */ for (i=0;iPRJ_proj4_command[i] = '\0'; /* PRJ: projection in use defined as either a PROJ4 command string or as an EPSG identifier */ /* HYSWEEP devices */ store->num_devices = 0; /* number of devices defined */ for (i=0;idevices[i]); /* DEV: first line of device declaration DEV dn dc "name" DEV 0 544 "IXSEA OCTANS Serial" */ device->DEV_device_number = 0; device->DEV_device_capability = 0; /* Hypack device capabilities (bit code) 1 - device provides range/range position 2 - device provides range/azimuth position 4 - device provides lat/long (e.g. GPS) 8 - device provides grid positions XY 16 - device provides echo soundings 32 - device provides heading 64 - device provides ship speed 128 - Hypack clock is synched to device clock 256 - device provides tide 512 - device provides heave, pitch, and roll 1024 - device is a ROV 2048 - device is a left/right indicator 4096 - device accepts annotations strings 8192 - device accepts output from Hypack 16384 - xxx 32768 - device has extended capability */ for (j=0;jDEV_device_name[j] = '\0'; /* e.g. "GPS" */ /* DV2: second line of device declaration DV2 dn dc tf en DV2 0 220 0 1 */ device->DV2_device_capability = 0; /* Hysweep device capabilities (bit coded hexadecimal) 0001 - multibeam sonar 0002 - multiple transducer sonar 0004 - GPS (boat position) 0008 - sidescan sonar 0010 - single beam echosounder 0020 - gyro (boat heading) 0040 - tide 0200 - MRU (heave, pitch, and roll compensation) */ device->DV2_towfish = 0; /* 1 if device is mountedc on a tow fish */ device->DV2_enabled = 0; /* 1 if device is enabled */ /* OF2: Hysweep device offsets */ device->num_offsets = 0; /* number of offsets identified for this device */ for (j=0;joffsets[j]); /* OF2: Hysweep device offsets OF2 dn on n1 n2 n3 n4 n5 n6 n7 */ offset->OF2_device_number = 0; /* device number */ offset->OF2_offset_type = 0; /* offset type 0 - position antenna offsets 1 - gyro heading offset 2 - MRU device offsets 3 - sonar head 1 / transducer 1 offsets 4 - sonar head 2 / transducer 2 offsets ........ 131 - transducer 128 offsets */ offset->OF2_offset_starboard = 0.0; /* starboard/port mounting offset, positive to starboard */ offset->OF2_offset_forward = 0.0; /* forward/aft mounting offset, positive to forward */ offset->OF2_offset_vertical = 0.0; /* vertical mounting offset, positive downward from waterline */ offset->OF2_offset_yaw = 0.0; /* yaw rotation angle, positive for clockwise rotation */ offset->OF2_offset_roll = 0.0; /* roll rotation angle, port side up is positive */ offset->OF2_offset_pitch = 0.0; /* pitch rotation angle, bow up is positive */ offset->OF2_offset_time = 0.0; /* time latency in seconds */ } /* PRI: device set as primary navigational device */ device->PRI_primary_nav_device = 0; /* 1 if device is primary navigational device */ /* MBI: multibeam / multiple transducer device information MBI dn st sf db n1 n2 fa ai */ device->MBI_sonar_id = 0; /* sonar id from table, not part of MBI record but instead inferred from device name in the corresponding DEV record */ device->MBI_sonar_receive_shape = 0; /* sonar receive head shape, not part of MBI record but instead inferred from device name in the corresponding DEV record 0 - flat 1 - circular */ device->MBI_sonar_type = 0; /* sonar type code: 0 - invalid 1 - fixed beam roll angles (e.g. Reson Seabat ) 2 - variable beam roll angles (e.g. Seabeam SB1185) 3 - beam info in spherical coordinates (e.g. Simrad EM3000) 4 - multiple transducer (e.g. Odom Miniscan) */ device->MBI_sonar_flags = 0; /* sonar flags (bit coded hexadecimal) 0x0001 - roll corrected by sonar 0x0002 - pitch corrected by sonar 0x0004 - dual head 0x0008 - heading corrected by sonar (ver 1) 0x0010 - medium depth: slant ranges recorded to 1 dm resolution (version 2) 0x0020 - deep water: slant ranges divided by 1 m resolution (ver 2) 0x0040 - SVP corrected by sonar (ver 5) 0x0080 - topographic device, upgoing beams accepted (ver 6) */ device->MBI_beam_data_available = 0;/* beam data (bit coded hexadecimal) 0x0001 - beam ranges are available (survey units) 0x0002 - sounding point casting available (survey units) 0x0004 - point northing available (survey units) 0x0008 - point corrected depth available (survey units) 0x0010 - along track distance available (survey units) 0x0020 - across track distance available (survey units) 0x0040 - beam pitch angles available (degrees, TSS convention) 0x0080 - beam roll angles available (degrees, TSS convention) 0x0100 - beam takeoff angles available (degrees from vertical) 0x0200 - beam direction angles available (degrees from forward) 0x0400 - ping delay times included (milliseconds) 0x0800 - beam intensity data available 0x1000 - beam quality codes (from sonar unit) available 0x2000 - sounding flags included 0x4000 - spare 0x8000 - spare */ device->MBI_num_beams_1 = 0; /* number of beams, head 1 (multibeam) or number of transducers (multitransducer) */ device->MBI_num_beams_2 = 0; /* number of beams, head 2 (multibeam) */ device->MBI_first_beam_angle = 0.0; /* first beam angle is for sonar type = fixed angle (degrees, TSS convention) */ device->MBI_angle_increment = 0.0; /* angle increment is for sonare type = fixed angle (degrees, TSS convention) */ /* SSI: sidescan device information SSI dn sf np ns */ device->SSI_sonar_flags = 0; /* sonar flags (bit coded hexadecimal) 0x0100 - amplitude is bit-shifted into byte storage */ device->SSI_port_num_samples = 0; /* number of samples per ping, port transducer */ device->SSI_starboard_num_samples = 0; /* number of samples per ping, starboard transducer */ } store->primary_nav_device = 0; /* device number of primary navigational device */ /* HYSWEEP HVF - Hysweep view filters - always first record after end of file header HVF dn tt p1 p2 p3 p4 p5 p6 dn: dummy device number, always = 99 tt: time tag this filter set became active (in seconds past midnight) p1: minimum depth in work units p2: maximum depth in work units p3: port side offset limit in work units p4: starboard side offset limit in work units p5: minimum beam angle limit, 0 to -90 degrees p6: maximum beam angle limit, 0 to 90 degrees Example: HVF 99 80491.965 0.0 95.0 35.6 35.6 -75.0 75.0 */ store->HVF_time_after_midnight = 0.0; /* time this filter set became active seconds after