/*-------------------------------------------------------------------- * The MB-system: mb7k2jstar.c 5/19/2005 * $Id: mb7k2jstar.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2005-2012 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. *--------------------------------------------------------------------*/ /* * mb7k2jstar extracts Edgetech subbottom profiler and sidescan data * from Reson 7k format data and outputs in the Edgetech Jstar format. * * Author: D. W. Caress * Date: May 19, 2005 * * $Log: mb7k2jstar.c,v $ * Revision 5.9 2008/09/13 06:08:09 caress * Updates to apply suggested patches to segy handling. Also fixes to remove compiler warnings. * * Revision 5.8 2007/10/08 16:48:07 caress * State of the code on 8 October 2007. * * Revision 5.7 2006/12/15 21:42:49 caress * Incremental CVS update. * * Revision 5.6 2006/04/26 22:05:25 caress * Changes to handle MBARI Mapping AUV data better. * * Revision 5.5 2006/04/19 18:32:07 caress * Allowed smoothing of extracted sidescan. * * Revision 5.4 2006/01/18 15:17:00 caress * Added stdlib.h include. * * Revision 5.3 2005/11/05 01:07:54 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.2 2005/08/17 17:27:02 caress * Fixed scaling for heading, roll, and pitch values. * * Revision 5.1 2005/06/15 15:35:37 caress * Fixed issues. * * Revision 5.0 2005/06/04 05:00:05 caress * Program to extract subbottom and sidescan data from Reson 7k files into Edgetech Jstar files. * * * * */ /* standard include files */ #include #include #include #include #include /* MBIO include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_define.h" #include "../../include/mb_io.h" #include "../../include/mbsys_reson7k.h" #include "../../include/mbsys_jstar.h" /* local defines */ #define MB7K2JSTAR_SSLOW 1 #define MB7K2JSTAR_SSHIGH 2 #define MB7K2JSTAR_SBP 3 #define MB7K2JSTAR_ALL 4 #define MB7K2JSTAR_BOTTOMPICK_NONE 0 #define MB7K2JSTAR_BOTTOMPICK_BATHYMETRY 1 #define MB7K2JSTAR_BOTTOMPICK_ALTITUDE 2 #define MB7K2JSTAR_BOTTOMPICK_ARRIVAL 3 #define MB7K2JSTAR_SSGAIN_OFF 0 #define MB7K2JSTAR_SSGAIN_TVG_1OVERR 1 #define MBES_ALLOC_NUM 128 #define MBES_ROUTE_WAYPOINT_NONE 0 #define MBES_ROUTE_WAYPOINT_SIMPLE 1 #define MBES_ROUTE_WAYPOINT_TRANSIT 2 #define MBES_ROUTE_WAYPOINT_STARTLINE 3 #define MBES_ROUTE_WAYPOINT_ENDLINE 4 #define MBES_ONLINE_THRESHOLD 15.0 #define MBES_ONLINE_COUNT 30 static char rcs_id[] = "$Id: mb7k2jstar.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "mb7k2jstar"; char help_message[] = "mb7k2jstar extracts Edgetech subbottom profiler and sidescan data \nfrom Reson 7k format data and outputs in the Edgetech Jstar format."; char usage_message[] = "mb7k2jstar [-Ifile -Atype -Bmode[/threshold] -C -Fformat -Lstartline/lineroot -Ooutfile -Rroutefile -X -H -V]"; extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message; /* MBIO read control parameters */ int read_datalist = MB_NO; char read_file[MB_PATH_MAXLINE]; char output_file[MB_PATH_MAXLINE]; char current_output_file[MB_PATH_MAXLINE]; int new_output_file = MB_YES; int output_file_set = MB_NO; void *datalist; int look_processed = MB_DATALIST_LOOK_YES; double file_weight; int format = 0; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; char file[MB_PATH_MAXLINE]; int beams_bath; int beams_amp; int pixels_ss; double timeshift = 0.0; /* MBIO read values */ void *imbio_ptr = NULL; struct mb_io_struct *imb_io_ptr = NULL; void *istore_ptr = NULL; struct mbsys_reson7k_struct *istore = NULL; void *ombio_ptr = NULL; struct mb_io_struct *omb_io_ptr = NULL; void *ostore_ptr = NULL; struct mbsys_jstar_struct *ostore = NULL; int kind; int time_i[7]; int time_j[5]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double roll; double pitch; double heave; char *beamflag = NULL; double *bath = NULL; double *bathacrosstrack = NULL; double *bathalongtrack = NULL; double *amp = NULL; double *ss = NULL; double *ssacrosstrack = NULL; double *ssalongtrack = NULL; double *ttimes = NULL; double *angles = NULL; double *angles_forward = NULL; double *angles_null = NULL; double *bheave = NULL; double *alongtrack_offset = NULL; double draft; double ssv; double ssv_use = 1500.0; char comment[MB_COMMENT_MAXLINE]; int icomment = 0; /* jstar data */ s7k_fsdwchannel *s7kchannel; /* Channel header and data */ s7k_fsdwssheader *s7kssheader; /* Edgetech sidescan header */ s7k_fsdwsegyheader *s7ksegyheader; /* Segy header for subbottom trace */ struct mbsys_jstar_channel_struct *channel; int obeams_bath; int obeams_amp; int opixels_ss; /* extract modes */ int extract_sbp = MB_NO; int extract_sslow = MB_NO; int extract_sshigh = MB_NO; int print_comments = MB_NO; /* bottompick mode */ int bottompickmode = MB7K2JSTAR_BOTTOMPICK_ALTITUDE; double bottompickthreshold = 0.4; /* sidescan gain mode */ int gainmode = MB7K2JSTAR_SSGAIN_OFF; double gainfactor = 1.0; int ssflip = MB_NO; /* route and auto-line data */ char route_file[MB_PATH_MAXLINE]; int route_file_set = MB_NO; int checkroutebearing = MB_NO; int rawroutefile = MB_NO; char lineroot[MB_PATH_MAXLINE]; int nroutepoint = 0; int nroutepointalloc = 0; double lon; double lat; double topo; int waypoint; double *routelon = NULL; double *routelat = NULL; double *routeheading = NULL; int *routewaypoint = NULL; double range; double rangethreshold = 50.0; double rangelast; int activewaypoint = 0; int startline = 1; int linenumber; /* counting variables */ int nreaddata = 0; int nreadheader = 0; int nreadssv = 0; int nreadnav1 = 0; int nreadsbp = 0; int nreadsslo = 0; int nreadsshi = 0; int nwritesbp = 0; int nwritesslo = 0; int nwritesshi = 0; int nreaddatatot = 0; int nreadheadertot = 0; int nreadssvtot = 0; int nreadnav1tot = 0; int nreadsbptot = 0; int nreadsslotot = 0; int nreadsshitot = 0; int nwritesbptot = 0; int nwritesslotot = 0; int nwritesshitot = 0; int mode; int format_status, format_guess; int format_output = MBF_EDGJSTAR; int shortspersample; int trace_size; char *data; unsigned short *datashort; double value, threshold; double channelmax; int channelpick; double ttime_min; double ttime_min_use; int ttime_min_ok = MB_NO; int beam_min; int smooth = 0; double factor; double mtodeglon, mtodeglat; double lastlon; double lastlat; double lastheading; double headingdiff; int oktowrite; double dx, dy; FILE *fp = NULL; char *result; int nget; int point_ok; int read_data; int found; int i, j, n; startline = 1; strcpy(lineroot, "jstar"); /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* set default input to datalist.mb-1 */ strcpy (read_file, "datalist.mb-1"); /* process argument list */ while ((c = getopt(argc, argv, "A:a:B:b:CcF:f:G:g:I:i:L:l:MmO:o:R:r:S:s:T:t:XxVvHh")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'A': case 'a': if (strncmp(optarg, "SSLOW", 5) == 0 || strncmp(optarg, "sslow", 5) == 0) { extract_sslow = MB_YES; } else if (strncmp(optarg, "SSHIGH", 6) == 0 || strncmp(optarg, "sshigh", 6) == 0) { extract_sshigh = MB_YES; } else if (strncmp(optarg, "SBP", 3) == 0 || strncmp(optarg, "sbp", 3) == 0) { extract_sbp = MB_YES; } else if (strncmp(optarg, "ALL", 3) == 0 || strncmp(optarg, "all", 3) == 0) { extract_sshigh = MB_YES; extract_sslow = MB_YES; extract_sbp = MB_YES; } else { sscanf (optarg,"%d", &mode); if (mode == MB7K2JSTAR_SSLOW) extract_sslow = MB_YES; else if (mode == MB7K2JSTAR_SSHIGH) extract_sshigh = MB_YES; else if (mode == MB7K2JSTAR_SBP) extract_sbp = MB_YES; else if (mode == MB7K2JSTAR_ALL) { extract_sshigh = MB_YES; extract_sslow = MB_YES; extract_sbp = MB_YES; } } flag++; break; case 'B': case 'b': n = sscanf (optarg,"%d/%lf", &bottompickmode, &bottompickthreshold); if (n == 0) bottompickmode = MB7K2JSTAR_BOTTOMPICK_ALTITUDE; else if (n == 1 && bottompickmode == MB7K2JSTAR_BOTTOMPICK_ARRIVAL) bottompickthreshold = 0.5; flag++; break; case 'C': case 'c': print_comments = MB_YES; break; case 'F': case 'f': sscanf (optarg,"%d", &format); flag++; break; case 'G': case 'g': sscanf (optarg,"%d/%lf", &gainmode, &gainfactor); flag++; break; case 'I': case 'i': sscanf (optarg,"%s", read_file); flag++; break; case 'L': case 'l': sscanf (optarg,"%d/%s", &startline, lineroot); flag++; break; case 'M': case 'm': checkroutebearing = MB_YES; flag++; break; case 'O': case 'o': sscanf (optarg,"%s", output_file); output_file_set = MB_YES; flag++; break; case 'R': case 'r': sscanf (optarg,"%s", route_file); route_file_set = MB_YES; flag++; break; case 'S': case 's': sscanf (optarg,"%d", &smooth); flag++; break; case 'T': case 't': sscanf (optarg,"%lf", ×hift); flag++; break; case 'X': case 'x': ssflip = MB_YES; flag++; break; case '?': errflg++; } /* if error flagged then print it and exit */ if (errflg) { fprintf(stderr,"usage: %s\n", usage_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",rcs_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Control Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 