/*-------------------------------------------------------------------- * The MB-system: mb7kpreprocess.c 10/12/2005 * $Id: mb7kpreprocess.c 1998 2012-11-06 06:50:52Z 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. *--------------------------------------------------------------------*/ /* * mb7kpreprocess reads a Reson 7k format file, interpolates the * asynchronous navigation and attitude onto the multibeam data, * and writes a new 7k file with that information correctly embedded * in the multibeam data. This program can also fix various problems * with 7k data (early generations of the 6046 datalogger failed to * to meet the data format specification exactly). * * Author: D. W. Caress * Date: October 12, 2005 * * $Log: mb7kpreprocess.c,v $ * Revision 5.23 2008/11/16 21:51:18 caress * Updating all recent changes, including time lag analysis using mbeditviz and improvements to the mbgrid footprint gridding algorithm. * * Revision 5.22 2008/10/17 07:52:44 caress * Check in on October 17, 2008. * * Revision 5.21 2008/09/11 20:20:14 caress * Checking in updates made during cruise AT15-36. * * Revision 5.20 2008/08/12 00:05:15 caress * Fixed handling of beam flags. * * Revision 5.19 2008/07/19 07:50:51 caress * Removed debug message. * * Revision 5.18 2008/07/10 18:16:33 caress * Proceeding towards 5.1.1beta20. * * Revision 5.16 2008/05/16 22:44:37 caress * Release 5.1.1beta18 * * Revision 5.15 2008/02/12 02:47:42 caress * Fixed handling of time lag correction to attitude data. The raw attitude data in the output file are now time lag corrected. Before the corrections were applied to the attitude values in bathymetry calculation, but not otherwise kept in the output. * * Revision 5.14 2008/01/14 18:24:28 caress * Changed handling of beam quality values and beam flags following upgrade to Reson 7k multibeams. * * Revision 5.13 2007/11/16 17:53:02 caress * Fixes applied. * * Revision 5.12 2007/10/08 16:48:07 caress * State of the code on 8 October 2007. * * Revision 5.11 2007/07/03 17:34:37 caress * Added time delay value to bluefin nav records. * * Revision 5.10 2006/12/15 21:42:49 caress * Incremental CVS update. * * Revision 5.9 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.8 2006/09/11 18:55:53 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.7 2006/07/06 05:30:57 caress * Working more towards 5.1.0beta * * Revision 5.6 2006/06/16 19:30:58 caress * Check in after the Santa Monica Basin Mapping AUV Expedition. * * Revision 5.5 2006/04/26 22:05:26 caress * Changes to handle MBARI Mapping AUV data better. * * Revision 5.4 2006/04/11 19:19:29 caress * Various fixes. * * Revision 5.3 2006/03/06 21:44:27 caress * Changed to handle old style Reson beam quality flags. * * Revision 5.2 2006/01/18 15:17:00 caress * Added stdlib.h include. * * Revision 5.1 2006/01/06 18:19:58 caress * Working towards 5.0.8 * * Revision 5.0 2005/11/05 01:09:17 caress * Program to preprocess Reson 7k format data. * * */ /* standard include files */ #include #include #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/mb_aux.h" #include "../../include/mbsys_reson7k.h" #define MB7KPREPROCESS_ALLOC_CHUNK 1000 #define MB7KPREPROCESS_PROCESS 1 #define MB7KPREPROCESS_TIMESTAMPLIST 2 #define MB7KPREPROCESS_TIMEFIX_NONE 0 #define MB7KPREPROCESS_TIMEFIX_RESON 1 #define MB7KPREPROCESS_TIMEFIX_EDGETECH 2 #define MB7KPREPROCESS_TIMEDELAY_UNDEFINED -1 #define MB7KPREPROCESS_TIMEDELAY_OFF 0 #define MB7KPREPROCESS_TIMEDELAY_ON 1 #define MB7KPREPROCESS_TIMELAG_OFF 0 #define MB7KPREPROCESS_TIMELAG_CONSTANT 1 #define MB7KPREPROCESS_TIMELAG_MODEL 2 #define MB7KPREPROCESS_KLUGE_USEVERTICALDEPTH 1 #define MB7KPREPROCESS_KLUGE_ZEROALONGTRACKANGLES 2 #define MB7KPREPROCESS_KLUGE_ZEROATTITUDECORRECTION 3 #define MB7KPREPROCESS_KLUGE_KEARFOTTROVNOISE 4 static char rcs_id[] = "$Id: mb7kpreprocess.c 1998 2012-11-06 06:50:52Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "mb7kpreprocess"; char help_message[] = "mb7kpreprocess reads a Reson 7k format file, interpolates the\nasynchronous navigation and attitude onto the multibeam data, \nand writes a new 7k file with that information correctly embedded\nin the multibeam data. This program can also fix various problems\nwith 7k data."; char usage_message[] = "mb7kpreprocess [-A -B -Crollbias/pitchbias -Doffx/offy -Fformat -Ifile -Kklugemode -L -Ninsfile -Ooutfile [-Psonardepthfile | -Plagmax/ratemax] -Ssidescansource -Ttimelag -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]; void *datalist; int look_processed = MB_DATALIST_LOOK_UNSET; 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 ifile[MB_PATH_MAXLINE]; char ofile[MB_PATH_MAXLINE]; char ctdfile[MB_PATH_MAXLINE]; int ofile_set = MB_NO; int beams_bath; int beams_amp; int pixels_ss; int obeams_bath; int obeams_amp; int opixels_ss; /* 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; 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, rollr; double pitch, pitchr; 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; char comment[MB_COMMENT_MAXLINE]; /* program mode */ int mode = MB7KPREPROCESS_PROCESS; int fix_time_stamps = MB7KPREPROCESS_TIMEFIX_NONE; int goodnavattitudeonly = MB_YES; /* data structure pointers */ s7k_header *header; s7kr_reference *reference; s7kr_sensoruncal *sensoruncal; s7kr_sensorcal *sensorcal; s7kr_position *position; s7kr_customattitude *customattitude; s7kr_tide *tide; s7kr_altitude *altituderec; s7kr_motion *motion; s7kr_depth *depth; s7kr_svp *svp; s7kr_ctd *ctd; s7kr_geodesy *geodesy; s7kr_rollpitchheave *rollpitchheave; s7kr_heading *headingrec; s7kr_surveyline *surveyline; s7kr_navigation *navigation; s7kr_attitude *attitude; s7kr_fsdwss *fsdwsslo; s7kr_fsdwss *fsdwsshi; s7kr_fsdwsb *fsdwsb; s7k_fsdwchannel *fsdwchannel; s7k_fsdwssheader *fsdwssheader; s7k_fsdwsegyheader *fsdwsegyheader; s7kr_bluefin *bluefin; s7kr_volatilesettings *volatilesettings; s7kr_matchfilter *matchfilter; s7kr_beamgeometry *beamgeometry; s7kr_bathymetry *bathymetry; s7kr_backscatter *backscatter; s7kr_beam *beam; s7kr_v2pingmotion *v2pingmotion; s7kr_v2detectionsetup *v2detectionsetup; s7kr_v2beamformed *v2beamformed; s7kr_verticaldepth *verticaldepth; s7kr_v2detection *v2detection; s7kr_v2rawdetection *v2rawdetection; s7kr_v2snippet *v2snippet; s7kr_processedsidescan *processedsidescan; s7kr_image *image; s7kr_fileheader *fileheader; s7kr_remotecontrolsettings *remotecontrolsettings; /* counting variables */ int nrec_reference = 0; int nrec_sensoruncal = 0; int nrec_sensorcal = 0; int nrec_position = 0; int nrec_customattitude = 0; int nrec_tide = 0; int nrec_altitude = 0; int nrec_motion = 0; int nrec_depth = 0; int nrec_svp = 0; int nrec_ctd = 0; int nrec_geodesy = 0; int nrec_rollpitchheave = 0; int nrec_heading = 0; int nrec_surveyline = 0; int nrec_navigation = 0; int nrec_attitude = 0; int nrec_fsdwsslo = 0; int nrec_fsdwsshi = 0; int nrec_fsdwsbp = 0; int nrec_bluefinnav = 0; int nrec_bluefinenv = 0; int nrec_multibeam = 0; int nrec_volatilesettings = 0; int nrec_configuration = 0; int nrec_matchfilter = 0; int nrec_beamgeometry = 0; int nrec_calibration = 0; int nrec_bathymetry = 0; int nrec_backscatter = 0; int nrec_beam = 0; int nrec_verticaldepth = 0; int nrec_image = 0; int nrec_v2pingmotion = 0; int nrec_v2detectionsetup = 0; int nrec_v2beamformed = 0; int nrec_v2detection = 0; int nrec_v2rawdetection = 0; int nrec_v2snippet = 0; int nrec_processedsidescan = 0; int nrec_installation = 0; int nrec_systemeventmessage = 0; int nrec_fileheader = 0; int nrec_remotecontrolsettings = 0; int nrec_other = 0; int nrec_reference_tot = 0; int nrec_sensoruncal_tot = 0; int nrec_sensorcal_tot = 0; int nrec_position_tot = 0; int nrec_customattitude_tot = 0; int nrec_tide_tot = 0; int nrec_altitude_tot = 0; int nrec_motion_tot = 0; int nrec_depth_tot = 0; int nrec_svp_tot = 0; int nrec_ctd_tot = 0; int nrec_geodesy_tot = 0; int nrec_rollpitchheave_tot = 0; int nrec_heading_tot = 0; int nrec_surveyline_tot = 0; int nrec_navigation_tot = 0; int nrec_attitude_tot = 0; int nrec_fsdwsslo_tot = 0; int nrec_fsdwsshi_tot = 0; int nrec_fsdwsbp_tot = 0; int nrec_bluefinnav_tot = 0; int nrec_bluefinenv_tot = 0; int nrec_multibeam_tot = 0; int nrec_volatilesettings_tot = 0; int nrec_configuration_tot = 0; int nrec_matchfilter_tot = 0; int nrec_beamgeometry_tot = 0; int nrec_calibration_tot = 0; int nrec_bathymetry_tot = 0; int nrec_backscatter_tot = 0; int nrec_beam_tot = 0; int nrec_verticaldepth_tot = 0; int nrec_image_tot = 0; int nrec_v2pingmotion_tot = 0; int nrec_v2detectionsetup_tot = 0; int nrec_v2beamformed_tot = 0; int nrec_v2detection_tot = 0; int nrec_v2rawdetection_tot = 0; int nrec_v2snippet_tot = 0; int nrec_processedsidescan_tot = 0; int nrec_installation_tot = 0; int nrec_systemeventmessage_tot = 0; int nrec_fileheader_tot = 0; int nrec_remotecontrolsettings_tot = 0; int nrec_other_tot = 0; /* last time_d variables - used to check for repeated data */ double last_7k_time_d = 0.0; double last_bluefinnav_time_d = 0.0; double last_bluefinenv_time_d = 0.0; double last_fsdwsbp_time_d = 0.0; double last_fsdwsslo_time_d = 0.0; double last_fsdwsshi_time_d = 0.0; /* merge navigation and attitude from separate Steve Rock data file */ char rockfile[MB_PATH_MAXLINE]; int rockdata = MB_NO; int nrock = 0; double *rock_time_d = NULL; double *rock_lon = NULL; double *rock_lat = NULL; double *rock_heading = NULL; double *rock_roll = NULL; double *rock_pitch = NULL; double *rock_sonardepth = NULL; double *rock_sonardepthfilter = NULL; /* merge navigation and attitude from separate WHOI DSL data file */ char dslfile[MB_PATH_MAXLINE]; int dsldata = MB_NO; int ndsl = 0; double *dsl_time_d = NULL; double *dsl_lon = NULL; double *dsl_lat = NULL; double *dsl_heading = NULL; double *dsl_roll = NULL; double *dsl_pitch = NULL; double *dsl_sonardepth = NULL; double *dsl_sonardepthfilter = NULL; /* merge navigation and attitude from separate ins data file */ char insfile[MB_PATH_MAXLINE]; int insdata = MB_NO; int nins = 0; int nins_altitude = 0; int nins_speed = 0; double *ins_time_d = NULL; double *ins_lon = NULL; double *ins_lat = NULL; double *ins_heading = NULL; double *ins_roll = NULL; double *ins_pitch = NULL; double *ins_sonardepth = NULL; double *ins_sonardepthfilter = NULL; double *ins_altitude_time_d = NULL; double *ins_altitude = NULL; double *ins_speed_time_d = NULL; double *ins_speed = NULL; int ins_output_index = -1; /* merge sonardepth from separate parosci pressure sensor data file */ char sonardepthfile[MB_PATH_MAXLINE]; int sonardepthdata = MB_NO; int nsonardepth = 0; double *sonardepth_time_d = NULL; double *sonardepth_sonardepth = NULL; double *sonardepth_sonardepthfilter = NULL; /* asynchronous navigation, heading, attitude data */ int ndat_nav = 0; int ndat_nav_alloc = 0; double *dat_nav_time_d = NULL; double *dat_nav_lon = NULL; double *dat_nav_lat = NULL; double *dat_nav_speed = NULL; int ndat_sonardepth = 0; int ndat_sonardepth_alloc = 0; double *dat_sonardepth_time_d = NULL; double *dat_sonardepth_sonardepth = NULL; double *dat_sonardepth_sonardepthrate = NULL; double *dat_sonardepth_sonardepthfilter = NULL; int ndat_heading = 0; int ndat_heading_alloc = 0; double *dat_heading_time_d = NULL; double *dat_heading_heading = NULL; int ndat_rph = 0; int ndat_rph_alloc = 0; double *dat_rph_time_d = NULL; double *dat_rph_roll = NULL; double *dat_rph_pitch = NULL; double *dat_rph_heave = NULL; int ndat_altitude = 0; int ndat_altitude_alloc = 0; double *dat_altitude_time_d = NULL; double *dat_altitude_altitude = NULL; /* bathymetry time delay data */ int ntimedelay = 0; int ntimedelaycount = 0; int ntimedelay_alloc = 0; double *timedelay_time_d = NULL; double *timedelay_timedelay = NULL; /* bathymetry timetag data */ int nbatht = 0; int nbatht_alloc = 0; double *batht_time_d = NULL; int *batht_ping = NULL; double *batht_time_d_new = NULL; double *batht_time_offset = NULL; int *batht_ping_offset = NULL; int *batht_good_offset = NULL; /* edgetech timetag data */ int nedget = 0; int nedget_alloc = 0; double *edget_time_d = NULL; int *edget_ping = NULL; double *edget_time_d_new = NULL; double *edget_time_offset = NULL; int *edget_ping_offset = NULL; int *edget_good_offset = NULL; /* timedelay parameters */ int timedelaymode = MB7KPREPROCESS_TIMEDELAY_UNDEFINED; /* timelag parameters */ int timelagmode = MB7KPREPROCESS_TIMELAG_OFF; double timelag = 0.0; double timelagm = 0.0; double timelagconstant = 0.0; char timelagfile[MB_PATH_MAXLINE]; int ntimelag = 0; double *timelag_time_d = NULL; double *timelag_model = NULL; /* range offset parameters */ int nrangeoffset = 0; int rangeoffsetstart[3]; int rangeoffsetend[3]; double rangeoffset[3]; /* depth sensor filtering */ int sonardepthfilter = MB_NO; double sonardepthfilterlength = 20.0; double sonardepthfilterdepth = 20.0; /* depth sensor offset (+ makes vehicle deeper) */ double sonardepthoffset = 0.0; /* depth sensor lever arm parameter */ double depthsensoroffx = 0.0; double depthsensoroffz = 0.0; /* depth sensor time lag parameters */ int sonardepthlagfix = MB_NO; double sonardepthlagmax = 3.0 /* sec */; double sonardepthratemax = 0.64; /* m/sec */ double sonardepthlag = 0.0; double sonardepthrate; /* roll and pitch bias parameters */ double rollbias = 0.0; double pitchbias = 0.0; /* multibeam sidescan parameters */ int ss_source = R7KRECID_None; /* output asynchronous and synchronous time series ancilliary files */ char athfile[MB_PATH_MAXLINE]; char atsfile[MB_PATH_MAXLINE]; char atafile[MB_PATH_MAXLINE]; char stafile[MB_PATH_MAXLINE]; FILE *athfp; FILE *atsfp; FILE *atafp; FILE *stafp; /* kluge modes */ int klugemode; int kluge_useverticaldepth = MB_NO; /* kluge 1 */ int kluge_zeroalongtrackangles = MB_NO; /* kluge 2 */ int kluge_zeroattitudecorrection = MB_NO; /* kluge 3 */ int kluge_kearfottrovnoise = MB_NO; /* kluge 4 */ /* MBARI data flag */ int MBARIdata = MB_NO; int jtimedelay = 0; int jtimelag = 0; int jins = 0; int jrock = 0; int jdsl = 0; int jsonardepth = 0; int jdnav = 0; int jdaltitude = 0; int jdheading = 0; int jdattitude = 0; int jdsonardepth = 0; int interp_status; double soundspeed; double alpha, beta, theta, phi; double rr, xx, zz; double mtodeglon, mtodeglat; double dx, dy, dist, dt, v; double longitude_offset, latitude_offset; int j1, j2; double pixel_size; double swath_width; int time7k_i[7]; int time7k_j[5]; double time7k_d; FILE *tfp = NULL; struct stat file_status; int fstat; char buffer[MB_PATH_MAXLINE]; char *result; int read_data; int testformat; char fileroot[MB_PATH_MAXLINE]; int found; int reson_lastread; int sslo_lastread; double sslo_last_time_d; int sslo_last_ping; int foundstart, foundend; int start, end; int nscan, startdata; int ins_time_d_index = -1; int ins_lon_index = -1; int ins_lat_index = -1; int ins_roll_index = -1; int ins_pitch_index = -1; int ins_heading_index = -1; int ins_sonardepth_index = -1; int ins_altitude_index = -1; int ins_speed_index = -1; int ins_velocityx_index = -1; int ins_velocityy_index = -1; int ins_velocityz_index = -1; int ins_len; int sonardepth_time_d_index; int sonardepth_sonardepth_index; int sonardepth_len; double sonardepth_filterweight; double dtol, weight; double factor; double velocityx, velocityy; int type_save, kind_save; char type[MB_PATH_MAXLINE], value[MB_PATH_MAXLINE]; int year, month, day, hour, minute; double second, id; char sensor[24]; int i, j; /* 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, "AaB:b:C:c:D:d:F:f:I:i:K:k:LlM:m:N:n:O:o:P:p:R:r:S:s:T:t:W:w:VvHh")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'A': case 'a': goodnavattitudeonly = MB_NO; flag++; break; case 'B': case 'b': sscanf (optarg,"%d", &fix_time_stamps); break; case 'C': case 'c': sscanf (optarg,"%lf/%lf", &rollbias,&pitchbias); break; case 'D': case 'd': nscan = sscanf (optarg,"%lf/%lf/%lf", &depthsensoroffx, &depthsensoroffz, &sonardepthoffset); if (nscan < 3) sonardepthoffset = 0.0; if (nscan < 2) depthsensoroffz = 0.0; if (nscan < 1) depthsensoroffx = 0.0; flag++; break; case 'F': case 'f': sscanf (optarg,"%d", &format); flag++; break; case 'I': case 'i': sscanf (optarg,"%s", read_file); flag++; break; case 'K': case 'k': sscanf (optarg,"%d", &klugemode); if (klugemode == MB7KPREPROCESS_KLUGE_USEVERTICALDEPTH) { kluge_useverticaldepth = MB_YES; } if (klugemode == MB7KPREPROCESS_KLUGE_ZEROALONGTRACKANGLES) { kluge_zeroalongtrackangles = MB_YES; } if (klugemode == MB7KPREPROCESS_KLUGE_ZEROATTITUDECORRECTION) { kluge_zeroattitudecorrection = MB_YES; } if (klugemode == MB7KPREPROCESS_KLUGE_KEARFOTTROVNOISE) { kluge_kearfottrovnoise = MB_YES; } flag++; break; case 'L': case 'l': mode = MB7KPREPROCESS_TIMESTAMPLIST; flag++; break; case 'M': case 'm': sscanf (optarg,"%s", rockfile); rockdata = MB_YES; flag++; break; case 'N': case 'n': sscanf (optarg,"%s", insfile); insdata = MB_YES; flag++; break; case 'O': case 'o': sscanf (optarg,"%s", ofile); ofile_set = MB_YES; flag++; break; case 'P': case 'p': sscanf (optarg,"%s", buffer); if ((fstat = stat(buffer, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { sonardepthdata = MB_YES; strcpy(sonardepthfile,buffer); } else if (optarg[0] == 'F' || optarg[0] == 'f') { nscan = sscanf (&(optarg[1]),"%lf/%lf", &sonardepthfilterlength, &sonardepthfilterdepth); if (nscan == 1) sonardepthfilterdepth = 20.0; if (nscan >= 1) sonardepthfilter = MB_YES; else sonardepthfilter = MB_NO; } else { nscan = sscanf (optarg,"%lf/%lf", &sonardepthlagmax, &sonardepthratemax); if (nscan > 0) sonardepthlagfix = MB_YES; if (nscan == 1) { sonardepthratemax = 0.0; sonardepthlag = sonardepthlagmax; } } flag++; break; case 'R': case 'r': if (nrangeoffset < 3) { sscanf (optarg,"%d/%d/%lf", &rangeoffsetstart[nrangeoffset], &rangeoffsetend[nrangeoffset], &rangeoffset[nrangeoffset]); nrangeoffset++; } flag++; break; case 'S': case 's': if (optarg[0] == 'S') ss_source = R7KRECID_7kV2SnippetData; else if (optarg[0] == 'B') ss_source = R7KRECID_7kBackscatterImageData; else sscanf (optarg,"%d", &ss_source); flag++; break; case 'T': case 't': sscanf (optarg,"%s", buffer); if ((fstat = stat(buffer, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { timelagmode = MB7KPREPROCESS_TIMELAG_MODEL; strcpy(timelagfile,buffer); } else if (strncmp(buffer, "USE_TIME_DELAY", 14) == 0) { timedelaymode = MB7KPREPROCESS_TIMEDELAY_ON; } else if (strncmp(buffer, "NO_TIME_DELAY", 13) == 0) { timedelaymode = MB7KPREPROCESS_TIMEDELAY_OFF; } else { sscanf (optarg,"%lf", &timelagconstant); timelagmode = MB7KPREPROCESS_TIMELAG_CONSTANT; } flag++; break; case 'W': case 'w': sscanf (optarg,"%s", dslfile); dsldata = 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 read_file: %s\n",read_file); fprintf(stderr,"dbg2 ofile: %s\n",ofile); fprintf(stderr,"dbg2 ofile_set: %d\n",ofile_set); fprintf(stderr,"dbg2 ss_source: %d\n",ss_source); fprintf(stderr,"dbg2 rockfile: %s\n",rockfile); fprintf(stderr,"dbg2 rockdata: %d\n",rockdata); fprintf(stderr,"dbg2 dslfile: %s\n",dslfile); fprintf(stderr,"dbg2 dsldata: %d\n",dsldata); fprintf(stderr,"dbg2 insfile: %s\n",insfile); fprintf(stderr,"dbg2 insdata: %d\n",insdata); fprintf(stderr,"dbg2 mode: %d\n",mode); fprintf(stderr,"dbg2 fix_time_stamps: %d\n",fix_time_stamps); fprintf(stderr,"dbg2 goodnavattitudeonly: %d\n",goodnavattitudeonly); fprintf(stderr,"dbg2 timedelaymode: %d\n",timedelaymode); fprintf(stderr,"dbg2 timelagmode: %d\n",timelagmode); fprintf(stderr,"dbg2 kluge_useverticaldepth: %d\n",kluge_useverticaldepth); if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL) { fprintf(stderr,"dbg2 timelagfile: %s\n",timelagfile); fprintf(stderr,"dbg2 ntimelag: %d\n",ntimelag); } else { fprintf(stderr,"dbg2 timelag: %f\n",timelag); } fprintf(stderr,"dbg2 timelag: %f\n",timelag); fprintf(stderr,"dbg2 sonardepthfilter: %d\n",sonardepthfilter); fprintf(stderr,"dbg2 sonardepthfilterlength: %f\n",sonardepthfilterlength); fprintf(stderr,"dbg2 