midnight */ store->HVF_minimum_depth = 0.0; /* minimum depth in work units */ store->HVF_maximum_depth = 0.0; /* maximum depth in work units */ store->HVF_port_offset_limit = 0.0; /* port side offset limit in work units */ store->HVF_starboard_offset_limit = 0.0; /* starboard side offset limit in work units */ store->HVF_minimum_angle_limit = 0.0; /* minimum beam angle limit, 0 to -90 degrees */ store->HVF_maximum_angle_limit = 0.0; /* maximum beam angle limit, 0 to 90 degrees */ /* HYSWEEP FIX - fix (event) mark - always second record after end of file header FIX dn tt en */ store->FIX_device_number = 0; /* device number */ store->FIX_time_after_midnight = 0.0; /* time in seconds after midnight */ store->FIX_event_number = 0; /* FIX event number */ /* HYSWEEP RMB - raw multibeam data RMB dn t st sf bd n sv pn psa dn: device number  t: time tag (seconds past midnight)  st: sonar type code (see MBI above)  sf: sonar flags (see MBI above)  bd: available beam data (see MBI above)  n: number of beams to follow  sv: sound velocity in m/sec  pn: ping number (or 0 if not tracked) Immediately following the RMB record is a record containing slant ranges (multibeam)  or raw depths (multiple transducer). Following the ranges are 0 to n additional records  depending on the bd (beam data) field. Example (Seabat 9001 storing slant ranges and quality codes):  RMB 1 27244.135 1 0 1001 1500.00 0 60  19.50 19.31 18.60 1.66 18.47 ... (60 slant ranges in work units)  3 3 3 0 3 ... (60 quality codes) Example (multiple transducer storing 8 raw depths):  RMB 1 27244.135 4 0 1 1500.00 0 60  31.44 33.01 32.83 32.80 ... (8 raw depths in work units) Example (Dual-head Seabeam SB1185 storing range, beam pitch and roll angles,  ping delay times, beam quality code and sounding flags):  RMB 1 27244.135 2 5 1481 1500.00 0  108 93.18 88.30 84.74 80.46 ... (108 slant ranges in working units) -69.72 -68.53 -67.36 -66.15 ... (108 beam roll angles in degrees)  0 0 0 67 ... (108 ping delay times in msecs)  7 7 7 7 ... (108 beam quality codes) */ store->RMB_device_number = 0; /* device number */ store->RMB_time = 0.0; /* time tag (seconds past midnight) */ store->RMB_sonar_type = 0; /* sonar type code: 0 - invalid 1 - fixed beam roll angles (e.g. Reson Seabat ) 2 - variable beam roll angles (e.g. Seabeam SB1185) 3 - beam info in spherical coordinates (e.g. Simrad EM3000) 4 - multiple transducer (e.g. Odom Miniscan) */ store->RMB_sonar_flags = 0; /* sonar flags (bit coded hexadecimal) 0x0001 - roll corrected by sonar 0x0002 - pitch corrected by sonar 0x0004 - dual head 0x0008 - heading corrected by sonar (ver 1) 0x0010 - medium depth: slant ranges recorded to 1 dm resolution (version 2) 0x0020 - deep water: slant ranges divided by 1 m resolution (ver 2) 0x0040 - SVP corrected by sonar (ver 5) 0x0080 - topographic device, upgoing beams accepted (ver 6) */ store->RMB_beam_data_available = 0;/* beam data (bit coded hexadecimal) 0x0001 - beam ranges are available (survey units) 0x0002 - sounding point casting available (survey units) 0x0004 - point northing available (survey units) 0x0008 - point corrected depth available (survey units) 0x0010 - along track distance available (survey units) 0x0020 - across track distance available (survey units) 0x0040 - beam pitch angles available (degrees, TSS convention) 0x0080 - beam roll angles available (degrees, TSS convention) 0x0100 - beam takeoff angles available (degrees from vertical) 0x0200 - beam direction angles available (degrees from forward) 0x0400 - ping delay times included (milliseconds) 0x0800 - beam intensity data available 0x1000 - beam quality codes (from sonar unit) available 0x2000 - sounding flags included 0x4000 - spare 0x8000 - spare */ store->RMB_num_beams = 0; /* number of beams to follow */ store->RMB_num_beams_alloc = 0; /* number of beams allocated to non-null arrays */ store->RMB_sound_velocity = 0.0; /* sound velocity in m/sec */ store->RMB_ping_number = 0; /* ping number (or 0 if not tracked) */ store->RMB_beam_ranges = NULL; /* beam ranges (survey units) */ store->RMB_multi_ranges = NULL; /* sounding point casting (survey units) (multi-transducer rangers) */ store->RMB_sounding_eastings = NULL; /* easting positions of soundings */ store->RMB_sounding_northings = NULL;/* northing positions of soundings */ store->RMB_sounding_depths = NULL; /* corrected depths of soundings */ store->RMB_sounding_across = NULL; /* acrosstrack positions of soundings */ store->RMB_sounding_along = NULL; /* alongtrack positions of soundings */ store->RMB_sounding_pitchangles = NULL; /* beam pitch angles of soundings (degrees, TSS convention) */ store->RMB_sounding_rollangles = NULL; /* beam roll angles of soundings (degrees, TSS convention) */ store->RMB_sounding_takeoffangles = NULL; /* beam takeoff angles of soundings (degrees from vertical) */ store->RMB_sounding_azimuthalangles = NULL; /* beam azimuthal angles of soundings (degrees from forward) */ store->RMB_sounding_timedelays = NULL; /* beam delay times (milliseconds) */ store->RMB_sounding_intensities = NULL; /* beam intensities */ store->RMB_sounding_quality = NULL; /* beam quality codes (from sonar unit) */ store->RMB_sounding_flags = NULL; /* beam edit flags */ /* RSS - Raw Sidescan RSS dn t sf np ns sv pn alt sr amin amax bs freq dn: device number t: time tag (seconds past midnight) sf: sonar flags (bit coded hexadecimal) 0100 - amplitude is bit-shifted into byte storage np: number of samples, port transducer (down-sampled to 4096 max) ns: number of samples, starboard transducer (down-sampled to 4096 max) sv: sound velocity in m/sec pn: ping number (or 0 if not tracked) alt: altitude in work units sr: sample rate (samples per second after down-sample) amin: amplitude minimum amax: amplitude maximum bs: bit shift for byte recording freq: frequency 0 or 1 for simultaneous dual frequency operation Immediately following the RSS record are two records containing port and starboard amplitude samples. Example: RSS 3 61323.082 100 341 341 1460.00 0 10.75 4983.47 0 4096 4 0 109 97 84 95 120 111 ... (341 port samples) 106 93 163 106 114 127 ... (341 starboard samples) */ store->RSS_device_number = 0; /* device number */ store->RSS_time = 0.0; /* time tag (seconds past midnight) */ store->RSS_sonar_flags = 