format: %d\n",format); fprintf(stderr,"dbg2 pings: %d\n",pings); fprintf(stderr,"dbg2 lonflip: %d\n",lonflip); fprintf(stderr,"dbg2 bounds[0]: %f\n",bounds[0]); fprintf(stderr,"dbg2 bounds[1]: %f\n",bounds[1]); fprintf(stderr,"dbg2 bounds[2]: %f\n",bounds[2]); fprintf(stderr,"dbg2 bounds[3]: %f\n",bounds[3]); fprintf(stderr,"dbg2 btime_i[0]: %d\n",btime_i[0]); fprintf(stderr,"dbg2 btime_i[1]: %d\n",btime_i[1]); fprintf(stderr,"dbg2 btime_i[2]: %d\n",btime_i[2]); fprintf(stderr,"dbg2 btime_i[3]: %d\n",btime_i[3]); fprintf(stderr,"dbg2 btime_i[4]: %d\n",btime_i[4]); fprintf(stderr,"dbg2 btime_i[5]: %d\n",btime_i[5]); fprintf(stderr,"dbg2 btime_i[6]: %d\n",btime_i[6]); fprintf(stderr,"dbg2 etime_i[0]: %d\n",etime_i[0]); fprintf(stderr,"dbg2 etime_i[1]: %d\n",etime_i[1]); fprintf(stderr,"dbg2 etime_i[2]: %d\n",etime_i[2]); fprintf(stderr,"dbg2 etime_i[3]: %d\n",etime_i[3]); fprintf(stderr,"dbg2 etime_i[4]: %d\n",etime_i[4]); fprintf(stderr,"dbg2 etime_i[5]: %d\n",etime_i[5]); fprintf(stderr,"dbg2 etime_i[6]: %d\n",etime_i[6]); fprintf(stderr,"dbg2 speedmin: %f\n",speedmin); fprintf(stderr,"dbg2 timegap: %f\n",timegap); fprintf(stderr,"dbg2 timeshift: %f\n",timeshift); fprintf(stderr,"dbg2 bottompickmode: %d\n",bottompickmode); fprintf(stderr,"dbg2 bottompickthreshold: %f\n",bottompickthreshold); fprintf(stderr,"dbg2 smooth: %d\n",smooth); fprintf(stderr,"dbg2 gainmode: %d\n",gainmode); fprintf(stderr,"dbg2 gainfactor: %f\n",gainfactor); fprintf(stderr,"dbg2 file: %s\n",file); fprintf(stderr,"dbg2 route_file_set: %d\n",route_file_set); fprintf(stderr,"dbg2 route_file: %s\n",route_file); fprintf(stderr,"dbg2 checkroutebearing: %d\n",checkroutebearing); fprintf(stderr,"dbg2 output_file: %s\n",output_file); fprintf(stderr,"dbg2 output_file_set: %d\n",output_file_set); fprintf(stderr,"dbg2 lineroot: %s\n",lineroot); fprintf(stderr,"dbg2 extract_sbp: %d\n",extract_sbp); fprintf(stderr,"dbg2 extract_sslow: %d\n",extract_sslow); fprintf(stderr,"dbg2 extract_sshigh: %d\n",extract_sshigh); fprintf(stderr,"dbg2 print_comments: %d\n",print_comments); } /* if help desired then print it and exit */ if (help) { fprintf(stderr,"\n%s\n",help_message); fprintf(stderr,"\nusage: %s\n", usage_message); exit(error); } /* set output types if needed */ if (extract_sbp == MB_NO && extract_sslow == MB_NO && extract_sshigh == MB_NO) { extract_sbp = MB_YES; extract_sslow = MB_YES; extract_sshigh = MB_YES; } /* output output types */ fprintf(stdout, "\nData records to extract:\n"); if (extract_sbp == MB_YES) fprintf(stdout, " Subbottom\n"); if (extract_sslow == MB_YES) fprintf(stdout, " Low Sidescan\n"); if (extract_sshigh == MB_YES) fprintf(stdout, " High Sidescan\n"); if (ssflip == MB_YES) fprintf(stdout, " Sidescan port and starboard exchanged\n"); /* set starting line number and output file if route read */ if (route_file_set == MB_YES) { linenumber = startline; sprintf(output_file, "%s_%4.4d.mb132", lineroot, linenumber); } /* new output file obviously needed */ new_output_file = MB_YES; /* if specified read route file */ if (route_file_set == MB_YES) { /* open the input file */ if ((fp = fopen(route_file, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open route file <%s> for reading\n",route_file); exit(status); } rawroutefile = MB_NO; while ((result = fgets(comment,MB_PATH_MAXLINE,fp)) == comment) { if (comment[0] == '#') { if (strncmp(comment,"## Route File Version", 21) == 0) { rawroutefile = MB_NO; } } else { nget = sscanf(comment,"%lf %lf %lf %d %lf", &lon, &lat, &topo, &waypoint, &heading); if (comment[0] == '#') { fprintf(stderr,"buffer:%s",comment); if (strncmp(comment,"## Route File Version", 21) == 0) { rawroutefile = MB_NO; } } if ((rawroutefile == MB_YES && nget >= 2) || (rawroutefile == MB_NO && nget >= 3 && waypoint > MBES_ROUTE_WAYPOINT_NONE)) point_ok = MB_YES; else point_ok = MB_NO; /* if good data check for need to allocate more space */ if (point_ok == MB_YES && nroutepoint + 1 > nroutepointalloc) { nroutepointalloc += MBES_ALLOC_NUM; status = mb_reallocd(verbose,__FILE__,__LINE__,nroutepointalloc * sizeof(double), (void **)&routelon, &error); status = mb_reallocd(verbose,__FILE__,__LINE__,nroutepointalloc * sizeof(double), (void **)&routelat, &error); status = mb_reallocd(verbose,__FILE__,__LINE__,nroutepointalloc * sizeof(double), (void **)&routeheading, &error); status = mb_reallocd(verbose,__FILE__,__LINE__,nroutepointalloc * sizeof(int), (void **)&routewaypoint, &error); if (status != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* add good point to route */ if (point_ok == MB_YES && nroutepointalloc > nroutepoint + 1) { routelon[nroutepoint] = lon; routelat[nroutepoint] = lat; routeheading[nroutepoint] = heading; routewaypoint[nroutepoint] = waypoint; nroutepoint++; } } } /* close the file */ fclose(fp); fp = NULL; /* set starting values */ activewaypoint = 1; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * rangethreshold; oktowrite = 0; /* output status */ if (verbose > 0) { /* output info on file output */ fprintf(stderr,"\nImported %d waypoints from route file: %s\n", nroutepoint, route_file); } } /* get format if required */ if (format == 0) mb_get_format(verbose,read_file,NULL,&format,&error); /* determine whether to read one file or a list of files */ if (format < 0) read_datalist = MB_YES; /* open file list */ if (read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose,&datalist, read_file,look_processed,&error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", read_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(file, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES && format == MBF_RESON7KR) { /* initialize reading the swath file */ if ((status = mb_read_init( verbose,file,format,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get pointers to data storage */ imb_io_ptr = (struct mb_io_struct *) imbio_ptr; istore_ptr = imb_io_ptr->store_data; istore = (struct mbsys_reson7k_struct *) istore_ptr; if (error == MB_ERROR_NO_ERROR) { beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; } if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&ttimes, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_forward, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_null, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bheave, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&alongtrack_offset, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* set up output file name if needed */ if (error == MB_ERROR_NO_ERROR) { if (output_file_set == MB_YES && ombio_ptr == NULL) { /* set flag to open new output file */ new_output_file = MB_YES; } else if (output_file_set == MB_NO && route_file_set == MB_NO) { new_output_file = MB_YES; format_status = mb_get_format(verbose, file, output_file, &format_guess, &error); if (format_status != MB_SUCCESS || format_guess != format) { strcpy(output_file, file); } if (output_file[strlen(output_file)-1] == 'p') { output_file[strlen(output_file)-1] = '\0'; } if (extract_sbp == MB_YES && extract_sslow == MB_YES && extract_sshigh == MB_YES) { strcat(output_file,".jsf"); format_output = MBF_EDGJSTAR; } else if (extract_sslow == MB_YES) { strcat(output_file,".mb132"); format_output = MBF_EDGJSTAR; } else if (extract_sshigh == MB_YES) { strcat(output_file,".mb133"); format_output = MBF_EDGJSTR2; } else if (extract_sbp == MB_YES) { strcat(output_file,".jsf"); format_output = MBF_EDGJSTAR; } } } /* read and print data */ nreaddata = 0; nreadheader = 0; nreadssv = 0; nreadnav1 = 0; nreadsbp = 0; nreadsslo = 0; nreadsshi = 0; ttime_min_ok = MB_NO; while (error <= MB_ERROR_NO_ERROR) { /* reset error */ error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /*fprintf(stderr,"kind:%d %s \n\ttime_i:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f time_i:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f\n", kind,notice_msg[kind],time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],time_d, istore->time_i[0],istore->time_i[1],istore->time_i[2],istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],istore->time_d);*/ /* reset nonfatal errors */ if (kind == MB_DATA_DATA && error < 0) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* save last nav and heading */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { if (navlon != 0.0) lastlon = navlon; if (navlat != 0.0) lastlat = navlat; if (heading != 0.0) lastheading = heading; } /* check survey data position against waypoints */ /* fprintf(stderr,"status:%d error:%d kind:%d route_file_set:%d nroutepoint:%d navlon:%f navlat:%f\n", status,error,kind,route_file_set,nroutepoint,navlon,navlat); */ if (status == MB_SUCCESS && kind == MB_DATA_DATA && route_file_set == MB_YES && nroutepoint > 1 && navlon != 0.0 && navlat != 0.0) { dx = (navlon - routelon[activewaypoint]) / mtodeglon; dy = (navlat - routelat[activewaypoint]) / mtodeglat; range = sqrt(dx * dx + dy * dy); /* fprintf(stderr,"activewaypoint:%d range:%f lon:%f %f lat:%f %f dx:%f dy:%f\n", activewaypoint, range, navlon, routelon[activewaypoint], navlat, routelat[activewaypoint], dx, dy);*/ if (range < rangethreshold && (activewaypoint == 0 || range > rangelast) && activewaypoint < nroutepoint - 1) { /* fprintf(stderr,"New output by range to routepoint: %f\n",range); */ /* if needed set flag to open new output file */ if (new_output_file == MB_NO) { /* increment line number */ linenumber++; /* set output file name */ sprintf(output_file, "%s_%4.4d", lineroot, linenumber); if (extract_sbp == MB_YES && extract_sslow == MB_YES && extract_sshigh == MB_YES) { strcat(output_file,".jsf"); format_output = MBF_EDGJSTAR; } else if (extract_sslow == MB_YES) { strcat(output_file,".mb132"); format_output = MBF_EDGJSTAR; } else if (extract_sshigh == MB_YES) { strcat(output_file,".mb133"); format_output = MBF_EDGJSTR2; } else if (extract_sbp == MB_YES) { strcat(output_file,".jsf"); format_output = MBF_EDGJSTAR; } /* set to open new output file */ new_output_file = MB_YES; } /* increment active waypoint */ activewaypoint++; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * rangethreshold; oktowrite = 0; } else rangelast = range; } if (kind == MB_DATA_DATA && error <= MB_ERROR_NO_ERROR) { /* extract travel times */ status = mb_ttimes(verbose,imbio_ptr, istore_ptr,&kind,&beams_bath, ttimes,angles, angles_forward,angles_null, bheave,alongtrack_offset, &draft,&ssv,&error); /* check surface sound velocity */ if (ssv > 0.0) ssv_use = ssv; /* get bottom arrival time, if possible */ ttime_min = 0.0; found = MB_NO; for (i=0;i:\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for writing\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* save current_output_file */ strcpy(current_output_file, output_file); /* get pointers to data storage */ omb_io_ptr = (struct mb_io_struct *) ombio_ptr; ostore_ptr = omb_io_ptr->store_data; ostore = (struct mbsys_jstar_struct *) ostore_ptr; /* reset new_output_file */ new_output_file = MB_NO; } /* apply time shift if needed */ if (status == MB_SUCCESS && timeshift != 0.0 && (kind == MB_DATA_SUBBOTTOM_SUBBOTTOM || kind == MB_DATA_SIDESCAN2 || kind == MB_DATA_SIDESCAN3)) { time_d += timeshift; mb_get_date(verbose,time_d,time_i); mb_get_jtime(verbose,time_i,time_j); /*fprintf(stderr,"Applying time shift: %f %f\n",timeshift, time_d);*/ } /* get some more values */ if (status == MB_SUCCESS && (kind == MB_DATA_SUBBOTTOM_SUBBOTTOM || kind == MB_DATA_DATA || kind == MB_DATA_SIDESCAN2 || kind == MB_DATA_SIDESCAN3)) { /*for (i=MAX(0,imb_io_ptr->nfix-5);infix;i++) fprintf(stderr,"dbg2 nav fix[%2d]: %f %f %f\n", i, imb_io_ptr->fix_time_d[i], imb_io_ptr->fix_lon[i], imb_io_ptr->fix_lat[i]);*/ mb_get_jtime(verbose, istore->time_i, time_j); speed = 0.0; mb_hedint_interp(verbose, imbio_ptr, time_d, &heading, &error); mb_navint_interp(verbose, imbio_ptr, time_d, heading, speed, &navlon, &navlat, &speed, &error); mb_depint_interp(verbose, imbio_ptr, time_d, &sonardepth, &error); mb_altint_interp(verbose, imbio_ptr, time_d, &altitude, &error); mb_attint_interp(verbose, imbio_ptr, time_d, &heave, &roll, &pitch, &error); } /* if following a route check that the vehicle has come on line (within MBES_ONLINE_THRESHOLD degrees) before writing any data */ if (checkroutebearing == MB_YES && nroutepoint > 1 && activewaypoint > 0) { headingdiff = fabs(routeheading[activewaypoint-1] - heading); if (headingdiff > 180.0) headingdiff = 360.0 - headingdiff; if (headingdiff < MBES_ONLINE_THRESHOLD) oktowrite++; else oktowrite = 0; /* fprintf(stderr,"heading: %f %f %f oktowrite:%d\n", routeheading[activewaypoint-1],heading,headingdiff,oktowrite);*/ } else oktowrite = MBES_ONLINE_COUNT; /* if (status == MB_SUCCESS) fprintf(stderr,"activewaypoint:%d linenumber:%d range:%f lon: %f %f lat: %f %f oktowrite:%d\n", activewaypoint,linenumber,range, navlon, routelon[activewaypoint], navlat, routelat[activewaypoint], oktowrite);*/ /* handle multibeam data */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { /*fprintf(stderr,"MB_DATA_DATA: status:%d error:%d kind:%d\n",status,error,kind);*/ nreaddata++; } /* handle file header data */ else if (status == MB_SUCCESS && kind == MB_DATA_HEADER) { /*fprintf(stderr,"MB_DATA_HEADER: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadheader++; } /* handle bluefin ctd data */ else if (status == MB_SUCCESS && kind == MB_DATA_SSV) { /*fprintf(stderr,"MB_DATA_SSV: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadssv++; } /* handle bluefin nav data */ else if (status == MB_SUCCESS && kind == MB_DATA_NAV2) { /*fprintf(stderr,"MB_DATA_NAV1: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadnav1++; } /* handle subbottom data */ else if (status == MB_SUCCESS && kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { /*fprintf(stderr,"MB_DATA_SUBBOTTOM_SUBBOTTOM: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadsbp++; /* output data if desired */ if (extract_sbp == MB_YES && nreadnav1 > 0 && oktowrite >= MBES_ONLINE_COUNT) { /* set overall parameters */ ostore->kind = kind; ostore->subsystem = 0; /* copy subbottom data to jstar storage */ channel = (struct mbsys_jstar_channel_struct *) &(ostore->sbp); s7kchannel = (s7k_fsdwchannel *) &(istore->fsdwsb.channel); s7ksegyheader = (s7k_fsdwsegyheader *) &(istore->fsdwsb.segyheader); /* message header values */ channel->message.start_marker = 0x1601; channel->message.version = 0; channel->message.session = 0; channel->message.type = 80; channel->message.command = 0; channel->message.subsystem = 0; channel->message.channel = 0; channel->message.sequence = 0; channel->message.reserved = 0; channel->message.size = 0; /* Trace Header */ channel->sequenceNumber = s7ksegyheader->sequenceNumber; /* 0-3 : Trace Sequence Number (always 0) ** */ channel->startDepth = s7ksegyheader->startDepth; /* 4-7 : Starting depth (window offset) in samples. */ channel->pingNum = s7ksegyheader->pingNum; /* 8-11: Ping number (increments with ping) ** */ channel->channelNum = s7ksegyheader->channelNum; /* 12-15 : Channel Number (0 .. n) ** */ for (i=0;i<6;i++) channel->unused1[i] = s7ksegyheader->unused1[i]; /* 16-27 */ channel->traceIDCode = s7ksegyheader->traceIDCode; /* 28-29 : ID Code (always 1 => seismic data) ** */ for (i=0;i<2;i++) channel->unused2[i] = s7ksegyheader->unused2[i]; /* 30-33 */ channel->dataFormat = s7ksegyheader->dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ channel->NMEAantennaeR = s7ksegyheader->NMEAantennaeR; /* 36-37 : Distance from towfish to antennae in cm */ channel->NMEAantennaeO = s7ksegyheader->NMEAantennaeO; /* 38-39 : Distance to antennae starboard direction in cm */ for (i=0;i<32;i++) channel->RS232[i] = s7ksegyheader->RS232[i]; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ channel->sourceCoordX = s7ksegyheader->sourceCoordX; /* 72-75 : Meters or Seconds of Arc */ channel->sourceCoordY = s7ksegyheader->sourceCoordY; /* 76-79 : Meters or Seconds of Arc */ channel->groupCoordX = s7ksegyheader->groupCoordX; /* 80-83 : mm or 10000 * (Minutes of Arc) */ channel->groupCoordY = s7ksegyheader->groupCoordY; /* 84-87 : mm or 10000 * (Minutes of Arc) */ channel->coordUnits = s7ksegyheader->coordUnits; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ for (i=0;i<24;i++) channel->annotation[i] = s7ksegyheader->annotation[i]; /* 90-113 : Annotation string */ channel->samples = s7ksegyheader->samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ channel->sampleInterval = s7ksegyheader->sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ channel->ADCGain = s7ksegyheader->ADCGain; /* 120-121 : Gain factor of ADC */ channel->pulsePower = s7ksegyheader->pulsePower; /* 122-123 : user pulse power setting (0 - 100) percent */ channel->correlated = s7ksegyheader->correlated; /* 124-125 : correlated data 1 - No, 2 - Yes */ channel->startFreq = s7ksegyheader->startFreq; /* 126-127 : Starting frequency in 10 * Hz */ channel->endFreq = s7ksegyheader->endFreq; /* 128-129 : Ending frequency in 10 * Hz */ channel->sweepLength = s7ksegyheader->sweepLength; /* 130-131 : Sweep length in ms */ for (i=0;i<4;i++) channel->unused7[i] = s7ksegyheader->unused7[i]; /* 132-139 */ channel->aliasFreq = s7ksegyheader->aliasFreq; /* 140-141 : alias Frequency (sample frequency / 2) */ channel->pulseID = s7ksegyheader->pulseID; /* 142-143 : Unique pulse identifier */ for (i=0;i<6;i++) channel->unused8[i] = s7ksegyheader->unused8[i]; /* 144-155 */ channel->year = istore->time_i[0]; /* 156-157 : Year data recorded (CPU time) */ channel->day = time_j[1]; /* 158-159 : day */ channel->hour = istore->time_i[3]; /* 160-161 : hour */ channel->minute = istore->time_i[4]; /* 162-163 : minute */ channel->second = istore->time_i[5]; /* 164-165 : second */ channel->timeBasis = s7ksegyheader->timeBasis; /* 166-167 : Always 3 (other not specified by standard) */ channel->weightingFactor = s7ksegyheader->weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ channel->unused9 = s7ksegyheader->unused9; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ channel->heading = s7ksegyheader->heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ channel->pitch = s7ksegyheader->pitch; /* 174-175 : Pitch */ channel->roll = s7ksegyheader->roll; /* 176-177 : Roll */ channel->temperature = s7ksegyheader->temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ channel->heaveCompensation = s7ksegyheader->heaveCompensation; /* 180-181 : Heave compensation offset (samples) */ channel->trigSource = s7ksegyheader->trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ channel->markNumber = s7ksegyheader->markNumber; /* 184-185 : Mark Number (0 = no mark) */ channel->NMEAHour = s7ksegyheader->NMEAHour; /* 186-187 : Hour */ channel->NMEAMinutes = s7ksegyheader->NMEAMinutes; /* 188-189 : Minutes */ channel->NMEASeconds = s7ksegyheader->NMEASeconds; /* 190-191 : Seconds */ channel->NMEACourse = s7ksegyheader->NMEACourse; /* 192-193 : Course */ channel->NMEASpeed = s7ksegyheader->NMEASpeed; /* 194-195 : Speed */ channel->NMEADay = s7ksegyheader->NMEADay; /* 196-197 : Day */ channel->NMEAYear = s7ksegyheader->NMEAYear; /* 198-199 : Year */ channel->millisecondsToday = 0.001 * istore->time_i[6] /* 200-203 : Millieconds today */ + 1000 * (istore->time_i[5] + 60.0 * (istore->time_i[4] + 60.0 * istore->time_i[3])); channel->ADCMax = s7ksegyheader->ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ channel->calConst = s7ksegyheader->calConst; /* 206-207 : System constant in tenths of a dB */ channel->vehicleID = s7ksegyheader->vehicleID; /* 208-209 : Vehicle ID */ for (i=0;i<6;i++) channel->softwareVersion[i] = s7ksegyheader->softwareVersion[i];/* 210-215 : Software version number */ /* Following items are not in X-Star */ channel->sphericalCorrection = s7ksegyheader->sphericalCorrection; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ channel->packetNum = s7ksegyheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ channel->ADCDecimation = s7ksegyheader->ADCDecimation; /* 222-223 : A/D decimation before FFT */ channel->decimation = s7ksegyheader->decimation; /* 224-225 : Decimation factor after FFT */ channel->unuseda = s7ksegyheader->unuseda[0]; /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ channel->depth = 0; /* 227-231 : Seafloor depth in 0.001 m */ channel->sonardepth = 0; /* 236-235 : Sonar depth in 0.001 m */ channel->sonaraltitude = 0; /* 236-239 : Sonar altitude in 0.001 m */ /* allocate memory for the trace */ if (channel->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * channel->samples * sizeof(short); channel->message.size = shortspersample * channel->samples * sizeof(short); if (channel->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose,__FILE__,__LINE__,trace_size, (void **)&(channel->trace), &error)) == MB_SUCCESS) { channel->trace_alloc = trace_size; } } /* copy the trace */ if (status == MB_SUCCESS) { data = (char *) channel->trace; for (i=0;idata[i]; } /* set the sonar altitude using the specified mode */ if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in trace */ if (channel->dataFormat == MBSYS_JSTAR_TRACEFORMAT_ANALYTIC) { channelmax = 0.0; for (i=0;isamples;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); if (value >= threshold) channelpick = i; } } else { channelmax = 0.0; for (i=0;isamples;i++) { value = (double)(channel->trace[i]); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = (double)(channel->trace[i]); if (value >= threshold) channelpick = i; } } /* set sonar altitude */ channel->sonaraltitude = 0.00075 * channelpick * channel->sampleInterval; } else if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_BATHYMETRY) { channel->sonaraltitude = (int) (750000.0 * ttime_min_use); if (channel->sonaraltitude == 0) channel->sonaraltitude = 1000 * altitude; } else { channel->sonaraltitude = 1000 * altitude; } /* reset navigation and other values */ if (navlon < 180.0) navlon = navlon + 360.0; if (navlon > 180.0) navlon = navlon - 360.0; channel->sourceCoordX = (int) (360000.0 * navlon); channel->sourceCoordY = (int) (360000.0 * navlat); channel->groupCoordX = (int) (360000.0 * navlon); channel->groupCoordY = (int) (360000.0 * navlat); channel->coordUnits = 2; channel->heading = (short) (100.0 * heading); channel->startDepth = sonardepth / channel->sampleInterval / 0.00000075; channel->sonardepth = 1000 * sonardepth; channel->depth = channel->sonardepth + channel->sonaraltitude; channel->roll = (short) (32768 * roll / 180.0); channel->pitch = (short) (32768 * pitch / 180.0); channel->heaveCompensation = heave / channel->sampleInterval / 0.00000075; /* write the record */ mb_write_ping(verbose, ombio_ptr, ostore_ptr, &error); nwritesbp++; } } /* handle low frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN2) { /*fprintf(stderr,"MB_DATA_SIDESCAN2: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadsslo++; /* output data if desired */ if (extract_sslow == MB_YES && nreadnav1 > 0 && oktowrite >= MBES_ONLINE_COUNT) { /* set overall parameters */ ostore->kind = MB_DATA_DATA; ostore->subsystem = 20; /*----------------------------------------------------------------*/ /* copy low frequency port sidescan to jstar storage */ if (ssflip == MB_YES) channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssstbd); else channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssport); s7kchannel = (s7k_fsdwchannel *) &(istore->fsdwsslo.channel[0]); s7kssheader = (s7k_fsdwssheader *) &(istore->fsdwsslo.ssheader[0]); /* message header values */ channel->message.start_marker = 0x1601; channel->message.version = 0; channel->message.session = 0; channel->message.type = 80; channel->message.command = 0; channel->message.subsystem = 20; if (ssflip == MB_YES) channel->message.channel = 1; else channel->message.channel = 0; channel->message.sequence = 0; channel->message.reserved = 0; channel->message.size = 0; /* Trace Header */ channel->sequenceNumber = 0; /* 0-3 : Trace Sequence Number (always 0) ** */ channel->startDepth = s7kssheader->startDepth; /* 4-7 : Starting depth (window offset) in samples. */ channel->pingNum = s7kssheader->pingNum; /* 8-11: Ping number (increments with ping) ** */ channel->channelNum = s7kssheader->channelNum; /* 12-15 : Channel Number (0 .. n) ** */ for (i=0;i<6;i++) channel->unused1[i] = 0; /* 16-27 */ channel->traceIDCode = 1; /* 28-29 : ID Code (always 1 => seismic data) ** */ for (i=0;i<2;i++) channel->unused2[i] = 0; /* 30-33 */ channel->dataFormat = s7kssheader->dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ channel->NMEAantennaeR = 0; /* 36-37 : Distance from towfish to antennae in cm */ channel->NMEAantennaeO = 0; /* 38-39 : Distance to antennae starboard direction in cm */ for (i=0;i<32;i++) channel->RS232[i] = 0; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ channel->sourceCoordX = 0; /* 72-75 : Meters or Seconds of Arc */ channel->sourceCoordY = 0; /* 76-79 : Meters or Seconds of Arc */ channel->groupCoordX = 0; /* 80-83 : mm or 10000 * (Minutes of Arc) */ channel->groupCoordY = 0; /* 84-87 : mm or 10000 * (Minutes of Arc) */ channel->coordUnits = 0; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ for (i=0;i<24;i++) channel->annotation[i] = 0; /* 90-113 : Annotation string */ channel->samples = s7kssheader->samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ channel->sampleInterval = s7kssheader->sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ channel->ADCGain = s7kssheader->ADCGain; /* 120-121 : Gain factor of ADC */ channel->pulsePower = 0; /* 122-123 : user pulse power setting (0 - 100) percent */ channel->correlated = 0; /* 124-125 : correlated data 1 - No, 2 - Yes */ channel->startFreq = 0; /* 126-127 : Starting frequency in 10 * Hz */ channel->endFreq = 0; /* 128-129 : Ending frequency in 10 * Hz */ channel->sweepLength = 0; /* 130-131 : Sweep length in ms */ for (i=0;i<4;i++) channel->unused7[i] = 0; /* 132-139 */ channel->aliasFreq = 0; /* 140-141 : alias Frequency (sample frequency / 2) */ channel->pulseID = s7kssheader->pulseID; /* 142-143 : Unique pulse identifier */ for (i=0;i<6;i++) channel->unused8[i] = 0; /* 144-155 */ channel->year = istore->time_i[0]; /* 156-157 : Year data recorded (CPU time) */ channel->day = time_j[1]; /* 158-159 : day */ channel->hour = istore->time_i[3]; /* 160-161 : hour */ channel->minute = istore->time_i[4]; /* 162-163 : minute */ channel->second = istore->time_i[5]; /* 164-165 : second */ channel->timeBasis = 3; /* 166-167 : Always 3 (other not specified by standard) */ channel->weightingFactor = s7kssheader->weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ channel->unused9 = 0; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ channel->heading = s7kssheader->heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ channel->pitch = s7kssheader->pitch; /* 174-175 : Pitch */ channel->roll = s7kssheader->roll; /* 176-177 : Roll */ channel->temperature = s7kssheader->temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ channel->heaveCompensation = 0; /* 180-181 : Heave compensation offset (samples) */ channel->trigSource = s7kssheader->trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ channel->markNumber = s7kssheader->markNumber; /* 184-185 : Mark Number (0 = no mark) */ channel->NMEAHour = 0; /* 186-187 : Hour */ channel->NMEAMinutes = 0; /* 188-189 : Minutes */ channel->NMEASeconds = 0; /* 190-191 : Seconds */ channel->NMEACourse = 0; /* 192-193 : Course */ channel->NMEASpeed = 0; /* 194-195 : Speed */ channel->NMEADay = 0; /* 196-197 : Day */ channel->NMEAYear = 0; /* 198-199 : Year */ channel->millisecondsToday = 0.001 * istore->time_i[6] /* 200-203 : Millieconds today */ + 1000 * (istore->time_i[5] + 60.0 * (istore->time_i[4] + 60.0 * istore->time_i[3])); channel->ADCMax = s7kssheader->ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ channel->calConst = 0; /* 206-207 : System constant in tenths of a dB */ channel->vehicleID = 0; /* 208-209 : Vehicle ID */ for (i=0;i<6;i++) channel->softwareVersion[i] = 0; /* 210-215 : Software version number */ /* Following items are not in X-Star */ channel->sphericalCorrection = 0; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ channel->packetNum = s7kssheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ channel->ADCDecimation = 0; /* 222-223 : A/D decimation before FFT */ channel->decimation = 0; /* 224-225 : Decimation factor after FFT */ channel->unuseda = 0; /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ channel->depth = 0; /* 227-231 : Seafloor depth in 0.001 m */ channel->sonardepth = 0; /* 236-235 : Sonar depth in 0.001 m */ channel->sonaraltitude = 0; /* 236-239 : Sonar altitude in 0.001 m */ /* allocate memory for the trace */ if (channel->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * channel->samples * sizeof(short); channel->message.size = shortspersample * channel->samples * sizeof(short); if (channel->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose,__FILE__,__LINE__,trace_size, (void **)&(channel->trace), &error)) == MB_SUCCESS) { channel->trace_alloc = trace_size; } } /* copy the trace */ if (status == MB_SUCCESS) { if (smooth > 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; channel->trace[i] = 0.0; for (j=MAX(i-smooth,0);jsamples-1);j++) { channel->trace[i] += datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] /= n; /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else if (smooth < 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; value = 0.0; for (j=MAX(i+smooth,0);jsamples-1);j++) { value += datashort[j] * datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] = (unsigned int) (sqrt(value) / n); /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else { data = (char *) channel->trace; for (i=0;idata[i]; } } } /* set the sonar altitude using the specified mode */ if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in trace */ if (channel->dataFormat == MBSYS_JSTAR_TRACEFORMAT_ANALYTIC) { channelmax = 0.0; for (i=0;isamples;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); if (value >= threshold) channelpick = i; } } else { channelmax = 0.0; for (i=0;isamples;i++) { value = (double)(channel->trace[i]); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = (double)(channel->trace[i]); if (value >= threshold) channelpick = i; } } /* set sonar altitude */ channel->sonaraltitude = 0.00075 * channelpick * channel->sampleInterval; } else if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_BATHYMETRY) { channel->sonaraltitude = (int) (750000.0 * ttime_min_use); if (channel->sonaraltitude == 0) channel->sonaraltitude = 1000 * altitude; } else { channel->sonaraltitude = 1000 * altitude; } /* apply gain if specified */ if (gainmode == MB7K2JSTAR_SSGAIN_TVG_1OVERR) { channelpick = (int) (((double)channel->sonaraltitude) / 0.00075 / ((double)channel->sampleInterval)); channelpick = MAX(channelpick, 1); /*fprintf(stderr,"altitude:%d sampleInterval:%d channelpick:%d\n",channel->sonaraltitude,channel->sampleInterval,channelpick);*/ for (i=0;itrace[i] = (unsigned short) (gainfactor * channel->trace[i]); } for (i=channelpick;isamples;i++) { factor = gainfactor * (((double)( i * i)) / ((double) (channelpick * channelpick))); /*fprintf(stderr,"sample %d: factor:%f value: %d",i,factor,channel->trace[i]);*/ channel->trace[i] = (unsigned short) (factor * channel->trace[i]); /*fprintf(stderr," %d\n",channel->trace[i]);*/ } } /* reset navigation and other values */ if (navlon < 180.0) navlon = navlon + 360.0; if (navlon > 180.0) navlon = navlon - 360.0; channel->sourceCoordX = (int) (360000.0 * navlon); channel->sourceCoordY = (int) (360000.0 * navlat); channel->groupCoordX = (int) (360000.0 * navlon); channel->groupCoordY = (int) (360000.0 * navlat); channel->coordUnits = 2; channel->heading = (short) (100.0 * heading); channel->startDepth = sonardepth / channel->sampleInterval / 0.00000075; channel->depth = channel->sonardepth + channel->sonaraltitude; channel->sonardepth = 1000 * sonardepth; channel->roll = (short) (32768 * roll / 180.0); channel->pitch = (short) (32768 * pitch / 180.0); channel->heaveCompensation = heave / channel->sampleInterval / 0.00000075; /*----------------------------------------------------------------*/ /* copy low frequency starboard sidescan to jstar storage */ if (ssflip == MB_YES) channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssport); else channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssstbd); s7kchannel = (s7k_fsdwchannel *) &(istore->fsdwsslo.channel[1]); s7kssheader = (s7k_fsdwssheader *) &(istore->fsdwsslo.ssheader[1]); /* message header values */ channel->message.start_marker = 0x1601; channel->message.version = 0; channel->message.session = 0; channel->message.type = 80; channel->message.command = 0; channel->message.subsystem = 20; if (ssflip == MB_YES) channel->message.channel = 0; else channel->message.channel = 1; channel->message.sequence = 0; channel->message.reserved = 0; channel->message.size = 0; /* Trace Header */ channel->sequenceNumber = 0; /* 0-3 : Trace Sequence Number (always 0) ** */ channel->startDepth = s7kssheader->startDepth; /* 4-7 : Starting depth (window offset) in samples. */ channel->pingNum = s7kssheader->pingNum; /* 8-11: Ping number (increments with ping) ** */ channel->channelNum = s7kssheader->channelNum; /* 12-15 : Channel Number (0 .. n) ** */ for (i=0;i<6;i++) channel->unused1[i] = 0; /* 16-27 */ channel->traceIDCode = 1; /* 28-29 : ID Code (always 1 => seismic data) ** */ for (i=0;i<2;i++) channel->unused2[i] = 0; /* 30-33 */ channel->dataFormat = s7kssheader->dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ channel->NMEAantennaeR = 0; /* 36-37 : Distance from towfish to antennae in cm */ channel->NMEAantennaeO = 0; /* 38-39 : Distance to antennae starboard direction in cm */ for (i=0;i<32;i++) channel->RS232[i] = 0; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ channel->sourceCoordX = 0; /* 72-75 : Meters or Seconds of Arc */ channel->sourceCoordY = 0; /* 76-79 : Meters or Seconds of Arc */ channel->groupCoordX = 0; /* 80-83 : mm or 10000 * (Minutes of Arc) */ channel->groupCoordY = 0; /* 84-87 : mm or 10000 * (Minutes of Arc) */ channel->coordUnits = 0; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ for (i=0;i<24;i++) channel->annotation[i] = 0; /* 90-113 : Annotation string */ channel->samples = s7kssheader->samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ channel->sampleInterval = s7kssheader->sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ channel->ADCGain = s7kssheader->ADCGain; /* 120-121 : Gain factor of ADC */ channel->pulsePower = 0; /* 122-123 : user pulse power setting (0 - 100) percent */ channel->correlated = 0; /* 124-125 : correlated data 1 - No, 2 - Yes */ channel->startFreq = 0; /* 126-127 : Starting frequency in 10 * Hz */ channel->endFreq = 0; /* 128-129 : Ending frequency in 10 * Hz */ channel->sweepLength = 0; /* 130-131 : Sweep length in ms */ for (i=0;i<4;i++) channel->unused7[i] = 0; /* 132-139 */ channel->aliasFreq = 0; /* 140-141 : alias Frequency (sample frequency / 2) */ channel->pulseID = s7kssheader->pulseID; /* 142-143 : Unique pulse identifier */ for (i=0;i<6;i++) channel->unused8[i] = 0; /* 144-155 */ channel->year = istore->time_i[0]; /* 156-157 : Year data recorded (CPU time) */ channel->day = time_j[1]; /* 158-159 : day */ channel->hour = istore->time_i[3]; /* 160-161 : hour */ channel->minute = istore->time_i[4]; /* 162-163 : minute */ channel->second = istore->time_i[5]; /* 164-165 : second */ channel->timeBasis = 3; /* 166-167 : Always 3 (other not specified by standard) */ channel->weightingFactor = s7kssheader->weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ channel->unused9 = 0; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ channel->heading = s7kssheader->heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ channel->pitch = s7kssheader->pitch; /* 174-175 : Pitch */ channel->roll = s7kssheader->roll; /* 176-177 : Roll */ channel->temperature = s7kssheader->temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ channel->heaveCompensation = 0; /* 180-181 : Heave compensation offset (samples) */ channel->trigSource = s7kssheader->trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ channel->markNumber = s7kssheader->markNumber; /* 184-185 : Mark Number (0 = no mark) */ channel->NMEAHour = 0; /* 186-187 : Hour */ channel->NMEAMinutes = 0; /* 188-189 : Minutes */ channel->NMEASeconds = 0; /* 190-191 : Seconds */ channel->NMEACourse = 0; /* 192-193 : Course */ channel->NMEASpeed = 0; /* 194-195 : Speed */ channel->NMEADay = 0; /* 196-197 : Day */ channel->NMEAYear = 0; /* 198-199 : Year */ channel->millisecondsToday = 0.001 * istore->time_i[6] /* 200-203 : Millieconds today */ + 1000 * (istore->time_i[5] + 60.0 * (istore->time_i[4] + 60.0 * istore->time_i[3])); channel->ADCMax = s7kssheader->ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ channel->calConst = 0; /* 206-207 : System constant in tenths of a dB */ channel->vehicleID = 0; /* 208-209 : Vehicle ID */ for (i=0;i<6;i++) channel->softwareVersion[i] = 0; /* 210-215 : Software version number */ /* Following items are not in X-Star */ channel->sphericalCorrection = 0; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ channel->packetNum = s7kssheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ channel->ADCDecimation = 0; /* 222-223 : A/D decimation before FFT */ channel->decimation = 0; /* 224-225 : Decimation factor after FFT */ channel->unuseda = 0; /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ channel->depth = 0; /* 227-231 : Seafloor depth in 0.001 m */ channel->sonardepth = 0; /* 236-235 : Sonar depth in 0.001 m */ channel->sonaraltitude = 0; /* 236-239 : Sonar altitude in 0.001 m */ /* allocate memory for the trace */ if (channel->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * channel->samples * sizeof(short); channel->message.size = shortspersample * channel->samples * sizeof(short); if (channel->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose,__FILE__,__LINE__,trace_size, (void **)&(channel->trace), &error)) == MB_SUCCESS) { channel->trace_alloc = trace_size; } } /* copy the trace */ if (status == MB_SUCCESS) { if (smooth > 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; channel->trace[i] = 0.0; for (j=MAX(i-smooth,0);jsamples-1);j++) { channel->trace[i] += datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] /= n; /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else if (smooth < 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; value = 0.0; for (j=MAX(i+smooth,0);jsamples-1);j++) { value += datashort[j] * datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] = (unsigned int) (sqrt(value) / n); /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else { data = (char *) channel->trace; for (i=0;idata[i]; } } } /* set the sonar altitude using the specified mode */ if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in trace */ if (channel->dataFormat == MBSYS_JSTAR_TRACEFORMAT_ANALYTIC) { channelmax = 0.0; for (i=0;isamples;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); if (value >= threshold) channelpick = i; } } else { channelmax = 0.0; for (i=0;isamples;i++) { value = (double)(channel->trace[i]); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = (double)(channel->trace[i]); if (value >= threshold) channelpick = i; } } /* set sonar altitude */ channel->sonaraltitude = 0.00075 * channelpick * channel->sampleInterval; } else if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_BATHYMETRY) { channel->sonaraltitude = (int) (750000.0 * ttime_min_use); if (channel->sonaraltitude == 0) channel->sonaraltitude = 1000 * altitude; } else { channel->sonaraltitude = 1000 * altitude; } /* apply gain if specified */ if (gainmode == MB7K2JSTAR_SSGAIN_TVG_1OVERR) { channelpick = (int) (((double)channel->sonaraltitude) / 0.00075 / ((double)channel->sampleInterval)); /*fprintf(stderr,"altitude:%d sampleInterval:%d channelpick:%d\n",channel->sonaraltitude,channel->sampleInterval,channelpick);*/ channelpick = MAX(channelpick, 1); for (i=channelpick;isamples;i++) { factor = gainfactor * (((double)( i * i)) / ((double) (channelpick * channelpick))); /*fprintf(stderr,"sample %d: factor:%f value: %d",i,factor,channel->trace[i]);*/ channel->trace[i] = (unsigned short) (factor * channel->trace[i]); /*fprintf(stderr," %d\n",channel->trace[i]);*/ } } /* reset navigation and other values */ if (navlon < 180.0) navlon = navlon + 360.0; if (navlon > 180.0) navlon = navlon - 360.0; channel->sourceCoordX = (int) (360000.0 * navlon); channel->sourceCoordY = (int) (360000.0 * navlat); channel->groupCoordX = (int) (360000.0 * navlon); channel->groupCoordY = (int) (360000.0 * navlat); channel->coordUnits = 2; channel->heading = (short) (100.0 * heading); channel->startDepth = sonardepth / channel->sampleInterval / 0.00000075; channel->sonardepth = 1000 * sonardepth; channel->depth = channel->sonardepth + channel->sonaraltitude; channel->roll = (short) (32768 * roll / 180.0); channel->pitch = (short) (32768 * pitch / 180.0); channel->heaveCompensation = heave / channel->sampleInterval / 0.00000075; /* write the record */ nwritesslo++; mb_write_ping(verbose, ombio_ptr, ostore_ptr, &error); } } /* handle high frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN3) { /*fprintf(stderr,"MB_DATA_SIDESCAN3: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadsshi++; /* output data if desired */ if (extract_sshigh == MB_YES && nreadnav1 > 0 && oktowrite >= MBES_ONLINE_COUNT) { /* set overall parameters */ ostore->kind = MB_DATA_SIDESCAN2; ostore->subsystem = 21; /*----------------------------------------------------------------*/ /* copy high frequency port sidescan to jstar storage */ if (ssflip == MB_YES) channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssstbd); else channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssport); s7kchannel = (s7k_fsdwchannel *) &(istore->fsdwsshi.channel[0]); s7kssheader = (s7k_fsdwssheader *) &(istore->fsdwsshi.ssheader[0]); /* message header values */ channel->message.start_marker = 0x1601; channel->message.version = 0; channel->message.session = 0; channel->message.type = 80; channel->message.command = 0; channel->message.subsystem = 21; channel->message.channel = 0; channel->message.sequence = 0; channel->message.reserved = 0; channel->message.size = 0; /* Trace Header */ channel->sequenceNumber = 0; /* 0-3 : Trace Sequence Number (always 0) ** */ channel->startDepth = s7kssheader->startDepth; /* 4-7 : Starting depth (window offset) in samples. */ channel->pingNum = s7kssheader->pingNum; /* 8-11: Ping number (increments with ping) ** */ channel->channelNum = s7kssheader->channelNum; /* 12-15 : Channel Number (0 .. n) ** */ for (i=0;i<6;i++) channel->unused1[i] = 0; /* 16-27 */ channel->traceIDCode = 1; /* 28-29 : ID Code (always 1 => seismic data) ** */ for (i=0;i<2;i++) channel->unused2[i] = 0; /* 30-33 */ channel->dataFormat = s7kssheader->dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ channel->NMEAantennaeR = 0; /* 36-37 : Distance from towfish to antennae in cm */ channel->NMEAantennaeO = 0; /* 38-39 : Distance to antennae starboard direction in cm */ for (i=0;i<32;i++) channel->RS232[i] = 0; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ channel->sourceCoordX = 0; /* 72-75 : Meters or Seconds of Arc */ channel->sourceCoordY = 0; /* 76-79 : Meters or Seconds of Arc */ channel->groupCoordX = 0; /* 80-83 : mm or 10000 * (Minutes of Arc) */ channel->groupCoordY = 0; /* 84-87 : mm or 10000 * (Minutes of Arc) */ channel->coordUnits = 0; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ for (i=0;i<24;i++) channel->annotation[i] = 0; /* 90-113 : Annotation string */ channel->samples = s7kssheader->samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ channel->sampleInterval = s7kssheader->sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ channel->ADCGain = s7kssheader->ADCGain; /* 120-121 : Gain factor of ADC */ channel->pulsePower = 0; /* 122-123 : user pulse power setting (0 - 100) percent */ channel->correlated = 0; /* 124-125 : correlated data 1 - No, 2 - Yes */ channel->startFreq = 0; /* 126-127 : Starting frequency in 10 * Hz */ channel->endFreq = 0; /* 128-129 : Ending frequency in 10 * Hz */ channel->sweepLength = 0; /* 130-131 : Sweep length in ms */ for (i=0;i<4;i++) channel->unused7[i] = 0; /* 132-139 */ channel->aliasFreq = 0; /* 140-141 : alias Frequency (sample frequency / 2) */ channel->pulseID = s7kssheader->pulseID; /* 142-143 : Unique pulse identifier */ for (i=0;i<6;i++) channel->unused8[i] = 0; /* 144-155 */ channel->year = istore->time_i[0]; /* 156-157 : Year data recorded (CPU time) */ channel->day = time_j[1]; /* 158-159 : day */ channel->hour = istore->time_i[3]; /* 160-161 : hour */ channel->minute = istore->time_i[4]; /* 162-163 : minute */ channel->second = istore->time_i[5]; /* 164-165 : second */ channel->timeBasis = 3; /* 166-167 : Always 3 (other not specified by standard) */ channel->weightingFactor = s7kssheader->weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ channel->unused9 = 0; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ channel->heading = s7kssheader->heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ channel->pitch = s7kssheader->pitch; /* 174-175 : Pitch */ channel->roll = s7kssheader->roll; /* 176-177 : Roll */ channel->temperature = s7kssheader->temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ channel->heaveCompensation = 0; /* 180-181 : Heave compensation offset (samples) */ channel->trigSource = s7kssheader->trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ channel->markNumber = s7kssheader->markNumber; /* 184-185 : Mark Number (0 = no mark) */ channel->NMEAHour = 0; /* 186-187 : Hour */ channel->NMEAMinutes = 0; /* 188-189 : Minutes */ channel->NMEASeconds = 0; /* 190-191 : Seconds */ channel->NMEACourse = 0; /* 192-193 : Course */ channel->NMEASpeed = 0; /* 194-195 : Speed */ channel->NMEADay = 0; /* 196-197 : Day */ channel->NMEAYear = 0; /* 198-199 : Year */ channel->millisecondsToday = 0.001 * istore->time_i[6] /* 200-203 : Millieconds today */ + 1000 * (istore->time_i[5] + 60.0 * (istore->time_i[4] + 60.0 * istore->time_i[3])); channel->ADCMax = s7kssheader->ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ channel->calConst = 0; /* 206-207 : System constant in tenths of a dB */ channel->vehicleID = 0; /* 208-209 : Vehicle ID */ for (i=0;i<6;i++) channel->softwareVersion[i] = 0; /* 210-215 : Software version number */ /* Following items are not in X-Star */ channel->sphericalCorrection = 0; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ channel->packetNum = s7kssheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ channel->ADCDecimation = 0; /* 222-223 : A/D decimation before FFT */ channel->decimation = 0; /* 224-225 : Decimation factor after FFT */ channel->unuseda = 0; /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ channel->depth = 0; /* 227-231 : Seafloor depth in 0.001 m */ channel->sonardepth = 0; /* 236-235 : Sonar depth in 0.001 m */ channel->sonaraltitude = 0; /* 236-239 : Sonar altitude in 0.001 m */ /* allocate memory for the trace */ if (channel->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * channel->samples * sizeof(short); channel->message.size = shortspersample * channel->samples * sizeof(short); if (channel->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose,__FILE__,__LINE__,trace_size, (void **)&(channel->trace), &error)) == MB_SUCCESS) { channel->trace_alloc = trace_size; } } /* copy the trace */ if (status == MB_SUCCESS) { if (smooth > 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; channel->trace[i] = 0.0; for (j=MAX(i-smooth,0);jsamples-1);j++) { channel->trace[i] += datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] /= n; /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else if (smooth < 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; value = 0.0; for (j=MAX(i+smooth,0);jsamples-1);j++) { value += datashort[j] * datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] = (unsigned int) (sqrt(value) / n); /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else { data = (char *) channel->trace; for (i=0;idata[i]; } } } /* set the sonar altitude using the specified mode */ if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in trace */ if (channel->dataFormat == MBSYS_JSTAR_TRACEFORMAT_ANALYTIC) { channelmax = 0.0; for (i=0;isamples;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); if (value >= threshold) channelpick = i; } } else { channelmax = 0.0; for (i=0;isamples;i++) { value = (double)(channel->trace[i]); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = (double)(channel->trace[i]); if (value >= threshold) channelpick = i; } } /* set sonar altitude */ channel->sonaraltitude = 0.00075 * channelpick * channel->sampleInterval; } else if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_BATHYMETRY) { channel->sonaraltitude = (int) (750000.0 * ttime_min_use); if (channel->sonaraltitude == 0) channel->sonaraltitude = 1000 * altitude; } else { channel->sonaraltitude = 1000 * altitude; } /* reset navigation and other values */ if (navlon < 180.0) navlon = navlon + 360.0; if (navlon > 180.0) navlon = navlon - 360.0; channel->sourceCoordX = (int) (360000.0 * navlon); channel->sourceCoordY = (int) (360000.0 * navlat); channel->groupCoordX = (int) (360000.0 * navlon); channel->groupCoordY = (int) (360000.0 * navlat); channel->coordUnits = 2; channel->heading = (short) (100.0 * heading); channel->startDepth = sonardepth / channel->sampleInterval / 0.00000075; channel->sonardepth = 1000 * sonardepth; channel->depth = channel->sonardepth + channel->sonaraltitude; channel->roll = (short) (32768 * roll / 180.0); channel->pitch = (short) (32768 * pitch / 180.0); channel->heaveCompensation = heave / channel->sampleInterval / 0.00000075; /*----------------------------------------------------------------*/ /* copy high frequency starboard sidescan to jstar storage */ if (ssflip == MB_YES) channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssport); else channel = (struct mbsys_jstar_channel_struct *) &(ostore->ssstbd); s7kchannel = (s7k_fsdwchannel *) &(istore->fsdwsshi.channel[1]); s7kssheader = (s7k_fsdwssheader *) &(istore->fsdwsshi.ssheader[1]); /* message header values */ channel->message.start_marker = 0x1601; channel->message.version = 0; channel->message.session = 0; channel->message.type = 80; channel->message.command = 0; channel->message.subsystem = 21; channel->message.channel = 1; channel->message.sequence = 0; channel->message.reserved = 0; channel->message.size = 0; /* Trace Header */ channel->sequenceNumber = 0; /* 0-3 : Trace Sequence Number (always 0) ** */ channel->startDepth = s7kssheader->startDepth; /* 4-7 : Starting depth (window offset) in samples. */ channel->pingNum = s7kssheader->pingNum; /* 8-11: Ping number (increments with ping) ** */ channel->channelNum = s7kssheader->channelNum; /* 12-15 : Channel Number (0 .. n) ** */ for (i=0;i<6;i++) channel->unused1[i] = 0; /* 16-27 */ channel->traceIDCode = 1; /* 28-29 : ID Code (always 1 => seismic data) ** */ for (i=0;i<2;i++) channel->unused2[i] = 0; /* 30-33 */ channel->dataFormat = s7kssheader->dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ channel->NMEAantennaeR = 0; /* 36-37 : Distance from towfish to antennae in cm */ channel->NMEAantennaeO = 0; /* 38-39 : Distance to antennae starboard direction in cm */ for (i=0;i<32;i++) channel->RS232[i] = 0; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ channel->sourceCoordX = 0; /* 72-75 : Meters or Seconds of Arc */ channel->sourceCoordY = 0; /* 76-79 : Meters or Seconds of Arc */ channel->groupCoordX = 0; /* 80-83 : mm or 10000 * (Minutes of Arc) */ channel->groupCoordY = 0; /* 84-87 : mm or 10000 * (Minutes of Arc) */ channel->coordUnits = 0; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ for (i=0;i<24;i++) channel->annotation[i] = 0; /* 90-113 : Annotation string */ channel->samples = s7kssheader->samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ channel->sampleInterval = s7kssheader->sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ channel->ADCGain = s7kssheader->ADCGain; /* 120-121 : Gain factor of ADC */ channel->pulsePower = 0; /* 122-123 : user pulse power setting (0 - 100) percent */ channel->correlated = 0; /* 124-125 : correlated data 1 - No, 2 - Yes */ channel->startFreq = 0; /* 126-127 : Starting frequency in 10 * Hz */ channel->endFreq = 0; /* 128-129 : Ending frequency in 10 * Hz */ channel->sweepLength = 0; /* 130-131 : Sweep length in ms */ for (i=0;i<4;i++) channel->unused7[i] = 0; /* 132-139 */ channel->aliasFreq = 0; /* 140-141 : alias Frequency (sample frequency / 2) */ channel->pulseID = s7kssheader->pulseID; /* 142-143 : Unique pulse identifier */ for (i=0;i<6;i++) channel->unused8[i] = 0; /* 144-155 */ channel->year = istore->time_i[0]; /* 156-157 : Year data recorded (CPU time) */ channel->day = time_j[1]; /* 158-159 : day */ channel->hour = istore->time_i[3]; /* 160-161 : hour */ channel->minute = istore->time_i[4]; /* 162-163 : minute */ channel->second = istore->time_i[5]; /* 164-165 : second */ channel->timeBasis = 3; /* 166-167 : Always 3 (other not specified by standard) */ channel->weightingFactor = s7kssheader->weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ channel->unused9 = 0; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ channel->heading = s7kssheader->heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ channel->pitch = s7kssheader->pitch; /* 174-175 : Pitch */ channel->roll = s7kssheader->roll; /* 176-177 : Roll */ channel->temperature = s7kssheader->temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ channel->heaveCompensation = 0; /* 180-181 : Heave compensation offset (samples) */ channel->trigSource = s7kssheader->trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ channel->markNumber = s7kssheader->markNumber; /* 184-185 : Mark Number (0 = no mark) */ channel->NMEAHour = 0; /* 186-187 : Hour */ channel->NMEAMinutes = 0; /* 188-189 : Minutes */ channel->NMEASeconds = 0; /* 190-191 : Seconds */ channel->NMEACourse = 0; /* 192-193 : Course */ channel->NMEASpeed = 0; /* 194-195 : Speed */ channel->NMEADay = 0; /* 196-197 : Day */ channel->NMEAYear = 0; /* 198-199 : Year */ channel->millisecondsToday = 0.001 * istore->time_i[6] /* 200-203 : Millieconds today */ + 1000 * (istore->time_i[5] + 60.0 * (istore->time_i[4] + 60.0 * istore->time_i[3])); channel->ADCMax = s7kssheader->ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ channel->calConst = 0; /* 206-207 : System constant in tenths of a dB */ channel->vehicleID = 0; /* 208-209 : Vehicle ID */ for (i=0;i<6;i++) channel->softwareVersion[i] = 0; /* 210-215 : Software version number */ /* Following items are not in X-Star */ channel->sphericalCorrection = 0; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ channel->packetNum = s7kssheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ channel->ADCDecimation = 0; /* 222-223 : A/D decimation before FFT */ channel->decimation = 0; /* 224-225 : Decimation factor after FFT */ channel->unuseda = 0; /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ channel->depth = 0; /* 227-231 : Seafloor depth in 0.001 m */ channel->sonardepth = 0; /* 236-235 : Sonar depth in 0.001 m */ channel->sonaraltitude = 0; /* 236-239 : Sonar altitude in 0.001 m */ /* allocate memory for the trace */ if (channel->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * channel->samples * sizeof(short); channel->message.size = shortspersample * channel->samples * sizeof(short); if (channel->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose,__FILE__,__LINE__,trace_size, (void **)&(channel->trace), &error)) == MB_SUCCESS) { channel->trace_alloc = trace_size; } } /* copy the trace */ if (status == MB_SUCCESS) { if (smooth > 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; channel->trace[i] = 0.0; for (j=MAX(i-smooth,0);jsamples-1);j++) { channel->trace[i] += datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] /= n; /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else if (smooth < 0 && channel->dataFormat == 0) { datashort = (unsigned short *) s7kchannel->data; for (i=0;isamples;i++) { n = 0; value = 0.0; for (j=MAX(i+smooth,0);jsamples-1);j++) { value += datashort[j] * datashort[j]; n++; /*fprintf(stderr,"i:%d j:%d raw:%d tot:%d\n",i,j,datashort[j],channel->trace[i]);*/ } channel->trace[i] = (unsigned int) (sqrt(value) / n); /*fprintf(stderr,"Final data[%d] n:%d : %d\n", i, n, channel->trace[i]);*/ } } else { data = (char *) channel->trace; for (i=0;idata[i]; } } } /* set the sonar altitude using the specified mode */ if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in trace */ if (channel->dataFormat == MBSYS_JSTAR_TRACEFORMAT_ANALYTIC) { channelmax = 0.0; for (i=0;isamples;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = sqrt((double) (channel->trace[2*i] * channel->trace[2*i] + channel->trace[2*i+1] * channel->trace[2*i+1])); if (value >= threshold) channelpick = i; } } else { channelmax = 0.0; for (i=0;isamples;i++) { value = (double)(channel->trace[i]); channelmax = MAX(value, channelmax); } channelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && channelpick == 0;i++) { value = (double)(channel->trace[i]); if (value >= threshold) channelpick = i; } } /* set sonar altitude */ channel->sonaraltitude = 0.00075 * channelpick * channel->sampleInterval; } else if (bottompickmode == MB7K2JSTAR_BOTTOMPICK_BATHYMETRY) { channel->sonaraltitude = (int) (750000.0 * ttime_min_use); if (channel->sonaraltitude == 0) channel->sonaraltitude = 1000 * altitude; } else { channel->sonaraltitude = 1000 * altitude; } /* reset navigation and other values */ if (navlon < 180.0) navlon = navlon + 360.0; if (navlon > 180.0) navlon = navlon - 360.0; channel->sourceCoordX = (int) (360000.0 * navlon); channel->sourceCoordY = (int) (360000.0 * navlat); channel->groupCoordX = (int) (360000.0 * navlon); channel->groupCoordY = (int) (360000.0 * navlat); channel->coordUnits = 2; channel->heading = (short) (100.0 * heading); channel->startDepth = sonardepth / channel->sampleInterval / 0.00000075; channel->sonardepth = 1000 * sonardepth; channel->depth = channel->sonardepth + channel->sonaraltitude; channel->roll = (short) (32768 * roll / 180.0); channel->pitch = (short) (32768 * pitch / 180.0); channel->heaveCompensation = heave / channel->sampleInterval / 0.00000075; /* write the record */ nwritesshi++; mb_write_ping(verbose, ombio_ptr, ostore_ptr, &error); } } /* handle unknown data */ else if (status == MB_SUCCESS) { /*fprintf(stderr,"DATA TYPE UNKNOWN: status:%d error:%d kind:%d\n",status,error,kind);*/ } /* handle read error */ else { /*fprintf(stderr,"READ FAILURE: status:%d error:%d kind:%d\n",status,error,kind);*/ } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 status: %d\n",status); } /* print comments */ if (print_comments == MB_YES && kind == MB_DATA_COMMENT) { if (icomment == 0) { fprintf(stderr,"\nComments:\n"); icomment++; } fprintf(stderr,"%s\n",comment); } } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* output counts */ fprintf(stdout, "\nData records read from: %s\n", file); fprintf(stdout, " Survey: %d\n", nreaddata); fprintf(stdout, " File Header: %d\n", nreadheader); fprintf(stdout, " Bluefin CTD: %d\n", nreadssv); fprintf(stdout, " Bluefin Nav: %d\n", nreadnav1); fprintf(stdout, " Subbottom: %d\n", nreadsbp); fprintf(stdout, " Low Sidescan: %d\n", nreadsslo); fprintf(stdout, " High Sidescan: %d\n", nreadsshi); nreaddatatot += nreaddata; nreadheadertot += nreadheader; nreadssvtot += nreadssv; nreadnav1tot += nreadnav1; nreadsbptot += nreadsbp; nreadsslotot += nreadsslo; nreadsshitot += nreadsshi; /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* close output file if still open */ if (ombio_ptr != NULL) { /* close the swath file */ status = mb_close(verbose,&ombio_ptr,&error); /* generate inf file */ if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, output_file, format_output, &error); } } /* output counts */ fprintf(stdout, "\nTotal data records read from: %s\n", file); fprintf(stdout, " Survey: %d\n", nreaddatatot); fprintf(stdout, " File Header: %d\n", nreadheadertot); fprintf(stdout, " Bluefin CTD: %d\n", nreadssvtot); fprintf(stdout, " Bluefin Nav: %d\n", nreadnav1tot); fprintf(stdout, " Subbottom: %d\n", nreadsbptot); fprintf(stdout, " Low Sidescan: %d\n", nreadsslotot); fprintf(stdout, " High Sidescan: %d\n", nreadsshitot); fprintf(stdout, "Total data records written to: %s\n", output_file); fprintf(stdout, " Subbottom: %d\n", nwritesbptot); fprintf(stdout, " Low Sidescan: %d\n", nwritesslotot); fprintf(stdout, " High Sidescan: %d\n", nwritesshitot); /* deallocate route arrays */ if (route_file_set == MB_YES) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&routelon, &error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&routelat, &error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&routeheading, &error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&routewaypoint, &error); } /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stderr,"dbg2 Ending status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/