sonardepthfilterdepth: %f\n",sonardepthfilterdepth); fprintf(stderr,"dbg2 sonardepthfile: %s\n",sonardepthfile); fprintf(stderr,"dbg2 sonardepthdata: %d\n",sonardepthdata); fprintf(stderr,"dbg2 sonardepthlagfix: %d\n",sonardepthlagfix); fprintf(stderr,"dbg2 sonardepthlagmax: %f\n",sonardepthlagmax); fprintf(stderr,"dbg2 sonardepthratemax: %f\n",sonardepthratemax); fprintf(stderr,"dbg2 sonardepthoffset: %f\n",sonardepthoffset); fprintf(stderr,"dbg2 depthsensoroffx: %f\n",depthsensoroffx); fprintf(stderr,"dbg2 depthsensoroffz: %f\n",depthsensoroffz); fprintf(stderr,"dbg2 rollbias: %f\n",rollbias); fprintf(stderr,"dbg2 pitchbias: %f\n",pitchbias); for (i=0;i for reading\n",insfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the ascii header to determine how to parse the binary data */ ins_len = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer && strncmp(buffer, "# begin",7) != 0) { nscan = sscanf(buffer, "# %s %s", type, value); if (nscan == 2) { if (strcmp(value, "time") == 0) ins_time_d_index = ins_len; if (strcmp(value, "mLonK") == 0) ins_lon_index = ins_len; if (strcmp(value, "mLatK") == 0) ins_lat_index = ins_len; if (strcmp(value, "longitude") == 0) ins_lon_index = ins_len; if (strcmp(value, "latitude") == 0) ins_lat_index = ins_len; if (strcmp(value, "mPhi") == 0) ins_roll_index = ins_len; if (strcmp(value, "mTheta") == 0) ins_pitch_index = ins_len; if (strcmp(value, "mPsi") == 0) ins_heading_index = ins_len; if (strcmp(value, "mDepth") == 0) ins_sonardepth_index = ins_len; if (strcmp(value, "mDepthK") == 0) ins_sonardepth_index = ins_len; if (strcmp(value, "mRollK") == 0) ins_roll_index = ins_len; if (strcmp(value, "mPitchK") == 0) ins_pitch_index = ins_len; if (strcmp(value, "mHeadK") == 0) ins_heading_index = ins_len; if (strcmp(value, "mAltitude") == 0) ins_altitude_index = ins_len; if (strcmp(value, "mWaterSpeed") == 0) ins_speed_index = ins_len; if (strcmp(value, "mVbodyxK") == 0) ins_velocityx_index = ins_len; if (strcmp(value, "mVbodyyK") == 0) ins_velocityy_index = ins_len; if (strcmp(value, "mVbodyzK") == 0) ins_velocityz_index = ins_len; if (strcmp(type, "double") == 0) ins_len += 8; else if (strcmp(type, "integer") == 0) ins_len += 4; else if (strcmp(type, "timeTag") == 0) ins_len += 8; } } /* count the binary data records described by the header then rewind the file to the start of the binary data */ startdata = ftell(tfp); nins = 0; while (fread(buffer, ins_len, 1, tfp) == 1) { nins++; } fseek(tfp, startdata, 0); /* allocate arrays for ins data */ if (nins > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_lon,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_lat,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_heading,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_roll,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_pitch,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_sonardepth,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_sonardepthfilter,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_altitude_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_altitude,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_speed_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nins * sizeof(double), (void **)&ins_speed,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating ins data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no ins data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from MBARI AUV navigation file <%s>\n",insfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the auv log file */ nins = 0; nins_altitude = 0; nins_speed = 0; while (fread(buffer, ins_len, 1, tfp) == 1) { if (ins_time_d_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_time_d_index], &(ins_time_d[nins])); if (ins_lon_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_lon_index], &(ins_lon[nins])); ins_lon[nins] *= RTD; if (ins_lat_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_lat_index], &(ins_lat[nins])); ins_lat[nins] *= RTD; if (ins_roll_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_roll_index], &(ins_roll[nins])); ins_roll[nins] *= RTD; if (ins_pitch_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_pitch_index], &(ins_pitch[nins])); ins_pitch[nins] *= RTD; if (ins_heading_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_heading_index], &(ins_heading[nins])); ins_heading[nins] *= RTD; if (ins_sonardepth_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_sonardepth_index], &(ins_sonardepth[nins])); ins_sonardepth[nins] += sonardepthoffset; if (ins_altitude_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_altitude_index], &(ins_altitude[nins_altitude])); ins_altitude_time_d[nins_altitude] = ins_time_d[nins]; if (ins_speed_index >= 0) mb_get_binary_double(MB_YES, &buffer[ins_speed_index], &(ins_speed[nins_speed])); ins_speed_time_d[nins_speed] = ins_time_d[nins]; if (ins_velocityx_index >= 0 && ins_velocityy_index >= 0) { mb_get_binary_double(MB_YES, &buffer[ins_velocityx_index], &velocityx); mb_get_binary_double(MB_YES, &buffer[ins_velocityy_index], &velocityy); ins_speed[nins_speed] = sqrt(velocityx * velocityx + velocityy * velocityy); ins_speed_time_d[nins_speed] = ins_time_d[nins]; } /*fprintf(stderr,"INS DATA: %f %f %f %f %f %f %f %f %f\n", ins_time_d[nins], ins_lon[nins], ins_lat[nins], ins_roll[nins], ins_pitch[nins], ins_heading[nins], ins_sonardepth[nins], ins_altitude[nins], ins_speed[nins]);*/ nins++; if (ins_altitude[nins_altitude] < 1000.0) nins_altitude++; if (ins_speed[nins_speed] > 0.0) nins_speed++; } fclose(tfp); /* output info */ if (nins > 0) { mb_get_date(verbose, ins_time_d[0], btime_i); mb_get_date(verbose, ins_time_d[nins-1], etime_i); fprintf(stderr, "%d INS data records read from %s Start:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d End:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", nins, insfile, btime_i[0], btime_i[1], btime_i[2], btime_i[3], btime_i[4], btime_i[5], btime_i[6], etime_i[0], etime_i[1], etime_i[2], etime_i[3], etime_i[4], etime_i[5], etime_i[6]); } else fprintf(stderr, "No INS data read from %s....\n",insfile); } /* read navigation and attitude data from rock file if specified */ if (rockdata == MB_YES) { /* count the data points in the rock file */ if ((tfp = fopen(rockfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open rock data file <%s> for reading\n",rockfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* count the data records */ nrock = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) if (buffer[0] != '#') nrock++; rewind(tfp); /* allocate arrays for rock data */ if (nrock > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_lon,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_lat,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_sonardepth,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_sonardepthfilter,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_heading,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_roll,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nrock * sizeof(double), (void **)&rock_pitch,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating rock data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no rock data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from rock file <%s>\n",rockfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the rock file */ nrock = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) { if (buffer[0] != '#') if (sscanf(buffer,"%lf %lf %lf %lf %lf %lf %lf", &rock_time_d[nrock], &rock_lon[nrock], &rock_lat[nrock], &rock_sonardepth[nrock], &rock_heading[nrock], &rock_roll[nrock], &rock_pitch[nrock]) == 7) { /*fprintf(stderr,"ROCK DATA: %f %f %f %f %f %f\n", rock_time_d[nrock], rock_lon[nrock], rock_lat[nrock], rock_sonardepth[nrock], rock_heading[nrock], rock_roll[nrock], rock_pitch[nrock], rock_heading[nrock]);*/ nrock++; } } fclose(tfp); /* output info */ if (nrock > 0) { mb_get_date(verbose, rock_time_d[0], btime_i); mb_get_date(verbose, rock_time_d[nrock-1], etime_i); fprintf(stderr, "%d Rock format nav records read from %s Start:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d End:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", nrock, rockfile, btime_i[0], btime_i[1], btime_i[2], btime_i[3], btime_i[4], btime_i[5], btime_i[6], etime_i[0], etime_i[1], etime_i[2], etime_i[3], etime_i[4], etime_i[5], etime_i[6]); } else fprintf(stderr, "No Rock format nav data read from %s....\n",rockfile); } /* read navigation and attitude data from dsl file if specified */ if (dsldata == MB_YES) { /* count the data points in the dsl file */ if ((tfp = fopen(dslfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open dsl data file <%s> for reading\n",dslfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* count the data records */ ndsl = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) if (buffer[0] != '#') ndsl++; rewind(tfp); /* allocate arrays for dsl data */ if (ndsl > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_lon,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_lat,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_sonardepth,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_sonardepthfilter,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_heading,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_roll,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, ndsl * sizeof(double), (void **)&dsl_pitch,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating dsl data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no dsl data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from dsl file <%s>\n",dslfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the dsl file */ ndsl = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) { if (buffer[0] != '#') { nscan = sscanf(buffer,"PPL %d/%d/%d %d:%d:%lf %s %lf %lf %lf %lf %lf %lf %lf", &year, &month, &day, &hour, &minute, &second, sensor, &dsl_lat[ndsl], &dsl_lon[ndsl], &dsl_sonardepth[ndsl], &dsl_heading[ndsl], &dsl_pitch[ndsl], &dsl_roll[ndsl], &id); /*fprintf(stderr,"nscan:%d year:%d month:%d day:%d hour:%d minute:%d second:%f sensor:%s %f %f %f %f %f %f %f\n", nscan,year,month,day,hour,minute,second,sensor,dsl_lat[ndsl], dsl_lon[ndsl], dsl_sonardepth[ndsl], dsl_heading[ndsl], dsl_pitch[ndsl], dsl_roll[ndsl], id);*/ if (nscan == 14) { time_i[0] = year; time_i[1] = month; time_i[2] = day; time_i[3] = hour; time_i[4] = minute; time_i[5] = (int)second; time_i[6] = (int)((second - time_i[5]) * 1000000); mb_get_time(verbose, time_i, &dsl_time_d[ndsl]); /*fprintf(stderr,"dsl DATA: %f %f %f %f %f %f\n", dsl_time_d[ndsl], dsl_lon[ndsl], dsl_lat[ndsl], dsl_sonardepth[ndsl], dsl_heading[ndsl], dsl_roll[ndsl], dsl_pitch[ndsl], dsl_heading[ndsl]);*/ ndsl++; } } } fclose(tfp); /* output info */ if (ndsl > 0) { mb_get_date(verbose, dsl_time_d[0], btime_i); mb_get_date(verbose, dsl_time_d[ndsl-1], etime_i); fprintf(stderr, "%d DLS format nav records read from %s Start:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d End:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ndsl, dslfile, btime_i[0], btime_i[1], btime_i[2], btime_i[3], btime_i[4], btime_i[5], btime_i[6], etime_i[0], etime_i[1], etime_i[2], etime_i[3], etime_i[4], etime_i[5], etime_i[6]); } else fprintf(stderr, "No DSL format nav data read from %s....