0; /* sonar flags: 0100 - amplitude is bit-shifted into byte storage */ store->RSS_port_num_samples = 0; /* number of samples, port transducer (down-sampled to 4096 max) */ store->RSS_starboard_num_samples = 0; /* number of samples, starboard transducer (down-sampled to 4096 max) */ store->RSS_port_num_samples_alloc = 0; store->RSS_starboard_num_samples_alloc = 0; store->RSS_sound_velocity = 0.0; /* sound velocity in m/sec */ store->RSS_ping_number = 0.0; /* ping number (or 0 if not tracked) */ store->RSS_altitude = 0.0; /* altitude in work units */ store->RSS_sample_rate = 0.0; /* sample rate (samples per second after down-sample) */ store->RSS_minimum_amplitude = 0; /* amplitude minimum */ store->RSS_maximum_amplitude = 0; /* amplitude maximum */ store->RSS_bit_shift = 0; /* bit shift for byte recording */ store->RSS_frequency = 0; /* frequency 0 or 1 for simultaneous dual frequency operation */ store->RSS_port = NULL; /* port sidescan amplitude samples */ store->RSS_starboard = NULL; /* starboard sidescan amplitude samples */ /* SNR - dynamic sonar settings up to 12 fields depending on sonar type SNR dn t pn sonar ns s0 --- s11 dn: device number  t: time tag (seconds past midnight)  pn: ping number (or 0 if not tracked) sonar: sonar ID code (see defines above)  ns: number of settings to follow s: up to 12 settings Up to 12 fields are included in SNR records, providing sonar runtime settings. Not available for all systems. Defined differently depending on sonar model and manufacturer. For Seabat 81XX Serial and 81XX Network Drivers: Sonar id: 1, 23, 24, 25, 39 P0: Sonar range setting in meters. P1: power setting, 0 - 8 P2: gain setting, 1 Ð 45 P3: gain modes: bit 0 = TVG on/off, bit 1 = auto gain on/off. For Seabat 7K drivers (7125, 7101, 7150, 7111) Sonar id: 22, 53, 60, 62 P0: Sonar range selection in meters. P1: Transmit power selection in dBs relative to 1 uPa. P2: Receiver gain selection in 0.1 dBs. P3: Transmitter frequency in KHz. P4: Transmit pulse width in microseconds. For EdgeTech 4200 Driver Sonar id: 7-10 P0: Pulse power setting, 0 to 100 percent. P1: ADC Gain factor. P2: Start Frequency in 10 * Hz. P3: End Frequency in 10 * Hz. P4: Sweep length in milliseconds. */ store->SNR_device_number = 0; /* device number */ store->SNR_time = 0.0; /* time tag (seconds past midnight) */ store->SNR_ping_number = 0.0; /* ping number (or 0 if not tracked) */ store->SNR_sonar_id = 0.0; /* sonar ID (see defines above) */ store->SNR_num_settings = 0.0; /* number of settings to follow */ for (i=0;i<12;i++) store->SNR_settings[i] = 0; /* sonar settings */ /* PSA - pitch stabilization angle PSA dn t pn a0 a1 dn: device number  t: time tag (seconds past midnight)  pn: ping number (or 0 if not tracked) a0: projector (head 0) pitch angle a1: projector (head 1) pitch angle Note: PSA records are recorded only when pitch stabilization is active. They immediately proceed corresponding RMB records. */ store->PSA_device_number = 0; /* device number */ store->PSA_time = 0.0; /* time tag (seconds past midnight) */ store->PSA_ping_number = 0.0; /* ping number (or 0 if not tracked) */ store->PSA_a0 = 0.0; /* projector (head 0) pitch angle */ store->PSA_a1 = 0.0; /* projector (head 1) pitch angle */ /* HCP - heave compensation HCP dn t h r p dn: device number t: time tag (seconds past midnight) h: heave in meters r: roll in degrees (+ port side up) p: pitch in degrees (+ bow up) Example: HCP 0 80492.021 -0.65 -0.51 -1.73 */ store->HCP_device_number = 0; /* device number */ store->HCP_time = 0.0; /* time tag (seconds past midnight) */ store->HCP_heave = 0.0; /* heave (meters) */ store->HCP_roll = 0.0; /* roll (+ port side up) */ store->HCP_pitch = 0.0; /* pitch (+ bow up) */ /* EC1 - echo sounding (single frequency) EC1 dn t rd dn: device number t: time tag (seconds past midnight) rd: raw depth Example: EC1 1 80491.897 99.02 */ store->EC1_device_number = 0; /* device number */ store->EC1_time = 0.0; /* time tag (seconds past midnight) */ store->EC1_rawdepth = 0.0; /* raw depth */ /* GPS - GPS measurements GPS dn t cog sog hdeop mode nsats dn: device number t: time tag (seconds past midnight) cog: course over ground (degrees) sog: speed over ground (knots) hdop: GPS hdop mode: GPS mode 0 - unknown 1 - stand alone 2 - differential 3 - rtk nsats: number of satellites Example: GPS 1 80491.897 178.16 0.23 1.2 2 8 */ store->GPS_device_number = 0; /* device number */ store->GPS_time = 0.0; /* time tag (seconds past midnight) */ store->GPS_cog = 0.0; /* course over ground (degrees) */ store->GPS_sog = 0.0; /* speed over ground (knots) */ store->GPS_hdop = 0.0; /* GPS hdop */ store->GPS_mode = 0; /* GPS mode 0 - unknown 1 - stand alone 2 - differential 3 - rtk */ store->GPS_nsats = 0; /* number of satellites */ /* GYR - gyro data (heading) GYR dn t h dn: device number t: time tag (seconds past midnight) h: heading (degrees) Example: GYR 1 80491.897 178.16 */ store->GYR_device_number = 0; /* device number */ store->GYR_time = 0.0; /* time tag (seconds past midnight) */ store->GYR_heading = 0.0; /* heading (degrees) */ /* POS - position POS dn t x y dn: device number t: time tag (seconds past midnight) x: easting y: northing Example: POS 1 80491.897 308214.82 1414714.97 */ store->POS_device_number = 0; /* device number */ store->POS_time = 0.0; /* time tag (seconds past midnight) */ store->POS_x = 0.0; /* easting */ store->POS_y = 0.0; /* northing */ /* DFT - dynamic draft (squat) correction DFT dn t dc dn: device number t: time tag (seconds past midnight) dc: draft correction Example: DFT 1 80491.897 1453.44 */ store->DFT_device_number = 0; /* device number */ store->DFT_time = 0.0; /* time tag (seconds past midnight) */ store->DFT_draft = 0.0; /* draft correction */ /* TID - tide correction TID dn t tc dn: device number t: time tag (seconds past midnight) tc: tide correction Example: TID 1 80491.897 0.00 */ store->TID_device_number = 0; /* device number */ store->TID_time = 0.0; /* time tag (seconds past midnight) */ store->TID_tide = 0.0; /* tide correction */ /* COM - comment record - MB-System extension COM c c: comment string Example: COM everything after the first four characters is part of the comment */ for (i=0;iCOM_comment[i] = '\0'; /* comment string */ /* 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 store_ptr: %lu\n",(size_t)*store_ptr); 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 mbsys_hysweep_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_hysweep_deall"; int status = MB_SUCCESS; struct mbsys_hysweep_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)*store_ptr); } /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) *store_ptr; /* deallocate arrays */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_beam_ranges), error); /* beam ranges (survey units) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_multi_ranges), error); /* sounding point casting (survey units) (multi-transducer rangers) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_eastings), error); /* easting positions of soundings */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_northings), error);/* northing positions of soundings */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_depths), error); /* corrected depths of soundings */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_across), error); /* acrosstrack positions of soundings */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_along), error); /* alongtrack positions of soundings */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_pitchangles), error); /* beam pitch angles of soundings (degrees, TSS convention) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_rollangles), error); /* beam roll angles of soundings (degrees, TSS convention) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_takeoffangles), error); /* beam takeoff angles of soundings (degrees from vertical) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_azimuthalangles), error); /* beam azimuthal angles of soundings (degrees from forward) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_timedelays), error); /* beam delay times (milliseconds) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_intensities), error); /* beam intensities */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_quality), error); /* beam quality codes (from sonar unit) */ if (store->RMB_beam_ranges != NULL) status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->RMB_sounding_flags), error); /* beam edit flags */ /* deallocate memory for data structure */ status = mb_freed(verbose,__FILE__,__LINE__,(void **)store_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_hysweep_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error) { char *function_name = "mbsys_hysweep_dimensions"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_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 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get beam and pixel numbers */ *nbath = store->RMB_num_beams; if (store->RMB_beam_data_available | 0x0800) *namp = store->RMB_num_beams; else *namp = 0; *nss = 0; } else { /* get beam and pixel numbers */ *nbath = 0; *namp = 0; *nss = 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 kind: %d\n",*kind); fprintf(stderr,"dbg2 nbath: %d\n",*nbath); fprintf(stderr,"dbg2 namp: %d\n",*namp); fprintf(stderr,"dbg2 nss: %d\n",*nss); 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 mbsys_hysweep_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error) { char *function_name = "mbsys_hysweep_pingnumber"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_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 mb_ptr: %lu\n",(size_t)mbio_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) mb_io_ptr->store_data; /* extract data from structure */ *pingnumber = store->RMB_ping_number; /* 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 pingnumber: %d\n",*pingnumber); 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 mbsys_hysweep_sonartype(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error) { char *function_name = "mbsys_hysweep_sonartype"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_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 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get sonar type */ if (store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT8101_150 /* Reson Seabat 8101 - 150 Deg - 1 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT7125 /* Reson Seabat 7125 - 22 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT8111 /* Reson Seabat 8111 - 23 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT8124 /* Reson Seabat 8124 - 24 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT8125 /* Reson Seabat 8125 - 25 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT9001 /* Reson Seabat 9001 - 26 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT9003 /* Reson Seabat 9003 - 27 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEABEAM_2100 /* Seabeam 2100 - 29 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEABEAM_1185 /* Seabeam SB1185 - 30 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EA400 /* Simrad EA400 - 31 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM102 /* Simrad EM102 - 32 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM1002 /* Simrad EM1002 - 33 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM2000 /* Simrad EM2000 - 34 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM3000 /* Simrad EM3000 - 35 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM3000D /* Simrad EM3000D - 36 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM3002 /* Simrad EM3002 - 37 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM3002D /* Simrad EM3002D - 38 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_SEABAT8101_210 /* Reson Seabat 8101 - 210 Deg - 39 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_IMAGENEX_DELTAT /* Imagenex Delta T - 40 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPMD2 /* Atlas Hydrosweep MD2 - 41 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_SM2000 /* Simrad SM2000 - 42 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM710 /* Simrad EM710 - 43 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SIMRAD_EM302 /* Simrad EM302 - 44 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB1350_45 /* Blueview MB1350-45 - 45 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB2250_45 /* Blueview MB2250-45 - 46 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB1350_90 /* Blueview MB1350-90 - 47 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB2250_90 /* Blueview MB2250-90 - 48 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_7101 /* Reson Seabat 7101 - 53 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_FURUNO_HS300F /* Furuno HS-300F - 54 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_FURUNO_HS600 /* Furuno HS-600 - 55 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_FURUNO_HS600F /* Furuno HS-600F - 56 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_8150 /* Reson 8150 - 58 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_8160 /* Reson 8160 - 59 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_7150 /* Reson 7150 - 60 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_RESON_7111 /* Reson Seabat 7111 - 62 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_R2SONIC_SONIC2024 /* R2Sonic SONIC 2024 - 63 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_WASSP_MULTIBEAM /* WASSP Multibeam - 65 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPMD50 /* Atlas Hydrosweep MD/50 - 66 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPMD30 /* Atlas Hydrosweep MD/30 - 67 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPDS /* Atlas Hydrosweep DS - 68 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEABEAM_3012 /* SeaBeam 3012 - 70 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEABEAM_3020 /* SeaBeam 3020 - 71 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEABEAM_3050 /* SeaBeam 3050 - 72 */) { *sonartype = MB_SONARTYPE_MULTIBEAM; } else if (store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ATLAS_FANSWEEP20 /* Atlas Fansweep 20 - 2 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BENTHOS_C3D /* Benthos C3D - 3 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_GEOACOUSTICS_GEOSWATH /* GeoAcoustics GeoSwath - 11 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_KLEIN_5000 /* Klein 5000 - 18 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEA_SWATHPLUS /* SEA Swathplus - 28 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_GEOACOUSTICS_DSS /* Geoacoustics digital sidescan - 49 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_4600 /* Edgetech 4600 - 61 */) { *sonartype = MB_SONARTYPE_INTERFEROMETRIC; } else if (store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_272 /* EdgeTech 272 - 5 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_4100 /* EdgeTech 4100 - 6 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_4125 /* EdgeTech 4125 - 7 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_4150 /* EdgeTech 4150 - 8 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_4200 /* EdgeTech 4200 - 9 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_EDGETECH_4300 /* EdgeTech 4300 - 10 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_KLEIN_595 /* Klein 595 - 14 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_KLEIN_2000 /* Klein 2000 - 15 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_KLEIN_3000 /* Klein 3000 - 16 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_KLEIN_3900 /* Klein 3900 - 17 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BENTHOS_1624 /* Benthos 1624 - 50 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_BENTHOS_1625 /* Benthos 1625 - 51 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_MARINESONIC_SEASCAN /* Marine Sonic Sea Scan - 52 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_TRITECH_STARFISH /* Tritech Starfish - 57 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_INNOMAR_SES /* Innomar SES - 69 */) { *sonartype = MB_SONARTYPE_SIDESCAN; } else if (store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_CMAX_CM2 /* CMAX CM-2 - 4 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_IMAGENEX_SPORTSCAN /* Imagenex Sportscan - 12 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_IMAGENEX_YELLOWFIN /* Imagenex Yellowfin - 13 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ODOM_CV3 /* Odom CV3 - 19 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ODOM_ECHOSCAN2 /* Odom Echoscan 2 - 20 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_ODOM_ES3 /* Odom ES3 - 21 */ || store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_MDL_DYNASCAN /* MDL Dynascan - 64 */) { *sonartype = MB_SONARTYPE_ECHOSOUNDER; } else { *sonartype = MB_SONARTYPE_UNKNOWN; } /* 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 sonartype: %d\n",*sonartype); 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 mbsys_hysweep_sidescantype(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error) { char *function_name = "mbsys_hysweep_sidescantype"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_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 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get sidescan type */ if (store->HSP_sonar_id == MBSYS_HYSWEEP_SONAR_SEABEAM_2100 /* Seabeam 2100 - 29 */) { *ss_type = MB_SIDESCAN_LINEAR; } else { *ss_type = MB_SIDESCAN_LOGARITHMIC; } /* 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 ss_type: %d\n",*ss_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 mbsys_hysweep_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mbsys_hysweep_extract"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; /* get interpolated nav heading and speed */ *speed = 0.0; if (mb_io_ptr->nfix > 0) mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed, navlon, navlat, speed, error); /* get heading */ *heading = store->RMBint_heading; /* get navigation - actually return the easting northing because the projection is set and so the position will be inverse projected */ *navlon = store->RMBint_x; *navlat = store->RMBint_y; /* read distance and depth values into storage arrays */ *nbath = store->RMB_num_beams; if (store->RMB_beam_data_available | 0x0800) *namp = store->RMB_num_beams; else *namp = 0; for (i=0;i<*nbath;i++) { if (store->RMB_sounding_depths != NULL) bath[i] = store->RMB_sounding_depths[i]; else bath[i] = 0.0; if (store->RMB_sounding_depths != NULL) bathacrosstrack[i] = store->RMB_sounding_across[i]; else bathacrosstrack[i] = 0.0; if (store->RMB_sounding_depths != NULL) bathalongtrack[i] = store->RMB_sounding_along[i]; else bathalongtrack[i] = 0.0; if (store->RMB_sounding_depths != NULL) amp[i] = store->RMB_sounding_intensities[i]; else amp[i] = 0.0; if (store->RMB_sounding_flags != NULL) { beamflag[i] = store->RMB_sounding_flags[i]; } else { if (store->RMB_sounding_quality[i] >= store->HSP_high_beam_quality) { beamflag[i] = MB_FLAG_NONE; } else { beamflag[i] = MB_FLAG_FLAG + MB_FLAG_FILTER; } } } /* initialize sidescan */ *nss = 0; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); fprintf(stderr,"dbg4 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg4 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg4 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg4 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg4 nss: %d\n", *nss); for (i=0;i<*nss;i++) fprintf(stderr,"dbg4 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n", i,ss[i],ssacrosstrack[i],ssalongtrack[i]); } /* done translating values */ } /* extract data from structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2) { /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; /* get heading */ if (mb_io_ptr->nheading > 0) mb_hedint_interp(verbose, mbio_ptr, store->time_d, heading, error); /* get nav and speed */ *speed = 0.0; if (mb_io_ptr->nfix > 0) mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed, navlon, navlat, speed, error); /* get navigation - actually return the easting northing because the projection is set and so the position will be inverse projected */ *navlon = store->POS_x; *navlat = store->POS_y; /* set beam and pixel numbers */ *nbath = 0; *namp = 0; *nss = 0; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); } /* done translating values */ } /* extract comment from structure */ else if (*kind == MB_DATA_COMMENT) { /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; /* copy comment */ if (strlen(store->COM_comment) > 0) strncpy(comment, store->COM_comment, MB_COMMENT_MAXLINE); else comment[0] = '\0'; /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 Comment extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 New ping values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 comment: %s\n", comment); } } /* set time for other data records */ else { /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 comment: %s\n", 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 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind != MB_DATA_COMMENT) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg2 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 nss: %d\n", *nss); for (i=0;i<*nss;i++) fprintf(stderr,"dbg2 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n", i,ss[i],ssacrosstrack[i],ssalongtrack[i]); } if (verbose >= 2) { 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 mbsys_hysweep_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mbsys_hysweep_insert"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 kind: %d\n",kind); } if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV1 || kind == MB_DATA_NAV2)) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); } if (verbose >= 2 && kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n",nbath); if (verbose >= 3) for (i=0;i= 3) for (i=0;i= 3) for (i=0;i= 2 && kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* set data kind */ store->kind = kind; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get time */ for (i=0;i<7;i++) store->time_i[i] = time_i[i]; store->time_d = time_d; /* get navigation - actually easting northings show up here because the projection is set and so the position has been projected */ /* get navigation */ store->RMBint_x = navlon; store->RMBint_y = navlat; mb_proj_inverse(verbose, mb_io_ptr->pjptr, navlon, navlat, &(store->RMBint_lon), &(store->RMBint_lat), error); /* get heading */ store->RMBint_heading = heading; /* get speed */ /* only insert data if the number of beams matchs */ if (nbath == store->RMB_num_beams) { /* allocate storage arrays if needed */ if (store->RMB_sounding_depths == NULL) status = mb_reallocd(verbose, __FILE__, __LINE__, nbath * sizeof(double), (void **)&(store->RMB_sounding_depths), error); if (store->RMB_sounding_across == NULL) status = mb_reallocd(verbose, __FILE__, __LINE__, nbath * sizeof(double), (void **)&(store->RMB_sounding_across), error); if (store->RMB_sounding_along == NULL) status = mb_reallocd(verbose, __FILE__, __LINE__, nbath * sizeof(double), (void **)&(store->RMB_sounding_along), error); /* insert the depth and distance values into the storage arrays */ for (i=0;iRMB_num_beams;i++) { store->RMB_sounding_depths[i] = bath[i]; store->RMB_sounding_across[i] = bathacrosstrack[i]; store->RMB_sounding_along[i] = bathalongtrack[i]; store->RMB_sounding_flags[i] = beamflag[i]; } } if (namp == store->RMB_num_beams) { /* allocate storage arrays if needed */ if (store->RMB_sounding_intensities == NULL) status = mb_reallocd(verbose, __FILE__, __LINE__, namp * sizeof(double), (void **)&(store->RMB_sounding_intensities), error); /* insert the amplitude values into the storage arrays */ for (i=0;iRMB_num_beams;i++) { store->RMB_sounding_intensities[i] = amp[i]; } } /* do nothing for sidescan now */ } /* insert data in nav structure */ else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2) { /* get time */ for (i=0;i<7;i++) store->time_i[i] = time_i[i]; store->time_d = time_d; /* get navigation - actually easting northings show up here because the projection is set and so the position has been projected */ store->POS_x = navlon; store->POS_y = navlat; fprintf(stderr, "INSERT1b %.3f %.2f %.2f\r\n", store->POS_time, store->POS_x, store->POS_y); /* get heading */ /* get speed */ } /* insert comment in structure */ else if (store->kind == MB_DATA_COMMENT) { strncpy(store->COM_comment, comment, MB_COMMENT_MAXLINE); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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 mbsys_hysweep_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error) { char *function_name = "mbsys_hysweep_ttimes"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; struct mbsys_hysweep_device_struct *device; double alpha, beta, theta, phi; 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 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 ttimes: %lu\n",(size_t)ttimes); fprintf(stderr,"dbg2 angles_xtrk:%lu\n",(size_t)angles); fprintf(stderr,"dbg2 angles_ltrk:%lu\n",(size_t)angles_forward); fprintf(stderr,"dbg2 angles_null:%lu\n",(size_t)angles_null); fprintf(stderr,"dbg2 heave: %lu\n",(size_t)heave); fprintf(stderr,"dbg2 ltrk_off: %lu\n",(size_t)alongtrack_offset); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get sound velocity */ *ssv = store->RMB_sound_velocity; /* get draft */ *draft = store->RMBint_draft; /* get travel times, angles */ *nbeams = store->RMB_num_beams; device = (struct mbsys_hysweep_device_struct *) &(store->devices[store->RMB_device_number]); for (i=0;iRMB_num_beams;i++) { ttimes[i] = 2.0 * store->RMB_beam_ranges[i] / (*ssv); if (store->RMB_sounding_takeoffangles != NULL && store->RMB_sounding_azimuthalangles != NULL) { angles[i] = store->RMB_sounding_takeoffangles[i]; angles_forward[i] = store->RMB_sounding_azimuthalangles[i]; } else if (store->RMB_sounding_pitchangles != NULL && store->RMB_sounding_rollangles != NULL) { alpha = store->RMB_sounding_pitchangles[i]; beta = 90.0 + store->RMB_sounding_rollangles[i]; /* correct alpha for pitch if necessary */ if (!(device->MBI_sonar_flags & 0x0002)) alpha += store->RMBint_pitch; /* correct beta for roll if necessary */ if (!(device->MBI_sonar_flags & 0x0001)) beta -= store->RMBint_roll; mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); angles[i] = theta; angles_forward[i] = phi; } if (device->MBI_sonar_receive_shape == 1) angles_null[i] = angles[i]; else angles_null[i] = 0.0; heave[i] = store->RMBint_heave; if (store->RMB_beam_data_available & 0x0400) alongtrack_offset[i] = store->GPS_sog * 0.0005144 * store->RMB_sounding_timedelays[i]; else alongtrack_offset[i] = 0.0; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 draft: %f\n",*draft); fprintf(stderr,"dbg2 ssv: %f\n",*ssv); fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: tt:%f angle_xtrk:%f angle_ltrk:%f angle_null:%f depth_off:%f ltrk_off:%f\n", i,ttimes[i],angles[i], angles_forward[i],angles_null[i], heave[i],alongtrack_offset[i]); } if (verbose >= 2) { 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 mbsys_hysweep_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error) { char *function_name = "mbsys_hysweep_detects"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 detects: %lu\n",(size_t)detects); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* read distance and depth values into storage arrays */ *nbeams = store->RMB_num_beams; for (i=0;i<*nbeams;i++) { detects[i] = MB_DETECT_UNKNOWN; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: detects:%d\n", i,detects[i]); } if (verbose >= 2) { 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 mbsys_hysweep_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error) { char *function_name = "mbsys_hysweep_gains"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_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 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get transmit_gain (dB) */ *transmit_gain = (double)0.0; /* get pulse_length (usec) */ *pulse_length = (double)0.0; /* get receive_gain (dB) */ *receive_gain = (double)0.0; /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 transmit_gain: %f\n",*transmit_gain); fprintf(stderr,"dbg2 pulse_length: %f\n",*pulse_length); fprintf(stderr,"dbg2 receive_gain: %f\n",*receive_gain); } if (verbose >= 2) { 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 mbsys_hysweep_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitudev, int *error) { char *function_name = "mbsys_hysweep_extract_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; double xtrackmin; int altitude_found; 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 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get transducer depth */ *transducer_depth = store->RMBint_draft - store->RMBint_heave; /* get altitude */ altitude_found = MB_NO; if (mb_io_ptr->naltitude > 0) { mb_altint_interp(verbose, mbio_ptr, store->time_d, altitudev, error); altitude_found = MB_YES; } if (altitude_found == MB_NO) { /* get depth closest to nadir */ xtrackmin = 999999.9; for (i=0;iRMB_num_beams;i++) { if ((store->RMB_sounding_flags[i] == MB_FLAG_NONE) && fabs((double)store->RMB_sounding_across[i]) < xtrackmin) { *altitudev = store->RMB_sounding_depths[i] - *transducer_depth; altitude_found = MB_YES; xtrackmin = fabs((double)store->RMB_sounding_across[i]); } } } if (altitude_found == MB_NO) { *altitudev = 0.0; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); fprintf(stderr,"dbg2 transducer_depth: %f\n",*transducer_depth); fprintf(stderr,"dbg2 altitude: %f\n",*altitudev); 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 mbsys_hysweep_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error) { char *function_name = "mbsys_hysweep_extract_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from ping structure */ if (*kind == MB_DATA_DATA) { /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; /* get heading */ *heading = store->RMBint_heading; /* get interpolated nav heading and speed */ *speed = 0.0; if (mb_io_ptr->nfix > 0) mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed, navlon, navlat, speed, error); /* get navigation - actually return the easting northing because the projection is set and so the position will be inverse projected */ *navlon = store->RMBint_x; *navlat = store->RMBint_y; /* get draft */ *draft = store->RMBint_draft; /* get attitude */ *roll = store->RMBint_roll; *pitch = store->RMBint_pitch; *heave = store->RMBint_heave; /* done translating values */ } /* extract data from nav structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2) { /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; /* get heading */ if (mb_io_ptr->nheading > 0) mb_hedint_interp(verbose, mbio_ptr, store->time_d, heading, error); /* get speed */ *speed = 0.0; if (mb_io_ptr->nfix > 0) mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed, navlon, navlat, speed, error); /* get navigation - actually return the easting northing because the projection is set and so the position will be inverse projected */ *navlon = store->POS_x; *navlat = store->POS_y; /* get roll pitch and heave */ if (mb_io_ptr->nattitude > 0) { mb_attint_interp(verbose, mbio_ptr, *time_d, heave, roll, pitch, error); } /* get draft */ if (mb_io_ptr->nsonardepth > 0) { if (mb_io_ptr->nsonardepth > 0) mb_depint_interp(verbose, mbio_ptr, store->time_d, draft, error); *heave = 0.0; } /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; /* get time */ for (i=0;i<7;i++) time_i[i] = store->time_i[i]; *time_d = store->time_d; } /* 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 kind: %d\n",*kind); fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); fprintf(stderr,"dbg2 draft: %f\n",*draft); fprintf(stderr,"dbg2 roll: %f\n",*roll); fprintf(stderr,"dbg2 pitch: %f\n",*pitch); fprintf(stderr,"dbg2 heave: %f\n",*heave); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /*if (status == MB_SUCCESS) fprintf(stderr,"%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f %f %f %f %f %f %f %f\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6], *navlon,*navlat,*speed,*heading,*draft,*roll,*pitch,*heave);*/ /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_hysweep_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error) { char *function_name = "mbsys_hysweep_insert_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); fprintf(stderr,"dbg2 draft: %f\n",draft); fprintf(stderr,"dbg2 roll: %f\n",roll); fprintf(stderr,"dbg2 pitch: %f\n",pitch); fprintf(stderr,"dbg2 heave: %f\n",heave); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_hysweep_struct *) store_ptr; /* insert data in ping structure */ if (store->kind == MB_DATA_DATA) { /* get time */ for (i=0;i<7;i++) store->time_i[i] = time_i[i]; store->time_d = time_d; /* get navigation - actually easting northings show up here because the projection is set and so the position has been projected */ /* get navigation */ store->RMBint_x = navlon; store->RMBint_y = navlat; mb_proj_inverse(verbose, mb_io_ptr->pjptr, navlon, navlat, &(store->RMBint_lon), &(store->RMBint_lat), error); /* get heading */ store->RMBint_heading = heading; /* get speed */ /* get draft */ store->RMBint_draft = draft; /* get roll pitch and heave */ store->RMBint_heave = heave; store->RMBint_pitch = pitch; store->RMBint_roll = roll; } /* insert data in nav structure */ else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2) { /* get time */ for (i=0;i<7;i++) store->time_i[i] = time_i[i]; store->time_d = time_d; /* get navigation - actually easting northings show up here because the projection is set and so the position has been projected */ store->POS_x = navlon; store->POS_y = navlat; /* get heading */ /* get speed */ /* get draft */ /* get roll pitch and heave */ } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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 mbsys_hysweep_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error) { char *function_name = "mbsys_hysweep_copy"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_hysweep_struct *store; struct mbsys_hysweep_struct *copy; /* 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); fprintf(stderr,"dbg2 copy_ptr: %lu\n",(size_t)copy_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointers */ store = (struct mbsys_hysweep_struct *) store_ptr; copy = (struct mbsys_hysweep_struct *) copy_ptr; /* copy over structures, allocating memory where necessary */ (*copy) = (*store); copy->RMB_beam_ranges = NULL; /* beam ranges (survey units) */ copy->RMB_multi_ranges = NULL; /* sounding point casting (survey units) (multi-transducer rangers) */ copy->RMB_sounding_eastings = NULL; /* easting positions of soundings */ copy->RMB_sounding_northings = NULL;/* northing positions of soundings */ copy->RMB_sounding_depths = NULL; /* corrected depths of soundings */ copy->RMB_sounding_across = NULL; /* acrosstrack positions of soundings */ copy->RMB_sounding_along = NULL; /* alongtrack positions of soundings */ copy->RMB_sounding_pitchangles = NULL; /* beam pitch angles of soundings (degrees, TSS convention) */ copy->RMB_sounding_rollangles = NULL; /* beam roll angles of soundings (degrees, TSS convention) */ copy->RMB_sounding_takeoffangles = NULL; /* beam takeoff angles of soundings (degrees from vertical) */ copy->RMB_sounding_azimuthalangles = NULL; /* beam azimuthal angles of soundings (degrees from forward) */ copy->RMB_sounding_timedelays = NULL; /* beam delay times (milliseconds) */ copy->RMB_sounding_intensities = NULL; /* beam intensities */ copy->RMB_sounding_quality = NULL; /* beam quality codes (from sonar unit) */ copy->RMB_sounding_flags = NULL; /* beam edit flags */ if (copy->RMB_num_beams > 0) { if (store->RMB_beam_ranges != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_beam_ranges), error); if (store->RMB_multi_ranges != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_multi_ranges), error); if (store->RMB_sounding_eastings != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_eastings), error); if (store->RMB_sounding_northings != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_northings), error); if (store->RMB_sounding_depths != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_depths), error); if (store->RMB_sounding_across != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_across), error); if (store->RMB_sounding_along != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_along), error); if (store->RMB_sounding_pitchangles != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_pitchangles), error); if (store->RMB_sounding_rollangles != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_rollangles), error); if (store->RMB_sounding_takeoffangles != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_takeoffangles), error); if (store->RMB_sounding_azimuthalangles != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(double), (void **)&(copy->RMB_sounding_azimuthalangles), error); if (store->RMB_sounding_timedelays != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(int), (void **)&(copy->RMB_sounding_timedelays), error); if (store->RMB_sounding_intensities != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(int), (void **)&(copy->RMB_sounding_intensities), error); if (store->RMB_sounding_quality != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(int), (void **)&(copy->RMB_sounding_quality), error); if (store->RMB_sounding_flags != NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, copy->RMB_num_beams * sizeof(int), (void **)&(copy->RMB_sounding_flags), 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); } /*--------------------------------------------------------------------*/