\n",dslfile); } /* read sonardepth data from AUV log file if specified */ if (sonardepthdata == MB_YES) { /* count the data points in the auv log file */ if ((tfp = fopen(sonardepthfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open sonardepth data file <%s> for reading\n",sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the ascii header to determine how to parse the binary data */ sonardepth_len = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer && strncmp(buffer, "# begin",7) != 0) { nscan = sscanf(buffer, "# %s %s", type, value); if (nscan == 2) { if (strcmp(value, "time") == 0) sonardepth_time_d_index = sonardepth_len; if (strcmp(value, "depth") == 0) sonardepth_sonardepth_index = sonardepth_len; if (strcmp(type, "double") == 0) sonardepth_len += 8; else if (strcmp(type, "integer") == 0) sonardepth_len += 4; else if (strcmp(type, "timeTag") == 0) sonardepth_len += 8; } } /* count the binary data records described by the header then rewind the file to the start of the binary data */ startdata = ftell(tfp); nsonardepth = 0; while (fread(buffer, sonardepth_len, 1, tfp) == 1) { nsonardepth++; } fseek(tfp, startdata, 0); /* allocate arrays for sonardepth data */ if (nsonardepth > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__, nsonardepth * sizeof(double), (void **)&sonardepth_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nsonardepth * sizeof(double), (void **)&sonardepth_sonardepth,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nsonardepth * sizeof(double), (void **)&sonardepth_sonardepthfilter,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating sonardepth data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no sonardepth data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from MBARI AUV sonardepth file <%s>\n",sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the auv log file */ nsonardepth = 0; while (fread(buffer, sonardepth_len, 1, tfp) == 1) { mb_get_binary_double(MB_YES, &buffer[sonardepth_time_d_index], &(sonardepth_time_d[nsonardepth])); mb_get_binary_double(MB_YES, &buffer[sonardepth_sonardepth_index], &(sonardepth_sonardepth[nsonardepth])); /*fprintf(stderr,"SONARDEPTH DATA: %f %f\n", sonardepth_time_d[nsonardepth], sonardepth_sonardepth[nsonardepth]);*/ sonardepth_sonardepth[nsonardepth] += sonardepthoffset; nsonardepth++; } fclose(tfp); /* output info */ if (nsonardepth > 0) { mb_get_date(verbose, sonardepth_time_d[0], btime_i); mb_get_date(verbose, sonardepth_time_d[nsonardepth-1], etime_i); fprintf(stderr, "%d sonardepth records read from %s Start:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d End:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", nsonardepth, sonardepthfile, btime_i[0], btime_i[1], btime_i[2], btime_i[3], btime_i[4], btime_i[5], btime_i[6], etime_i[0], etime_i[1], etime_i[2], etime_i[3], etime_i[4], etime_i[5], etime_i[6]); } else fprintf(stderr, "No sonardepth data read from %s....\n",sonardepthfile); } /* get time lag model if specified */ if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL) { /* count the data points in the timelag file */ ntimelag = 0; if ((tfp = fopen(timelagfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open time lag model File <%s> for reading\n",timelagfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) if (buffer[0] != '#') ntimelag++; rewind(tfp); /* allocate arrays for time lag */ if (ntimelag > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__,ntimelag * sizeof(double), (void **)&timelag_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__,ntimelag * sizeof(double), (void **)&timelag_model,&error); 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); } } /* if no time lag data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from time lag model file <%s>\n",timelagfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the timelag file */ ntimelag = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) { if (buffer[0] != '#') { /* read the time and time lag pair */ if (sscanf(buffer,"%lf %lf",&timelag_time_d[ntimelag],&timelag_model[ntimelag]) == 2) ntimelag++; } } fclose(tfp); /* output info */ if (ntimelag > 0) { mb_get_date(verbose, timelag_time_d[0], btime_i); mb_get_date(verbose, timelag_time_d[ntimelag-1], etime_i); fprintf(stderr, "%d timelag records read from %s Start:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d End:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ntimelag, timelagfile, btime_i[0], btime_i[1], btime_i[2], btime_i[3], btime_i[4], btime_i[5], btime_i[6], etime_i[0], etime_i[1], etime_i[2], etime_i[3], etime_i[4], etime_i[5], etime_i[6]); } else fprintf(stderr, "No timelag data read from %s....\n",timelagfile); } /* null tfp - allows detection of whether time delay file was opened, which only happens for MBARI AUV data with navigation and attitude in "bluefin" records */ tfp = NULL; /* 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, ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(ifile, 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,ifile,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",ifile); 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 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); } /* reset file record counters */ nrec_reference = 0; nrec_sensoruncal = 0; nrec_sensorcal = 0; nrec_position = 0; nrec_customattitude = 0; nrec_tide = 0; nrec_altitude = 0; nrec_motion = 0; nrec_depth = 0; nrec_svp = 0; nrec_ctd = 0; nrec_geodesy = 0; nrec_rollpitchheave = 0; nrec_heading = 0; nrec_surveyline = 0; nrec_navigation = 0; nrec_attitude = 0; nrec_fsdwsslo = 0; nrec_fsdwsshi = 0; nrec_fsdwsbp = 0; nrec_bluefinnav = 0; nrec_bluefinenv = 0; nrec_multibeam = 0; nrec_volatilesettings = 0; nrec_configuration = 0; nrec_matchfilter = 0; nrec_beamgeometry = 0; nrec_calibration = 0; nrec_bathymetry = 0; nrec_backscatter = 0; nrec_beam = 0; nrec_verticaldepth = 0; nrec_image = 0; nrec_v2pingmotion = 0; nrec_v2detectionsetup = 0; nrec_v2beamformed = 0; nrec_v2detection = 0; nrec_v2rawdetection = 0; nrec_v2snippet = 0; nrec_processedsidescan = 0; nrec_installation = 0; nrec_systemeventmessage = 0; nrec_fileheader = 0; nrec_remotecontrolsettings = 0; nrec_other = 0; /* read and print data */ reson_lastread = MB_NO; sslo_lastread = 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); /* some nonfatal errors do not matter */ if (error < MB_ERROR_NO_ERROR && error > MB_ERROR_UNINTELLIGIBLE) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* handle multibeam data */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { nrec_multibeam++; bathymetry = &(istore->bathymetry); if (istore->read_volatilesettings == MB_YES) nrec_volatilesettings++; if (istore->read_matchfilter == MB_YES) nrec_matchfilter++; if (istore->read_beamgeometry == MB_YES) nrec_beamgeometry++; if (istore->read_remotecontrolsettings == MB_YES) nrec_remotecontrolsettings++; if (istore->read_bathymetry == MB_YES) nrec_bathymetry++; if (istore->read_backscatter == MB_YES) nrec_backscatter++; if (istore->read_beam == MB_YES) nrec_beam++; if (istore->read_verticaldepth == MB_YES) nrec_verticaldepth++; if (istore->read_image == MB_YES) nrec_image++; if (istore->read_v2pingmotion == MB_YES) nrec_v2pingmotion++; if (istore->read_v2detectionsetup == MB_YES) nrec_v2detectionsetup++; if (istore->read_v2beamformed == MB_YES) nrec_v2beamformed++; if (istore->read_v2detection == MB_YES) nrec_v2detection++; if (istore->read_v2rawdetection == MB_YES) nrec_v2rawdetection++; if (istore->read_v2snippet == MB_YES) nrec_v2snippet++; if (istore->read_processedsidescan == MB_YES) nrec_processedsidescan++; /* print out record headers */ if (istore->read_volatilesettings == MB_YES) { volatilesettings = &(istore->volatilesettings); header = &(volatilesettings->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kVolatileSonarSettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } if (istore->read_matchfilter == MB_YES) { matchfilter = &(istore->matchfilter); header = &(matchfilter->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kVolatileSonarSettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } if (istore->read_beamgeometry == MB_YES) { beamgeometry = &(istore->beamgeometry); header = &(beamgeometry->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBeamGeometry: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,beamgeometry->number_beams); } if (istore->read_remotecontrolsettings == MB_YES) { remotecontrolsettings = &(istore->remotecontrolsettings); header = &(remotecontrolsettings->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kremotecontrolsettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } if (istore->read_bathymetry == MB_YES) { bathymetry = &(istore->bathymetry); header = &(bathymetry->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBathymetricData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,bathymetry->ping_number,bathymetry->number_beams); /* allocate memory for bathymetry timetag arrays if needed */ if (nbatht == 0 || nbatht >= nbatht_alloc) { nbatht_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,nbatht_alloc*sizeof(double),(void **)&batht_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nbatht_alloc*sizeof(int),(void **)&batht_ping,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nbatht_alloc*sizeof(double),(void **)&batht_time_d_new,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nbatht_alloc*sizeof(double),(void **)&batht_time_offset,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nbatht_alloc*sizeof(int),(void **)&batht_ping_offset,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nbatht_alloc*sizeof(int),(void **)&batht_good_offset,&error); 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); } } /* store the bathtech time stamp */ if (nbatht == 0 || time_d > batht_time_d[nbatht-1]) { batht_time_d[nbatht] = time_d; batht_ping[nbatht] = bathymetry->ping_number; /* grab the last sslo ping if it was the last thing read */ if (nedget > 0) { batht_time_offset[nbatht] = sslo_last_time_d - time_d; batht_ping_offset[nbatht] = sslo_last_ping - bathymetry->ping_number; batht_good_offset[nbatht] = MB_YES; } else { batht_time_offset[nbatht] = -9999.99; batht_ping_offset[nbatht] = 0; batht_good_offset[nbatht] = MB_NO; } nbatht++; } } if (istore->read_backscatter == MB_YES) { backscatter = &(istore->backscatter); header = &(backscatter->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBackscatterImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,backscatter->ping_number,backscatter->number_samples); } if (istore->read_beam == MB_YES) { beam = &(istore->beam); header = &(beam->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBeamData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,beam->ping_number,beam->number_beams,beam->number_samples); } if (istore->read_verticaldepth == MB_YES) { verticaldepth = &(istore->verticaldepth); header = &(verticaldepth->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kVerticalDepth: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,verticaldepth->ping_number); } if (istore->read_image == MB_YES) { image = &(istore->image); header = &(image->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d width:%d height:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,image->ping_number,image->width,image->height); } if (istore->read_v2pingmotion == MB_YES) { v2pingmotion = &(istore->v2pingmotion); header = &(v2pingmotion->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kV2PingMotionData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,v2pingmotion->ping_number,v2pingmotion->n); } if (istore->read_v2detectionsetup == MB_YES) { v2detectionsetup = &(istore->v2detectionsetup); header = &(v2detectionsetup->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kV2DetectionSetupData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,v2detectionsetup->ping_number,v2detectionsetup->number_beams); } if (istore->read_v2beamformed == MB_YES) { v2beamformed = &(istore->v2beamformed); header = &(v2beamformed->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kV2BeamformedData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,v2beamformed->ping_number,v2beamformed->number_beams); } if (istore->read_v2detection == MB_YES) { v2detection = &(istore->v2detection); header = &(v2detection->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kV2DetectionData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,v2detection->ping_number,v2detection->number_beams); } if (istore->read_v2rawdetection == MB_YES) { v2rawdetection = &(istore->v2rawdetection); header = &(v2rawdetection->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kV2RawDetectionData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,v2rawdetection->ping_number,v2rawdetection->number_beams); } if (istore->read_v2snippet == MB_YES) { v2snippet = &(istore->v2snippet); header = &(v2snippet->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kV2SnippetData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,v2snippet->ping_number,v2snippet->number_beams); } if (istore->read_processedsidescan == MB_YES) { processedsidescan = &(istore->processedsidescan); header = &(processedsidescan->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kProcessedSidescanData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d pixels:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,processedsidescan->ping_number,processedsidescan->number_pixels); } } /* handle reference point data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_ReferencePoint) { nrec_reference++; reference = &(istore->reference); header = &(reference->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_ReferencePoint: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle uncalibrated sensor offset data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_UncalibratedSensorOffset) { nrec_sensoruncal++; sensoruncal = &(istore->sensoruncal); header = &(sensoruncal->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_UncalibratedSensorOffset: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle calibrated sensor offset data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_CalibratedSensorOffset) { nrec_sensorcal++; sensorcal = &(istore->sensorcal); header = &(sensorcal->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_CalibratedSensorOffset: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle position data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Position) { nrec_position++; position = &(istore->position); header = &(position->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Position: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for position arrays if needed */ if (ndat_nav + 1 >= ndat_nav_alloc) { ndat_nav_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lon,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lat,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_speed,&error); 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); } } /* store the position data */ if (ndat_nav == 0 || dat_nav_time_d[ndat_nav-1] < time_d) { dat_nav_time_d[ndat_nav] = time_d + position->latency; dat_nav_lon[ndat_nav] = RTD * position->longitude; dat_nav_lat[ndat_nav] = RTD * position->latitude; dat_nav_speed[ndat_nav] = 0.0; ndat_nav++; } } /* handle customattitude data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_CustomAttitude) { nrec_customattitude++; customattitude = &(istore->customattitude); header = &(customattitude->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_CustomAttitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for customattitude arrays if needed */ if (ndat_rph + customattitude->n >= ndat_rph_alloc) { ndat_rph_alloc += MAX(MB7KPREPROCESS_ALLOC_CHUNK, customattitude->n); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_heave,&error); 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); } } /* store the customattitude data */ for (i=0;in;i++) { if (ndat_rph == 0 || dat_rph_time_d[ndat_rph-1] < time_d) { dat_rph_time_d[ndat_rph] = time_d + i / customattitude->frequency; dat_rph_roll[ndat_rph] = RTD * customattitude->roll[i]; dat_rph_pitch[ndat_rph] = RTD * customattitude->pitch[i]; dat_rph_heave[ndat_rph] = customattitude->heave[i]; ndat_rph++; } } } /* handle tide data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Tide) { nrec_tide++; tide = &(istore->tide); header = &(fileheader->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Tide: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle altitude data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Altitude) { nrec_altitude++; altituderec = &(istore->altitude); header = &(fileheader->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Altitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for altitude arrays if needed */ if (ndat_altitude + 1 >= ndat_altitude_alloc) { ndat_altitude_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_altitude_alloc*sizeof(double),(void **)&dat_altitude_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_altitude_alloc*sizeof(double),(void **)&dat_altitude_altitude,&error); 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); } } /* store the altitude data */ if (ndat_altitude == 0 || dat_altitude_time_d[ndat_altitude-1] < time_d) { dat_altitude_time_d[ndat_altitude] = time_d; dat_altitude_altitude[ndat_altitude] = altituderec->altitude; ndat_altitude++; } } /* handle motion data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_MotionOverGround) { nrec_motion++; motion = &(istore->motion); header = &(motion->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_MotionOverGround: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,motion->n); } /* handle depth data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Depth) { nrec_depth++; depth = &(istore->depth); header = &(depth->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Depth: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for sonar depth arrays if needed */ if (ndat_sonardepth + 1 >= ndat_sonardepth_alloc) { ndat_sonardepth_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepth,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepthrate,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepthfilter,&error); 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); } } /* store the sonar depth data */ if (ndat_sonardepth == 0 || dat_sonardepth_time_d[ndat_sonardepth-1] < time_d) { dat_sonardepth_time_d[ndat_sonardepth] = time_d; dat_sonardepth_sonardepth[ndat_sonardepth] = depth->depth; dat_sonardepth_sonardepthrate[ndat_sonardepth] = 0.0; dat_sonardepth_sonardepthfilter[ndat_sonardepth] = 0.0; ndat_sonardepth++; } } /* handle sound velocity data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_SoundVelocityProfile) { nrec_svp++; svp = &(istore->svp); header = &(svp->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_SoundVelocityProfile: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,svp->n); } /* handle ctd data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_CTD) { nrec_ctd++; ctd = &(istore->ctd); header = &(ctd->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_CTD: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,ctd->n); } /* handle geodesy data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Geodesy) { nrec_geodesy++; geodesy = &(istore->geodesy); header = &(geodesy->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Geodesy: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle rollpitchheave data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_RollPitchHeave) { nrec_rollpitchheave++; rollpitchheave = &(istore->rollpitchheave); header = &(rollpitchheave->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_RollPitchHeave: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for rollpitchheave arrays if needed */ if (ndat_rph + 1 >= ndat_rph_alloc) { ndat_rph_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_heave,&error); 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); } } /* store the rollpitchheave data */ if (ndat_rph == 0 || dat_rph_time_d[ndat_rph-1] < time_d) { dat_rph_time_d[ndat_rph] = time_d; dat_rph_roll[ndat_rph] = RTD * rollpitchheave->roll; dat_rph_pitch[ndat_rph] = RTD * rollpitchheave->pitch; dat_rph_heave[ndat_rph] = rollpitchheave->heave; ndat_rph++; } } /* handle heading data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Heading) { nrec_heading++; headingrec = &(istore->heading); header = &(headingrec->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Heading: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for sonar heading arrays if needed */ if (ndat_heading + 1 >= ndat_heading_alloc) { ndat_heading_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_heading,&error); 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); } } /* store the sonar heading data */ if (ndat_heading == 0 || dat_heading_time_d[ndat_heading-1] < time_d) { dat_heading_time_d[ndat_heading] = time_d; dat_heading_heading[ndat_heading] = RTD * headingrec->heading; ndat_heading++; } } /* handle survey line data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_SurveyLine) { nrec_surveyline++; surveyline = &(istore->surveyline); header = &(surveyline->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_SurveyLine: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle navigation data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Navigation) { nrec_navigation++; navigation = &(istore->navigation); header = &(navigation->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Navigation: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); /* allocate memory for position arrays if needed */ if (ndat_nav + 1 >= ndat_nav_alloc) { ndat_nav_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lon,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lat,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_speed,&error); 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); } } /* store the navigation data */ if (ndat_nav == 0 || dat_nav_time_d[ndat_nav-1] < time_d) { dat_nav_time_d[ndat_nav] = time_d; dat_nav_lon[ndat_nav] = RTD * navigation->longitude; dat_nav_lat[ndat_nav] = RTD * navigation->latitude; dat_nav_speed[ndat_nav] = navigation->speed; ndat_nav++; } /* allocate memory for sonar heading arrays if needed */ if (ndat_heading + 1 >= ndat_heading_alloc) { ndat_heading_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_heading,&error); 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); } } /* store the sonar heading data */ if (ndat_heading == 0 || dat_heading_time_d[ndat_heading-1] < time_d) { dat_heading_time_d[ndat_heading] = time_d; dat_heading_heading[ndat_heading] = RTD * navigation->heading; ndat_heading++; } } /* handle attitude data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Attitude) { nrec_attitude++; attitude = &(istore->attitude); header = &(attitude->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Attitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,attitude->n); /* allocate memory for attitude arrays if needed */ if (ndat_rph + attitude->n >= ndat_rph_alloc) { ndat_rph_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_heave,&error); 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); } } /* store the attitude data */ for (i=0;in;i++) { if (ndat_rph == 0 || dat_rph_time_d[ndat_rph-1] < time_d) { dat_rph_time_d[ndat_rph] = time_d + i * attitude->delta_time[i]; dat_rph_roll[ndat_rph] = RTD * attitude->roll[i]; dat_rph_pitch[ndat_rph] = RTD * attitude->pitch[i]; dat_rph_heave[ndat_rph] = attitude->heave[i]; ndat_rph++; } } } /* handle file header data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_7kFileHeader) { nrec_fileheader++; fileheader = &(istore->fileheader); header = &(fileheader->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kFileHeader: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle bluefin ctd data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Bluefin && kind == MB_DATA_SSV) { nrec_bluefinenv++; MBARIdata = MB_YES; bluefin = &(istore->bluefin); header = &(bluefin->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_BluefinEnvironmental: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,bluefin->number_frames); for (i=0;inumber_frames;i++) { time_j[0] = bluefin->environmental[i].s7kTime.Year; time_j[1] = bluefin->environmental[i].s7kTime.Day; time_j[2] = 60 * bluefin->environmental[i].s7kTime.Hours + bluefin->environmental[i].s7kTime.Minutes; time_j[3] = (int) bluefin->environmental[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->environmental[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); if (verbose > 0) fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) CTD_time:%f T_time:%f\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->environmental[i].ctd_time, bluefin->environmental[i].temperature_time); } } /* handle bluefin nav data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Bluefin && kind == MB_DATA_NAV2) { nrec_bluefinnav++; MBARIdata = MB_YES; bluefin = &(istore->bluefin); header = &(bluefin->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* apply time delay from MBARI AUV if not set and data are pre-2012 */ if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_UNDEFINED && header->s7kTime.Year < 2012) timedelaymode = MB7KPREPROCESS_TIMEDELAY_ON; else if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_UNDEFINED) timedelaymode = MB7KPREPROCESS_TIMEDELAY_OFF; /* output time delay from MBARI AUV */ if (tfp == NULL) { /* open file for timedelay values */ sprintf(timelagfile, "%s_timedelay.txt", read_file); if ((tfp = fopen(timelagfile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open time delay file <%s> for writing\n",timelagfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } if (verbose > 0) fprintf(stderr,"R7KRECID_BluefinNav: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,bluefin->number_frames); for (i=0;inumber_frames;i++) { time_j[0] = bluefin->nav[i].s7kTime.Year; time_j[1] = bluefin->nav[i].s7kTime.Day; time_j[2] = 60 * bluefin->nav[i].s7kTime.Hours + bluefin->nav[i].s7kTime.Minutes; time_j[3] = (int) bluefin->nav[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->nav[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); if (verbose > 0) fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) Pos_time:%f\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->nav[i].position_time); /* output time delay from MBARI AUV */ if (tfp != NULL) { fprintf(tfp,"%f %f\n", bluefin->nav[i].position_time,(-0.001*(double)bluefin->nav[i].timedelay)); } } /* allocate memory for position arrays if needed */ if (bluefin->number_frames > 0 && ndat_nav + bluefin->number_frames >= ndat_nav_alloc) { ndat_nav_alloc += MAX(MB7KPREPROCESS_ALLOC_CHUNK, bluefin->number_frames); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lon,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lat,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_speed,&error); 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); } } /* allocate memory for sonar heading arrays if needed */ if (bluefin->number_frames > 0 && ndat_heading + bluefin->number_frames >= ndat_heading_alloc) { ndat_heading_alloc += MAX(MB7KPREPROCESS_ALLOC_CHUNK, bluefin->number_frames); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_heading,&error); 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); } } /* allocate memory for attitude arrays if needed */ if (bluefin->number_frames > 0 && ndat_rph + bluefin->number_frames >= ndat_rph_alloc) { ndat_rph_alloc += MAX(MB7KPREPROCESS_ALLOC_CHUNK, bluefin->number_frames); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_heave,&error); 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); } } /* allocate memory for altitude arrays if needed */ if (bluefin->number_frames > 0 && ndat_altitude + bluefin->number_frames >= ndat_altitude_alloc) { ndat_altitude_alloc += MAX(MB7KPREPROCESS_ALLOC_CHUNK, bluefin->number_frames); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_altitude_alloc*sizeof(double),(void **)&dat_altitude_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_altitude_alloc*sizeof(double),(void **)&dat_altitude_altitude,&error); 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); } } /* allocate memory for sonar depth arrays if needed */ if (bluefin->number_frames > 0 && ndat_sonardepth + bluefin->number_frames >= ndat_sonardepth_alloc) { ndat_sonardepth_alloc += MAX(MB7KPREPROCESS_ALLOC_CHUNK, bluefin->number_frames); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepth,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepthrate,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepthfilter,&error); 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); } } if (bluefin->number_frames > 0 && ntimedelay + bluefin->number_frames >= ntimedelay_alloc) { ntimedelay_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ntimedelay_alloc*sizeof(double),(void **)&timedelay_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ntimedelay_alloc*sizeof(double),(void **)&timedelay_timedelay,&error); } /* store the navigation and attitude data */ for (i=0;inumber_frames;i++) { /* store regular nav and attitude values */ if (ndat_nav == 0 || dat_nav_time_d[ndat_nav-1] < bluefin->nav[i].position_time) { dat_nav_time_d[ndat_nav] = bluefin->nav[i].position_time; dat_nav_lon[ndat_nav] = RTD * bluefin->nav[i].longitude; dat_nav_lat[ndat_nav] = RTD * bluefin->nav[i].latitude; dat_nav_speed[ndat_nav] = bluefin->nav[i].speed; ndat_nav++; } if (ndat_heading == 0 || dat_heading_time_d[ndat_heading-1] < bluefin->nav[i].position_time) { dat_heading_time_d[ndat_heading] = bluefin->nav[i].position_time; dat_heading_heading[ndat_heading] = RTD * bluefin->nav[i].yaw; ndat_heading++; } if (ndat_rph == 0 || dat_rph_time_d[ndat_rph-1] < bluefin->nav[i].position_time) { dat_rph_time_d[ndat_rph] = bluefin->nav[i].position_time; dat_rph_roll[ndat_rph] = RTD * bluefin->nav[i].roll; dat_rph_pitch[ndat_rph] = RTD * bluefin->nav[i].pitch; dat_rph_heave[ndat_rph] = 0.0; ndat_rph++; } if (ndat_altitude == 0 || dat_altitude_time_d[ndat_altitude-1] < bluefin->nav[i].position_time) { dat_altitude_time_d[ndat_altitude] = bluefin->nav[i].position_time; dat_altitude_altitude[ndat_altitude] = bluefin->nav[i].altitude; ndat_altitude++; } if (ndat_sonardepth == 0 || dat_sonardepth_time_d[ndat_sonardepth-1] < bluefin->nav[i].depth_time) { dat_sonardepth_time_d[ndat_sonardepth] = bluefin->nav[i].depth_time; dat_sonardepth_sonardepth[ndat_sonardepth] = bluefin->nav[i].depth; dat_sonardepth_sonardepthrate[ndat_sonardepth] = 0.0; dat_sonardepth_sonardepthfilter[ndat_sonardepth] = 0.0; ndat_sonardepth++; } /* deal with MBARI AUV time delay values */ /*fprintf(stderr,"TIMEDELAYS: count:%d delay: %d",ntimedelaycount,bluefin->nav[i].timedelay);*/ if (ntimedelaycount == 0) { timedelay_time_d[ntimedelay] = bluefin->nav[i].position_time; timedelay_timedelay[ntimedelay] = (-0.001 * (double)bluefin->nav[i].timedelay); /*fprintf(stderr," USED: %f",timedelay_timedelay[ntimedelay]);*/ ntimedelay++; } else if (timedelay_timedelay[ntimedelay-1] > (-0.001 * (double)bluefin->nav[i].timedelay)) { timedelay_time_d[ntimedelay-1] = bluefin->nav[i].position_time; timedelay_timedelay[ntimedelay-1] = (-0.001 * (double)bluefin->nav[i].timedelay); /*fprintf(stderr," USED: %d %f",ntimedelay,timedelay_timedelay[ntimedelay-1]);*/ } /*fprintf(stderr,"\n");*/ ntimedelaycount++; if (ntimedelaycount >= 100) ntimedelaycount = 0; } } /* handle subbottom data */ else if (status == MB_SUCCESS && kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { nrec_fsdwsbp++; fsdwsb = &(istore->fsdwsb); header = &(fsdwsb->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); fsdwchannel = &(fsdwsb->channel); fsdwsegyheader = &(fsdwsb->segyheader); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsubbottom: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d sampint:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], fsdwsegyheader->year,fsdwsegyheader->day,fsdwsegyheader->hour,fsdwsegyheader->minute,fsdwsegyheader->second, fsdwsegyheader->millisecondsToday - 1000 * (int)(0.001 * fsdwsegyheader->millisecondsToday), fsdwsb->ping_number,fsdwchannel->sample_interval,fsdwchannel->number_samples); } /* handle low frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN2) { nrec_fsdwsslo++; fsdwsslo = &(istore->fsdwsslo); header = &(fsdwsslo->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsslo->channel[i]); fsdwssheader = &(fsdwsslo->ssheader[i]); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsidescanLo: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d channel:%d sampint:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsslo->ping_number,fsdwchannel->number, fsdwchannel->sample_interval,fsdwchannel->number_samples); } /* allocate memory for edgetech timetag arrays if needed */ if (nedget == 0 || nedget >= nedget_alloc) { nedget_alloc += MB7KPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,nedget_alloc*sizeof(double),(void **)&edget_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nedget_alloc*sizeof(int),(void **)&edget_ping,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nedget_alloc*sizeof(double),(void **)&edget_time_d_new,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nedget_alloc*sizeof(double),(void **)&edget_time_offset,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nedget_alloc*sizeof(int),(void **)&edget_ping_offset,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nedget_alloc*sizeof(int),(void **)&edget_good_offset,&error); 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); } } /* store the edgetech time stamp */ fsdwchannel = &(fsdwsslo->channel[0]); fsdwssheader = &(fsdwsslo->ssheader[0]); time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (nedget == 0 || time_d > edget_time_d[nedget-1]) { edget_time_d[nedget] = time_d; edget_ping[nedget] = fsdwssheader->pingNum; /* grab the last reson ping time if it exists */ if (nbatht > 1) { edget_time_offset[nedget] = batht_time_d[nbatht-1] + (batht_time_d[nbatht-1] - batht_time_d[nbatht-2]) - time_d; edget_ping_offset[nedget] = batht_ping[nbatht-1] - fsdwssheader->pingNum; edget_good_offset[nedget] = MB_YES; } else { edget_time_offset[nedget] = -9999.99; edget_ping_offset[nedget] = 0; edget_good_offset[nedget] = MB_NO; } nedget++; } sslo_last_time_d = time_d; sslo_last_ping = fsdwssheader->pingNum; } /* handle high frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN3) { nrec_fsdwsshi++; fsdwsshi = &(istore->fsdwsshi); header = &(fsdwsshi->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsshi->channel[i]); fsdwssheader = &(fsdwsshi->ssheader[i]); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsidescanHi: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d channel:%d sampint:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsshi->ping_number,fsdwchannel->number, fsdwchannel->sample_interval,fsdwchannel->number_samples); } } /* handle unknown data */ else if (status == MB_SUCCESS) { /*fprintf(stderr,"DATA TYPE UNKNOWN: status:%d error:%d kind:%d\n",status,error,kind);*/ nrec_other++; } /* 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); } /* set reson_lastread flag */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) reson_lastread = MB_YES; else reson_lastread = MB_NO; /* set sslo_lastread flag */ if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN2) sslo_lastread = MB_YES; else sslo_lastread = MB_NO; } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* output counts */ fprintf(stdout, "\nData records read from: %s\n", ifile); fprintf(stdout, " File Header: %d\n", nrec_fileheader); fprintf(stdout, " Multibeam: %d\n", nrec_multibeam); fprintf(stdout, " Volatile Settings: %d\n", nrec_volatilesettings); fprintf(stdout, " Match Filter: %d\n", nrec_matchfilter); fprintf(stdout, " Beam Geometry: %d\n", nrec_beamgeometry); fprintf(stdout, " Remote Control: %d\n", nrec_remotecontrolsettings); fprintf(stdout, " Bathymetry: %d\n", nrec_bathymetry); fprintf(stdout, " Processed Sidescan: %d\n", nrec_processedsidescan); fprintf(stdout, " Backscatter: %d\n", nrec_backscatter); fprintf(stdout, " Beam: %d\n", nrec_beam); fprintf(stdout, " Image: %d\n", nrec_image); fprintf(stdout, " V2PingMotion: %d\n", nrec_v2pingmotion); fprintf(stdout, " V2DetectionSetup: %d\n", nrec_v2detectionsetup); fprintf(stdout, " V2Beamformed: %d\n", nrec_v2beamformed); fprintf(stdout, " V2Detection: %d\n", nrec_v2detection); fprintf(stdout, " V2RawDetection: %d\n", nrec_v2rawdetection); fprintf(stdout, " V2Snippet: %d\n", nrec_v2snippet); fprintf(stdout, " processedsidescan: %d\n", nrec_processedsidescan); fprintf(stdout, " Reference: %d\n", nrec_reference); fprintf(stdout, " Uncalibrated Sensor Offset: %d\n", nrec_sensoruncal); fprintf(stdout, " Calibrated Sensor Offset: %d\n", nrec_sensorcal); fprintf(stdout, " Position: %d\n", nrec_position); fprintf(stdout, " Custom Attitude: %d\n", nrec_customattitude); fprintf(stdout, " Tide: %d\n", nrec_tide); fprintf(stdout, " Altitude: %d\n", nrec_altitude); fprintf(stdout, " Motion Over Ground: %d\n", nrec_motion); fprintf(stdout, " Depth: %d\n", nrec_depth); fprintf(stdout, " Sound Speed Profile: %d\n", nrec_svp); fprintf(stdout, " CTD: %d\n", nrec_ctd); fprintf(stdout, " Geodosy: %d\n", nrec_geodesy); fprintf(stdout, " Roll Pitch Heave: %d\n", nrec_rollpitchheave); fprintf(stdout, " Heading: %d\n", nrec_heading); fprintf(stdout, " Survey Line: %d\n", nrec_surveyline); fprintf(stdout, " Navigation: %d\n", nrec_navigation); fprintf(stdout, " Attitude: %d\n", nrec_attitude); fprintf(stdout, " Edgetech Low Frequency Sidescan: %d\n", nrec_fsdwsslo); fprintf(stdout, " Edgetech High Frequency Sidescan: %d\n", nrec_fsdwsshi); fprintf(stdout, " Edgetech Subbottom: %d\n", nrec_fsdwsbp); fprintf(stdout, " MBARI Mapping AUV Environmental: %d\n", nrec_bluefinnav); fprintf(stdout, " MBARI Mapping AUV Navigation: %d\n", nrec_bluefinenv); fprintf(stdout, " Configuration: %d\n", nrec_configuration); fprintf(stdout, " Calibration: %d\n", nrec_calibration); fprintf(stdout, " Vertical Depth: %d\n", nrec_verticaldepth); fprintf(stdout, " Installation: %d\n", nrec_installation); fprintf(stdout, " System Event Message: %d\n", nrec_systemeventmessage); fprintf(stdout, " Other: %d\n", nrec_other); nrec_fileheader_tot += nrec_fileheader; nrec_multibeam_tot += nrec_multibeam; nrec_volatilesettings_tot += nrec_volatilesettings; nrec_matchfilter_tot += nrec_matchfilter; nrec_beamgeometry_tot += nrec_beamgeometry; nrec_remotecontrolsettings_tot += nrec_remotecontrolsettings; nrec_bathymetry_tot += nrec_bathymetry; nrec_backscatter_tot += nrec_backscatter; nrec_beam_tot += nrec_beam; nrec_image_tot += nrec_image; nrec_v2pingmotion_tot += nrec_v2pingmotion; nrec_v2detectionsetup_tot += nrec_v2detectionsetup; nrec_v2beamformed_tot += nrec_v2beamformed; nrec_v2detection_tot += nrec_v2detection; nrec_v2rawdetection_tot += nrec_v2rawdetection; nrec_v2snippet_tot += nrec_v2snippet; nrec_processedsidescan_tot += nrec_processedsidescan; nrec_reference_tot += nrec_reference; nrec_sensoruncal_tot += nrec_sensoruncal; nrec_sensorcal_tot += nrec_sensorcal; nrec_position_tot += nrec_position; nrec_customattitude_tot += nrec_customattitude; nrec_tide_tot += nrec_tide; nrec_altitude_tot += nrec_altitude; nrec_motion_tot += nrec_motion; nrec_depth_tot += nrec_depth; nrec_svp_tot += nrec_svp; nrec_ctd_tot += nrec_ctd; nrec_geodesy_tot += nrec_geodesy; nrec_rollpitchheave_tot += nrec_rollpitchheave; nrec_heading_tot += nrec_heading; nrec_surveyline_tot += nrec_surveyline; nrec_navigation_tot += nrec_navigation; nrec_attitude_tot += nrec_attitude; nrec_fsdwsbp_tot += nrec_fsdwsbp; nrec_fsdwsslo_tot += nrec_fsdwsslo; nrec_fsdwsshi_tot += nrec_fsdwsshi; nrec_bluefinenv_tot += nrec_bluefinenv; nrec_position_tot += nrec_position; nrec_bluefinnav_tot += nrec_bluefinnav; nrec_configuration_tot += nrec_configuration; nrec_calibration_tot += nrec_calibration; nrec_verticaldepth_tot += nrec_verticaldepth; nrec_installation_tot += nrec_installation; nrec_systemeventmessage_tot += nrec_systemeventmessage; nrec_other_tot += nrec_other; /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, ifile,&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 time delay file */ if (tfp != NULL) fclose(tfp); /* apply time lag to all relevant data timelag value calculated either from model imported from file (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL) or by a constant offset (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) plus any timedelay values embedded in the data (MBARI AUV bluefin nav records only) */ if (timelagmode != MB7KPREPROCESS_TIMELAG_OFF) { /* correct time of navigation, heading, attitude, sonardepth, altitude read from asynchronous records in 7k files */ if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON || timelagmode != MB7KPREPROCESS_TIMELAG_OFF) { if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON) fprintf(stderr,"Applying Reson vs MVC time delay from MBARI Mapping AUV\n"); else fprintf(stderr,"No time delay correction\n"); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) fprintf(stderr,"Applying constant time lag of %f seconds\n",timelagconstant); else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL) fprintf(stderr,"Applying time lag model from file: %s\n",timelagfile); else fprintf(stderr,"No time lag correction\n"); fprintf(stderr,"Applying timelag to %d nav data\n", ndat_nav); j = 0; for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, dat_nav_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_nav_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } dat_nav_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d heading data\n", ndat_heading); j = 0; for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, dat_heading_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_heading_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } dat_heading_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d attitude data\n", ndat_rph); j = 0; for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, dat_rph_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_rph_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } dat_rph_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d sonardepth data\n", ndat_sonardepth); j = 0; for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, dat_sonardepth_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_sonardepth_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } dat_sonardepth_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d altitude data\n", ndat_altitude); j = 0; for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, dat_altitude_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_altitude_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } dat_altitude_time_d[i] += timelag; } /* correct time of INS data read from MBARI AUV log file */ fprintf(stderr,"Applying timelag to %d INS data\n", nins); for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, ins_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, ins_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } ins_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d INS altitude data\n", nins_altitude); for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, ins_altitude_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, ins_altitude_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } ins_altitude_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d INS speed data\n", nins_speed); for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, ins_speed_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, ins_speed_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } ins_speed_time_d[i] += timelag; } /* correct time of navigation and attitude data read from WHOI DSL nav and attitude file */ fprintf(stderr,"Applying timelag to %d DSL nav data\n", ndsl); for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, dsl_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dsl_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } dsl_time_d[i] += timelag; } /* correct time of navigation and attitude data read from Steve Rock file */ fprintf(stderr,"Applying timelag to %d Steve Rock nav data\n", nrock); for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, rock_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, rock_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } rock_time_d[i] += timelag; } /* correct time of sonar depth data read from separate file */ fprintf(stderr,"Applying timelag to %d sonardepth nav data\n", nsonardepth); for (i=0;i 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, sonardepth_time_d[i], &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, sonardepth_time_d[i], &timelagm, &jtimelag, &error); timelag -= timelagm; } sonardepth_time_d[i] += timelag; } } } /* if desired apply filtering to sonardepth data */ if (sonardepthfilter == MB_YES) { /* apply filtering to sonardepth data read from asynchronous records in 7k files */ fprintf(stderr,"Applying filtering to %d sonardepth data\n", ndat_sonardepth); for (i=0;i 0.0) dat_sonardepth_sonardepthfilter[i] /= sonardepth_filterweight; } for (i=0;i 0.0) sonardepth_sonardepthfilter[i] /= sonardepth_filterweight; } for (i=0;i 0.0) ins_sonardepthfilter[i] /= sonardepth_filterweight; } for (i=0;i 0.0) dsl_sonardepthfilter[i] /= sonardepth_filterweight; } for (i=0;i 0.0) rock_sonardepthfilter[i] /= sonardepth_filterweight; } for (i=0;i 1) { fprintf(stderr,"Calculating sonardepth change rate for %d sonardepth data\n", ndat_sonardepth); for (i=0;i= 0 && foundstart == MB_NO; j--) { if (batht_good_offset[j] == MB_YES) { foundstart = MB_YES; start = j; } } for (j = i + 1; j < nbatht && foundend == MB_NO; j++) { if (batht_good_offset[j] == MB_YES) { foundend = MB_YES; end = j; } } if (foundstart == MB_YES && foundend == MB_YES) { batht_time_offset[i] = batht_time_offset[start] + (batht_time_offset[end] - batht_time_offset[start]) * ((double)(i - start)) / ((double)(end - start)); } else if (foundstart == MB_YES) { batht_time_offset[i] = batht_time_offset[start]; } else if (foundend == MB_YES) { batht_time_offset[i] = batht_time_offset[end]; } } batht_time_d_new[i] = batht_time_d[i] + batht_time_offset[i]; } /* fix problems with edget timestamp arrays */ for (i=0;i= 0 && foundstart == MB_NO; j--) { if (edget_good_offset[j] == MB_YES) { foundstart = MB_YES; start = j; } } for (j = i + 1; j < nedget && foundend == MB_NO; j++) { if (edget_good_offset[j] == MB_YES) { foundend = MB_YES; end = j; } } if (foundstart == MB_YES && foundend == MB_YES) { edget_time_offset[i] = edget_time_offset[start] + (edget_time_offset[end] - edget_time_offset[start]) * ((double)(i - start)) / ((double)(end - start)); } else if (foundstart == MB_YES) { edget_time_offset[i] = edget_time_offset[start]; } else if (foundend == MB_YES) { edget_time_offset[i] = edget_time_offset[end]; } } edget_time_d_new[i] = edget_time_d[i] + edget_time_offset[i]; } /* remove noise from position data associated with Kearfott INS on an ROV that consists of jumps every two seconds */ if (kluge_kearfottrovnoise == MB_YES && ndat_nav > 2) { longitude_offset = 0.0; latitude_offset = 0.0; mb_coor_scale(verbose,dat_nav_lat[0],&mtodeglon,&mtodeglat); for (i=1;i 0.5) { longitude_offset += (dat_nav_lon[i] - dat_nav_lon[i-1]); latitude_offset += (dat_nav_lat[i] - dat_nav_lat[i-1]); dat_nav_lon[i] = dat_nav_lon[i-1]; dat_nav_lat[i] = dat_nav_lat[i-1]; } } } /* output ins navigation and attitude data */ if (nins > 0 && (verbose > 0 || mode == MB7KPREPROCESS_TIMESTAMPLIST)) { fprintf(stdout, "\nTotal INS navigation/attitude data read: %d\n", nins); for (i=0;i 0 && (verbose > 0 || mode == MB7KPREPROCESS_TIMESTAMPLIST)) { fprintf(stdout, "\nTotal auv sonardepth data read: %d\n", nsonardepth); for (i=0;i 0 || mode == MB7KPREPROCESS_TIMESTAMPLIST) { fprintf(stdout, "\nTotal 7k navigation data read: %d\n", ndat_nav); for (i=0;i Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(ifile, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES && format == MBF_RESON7KR) { /* figure out the output file name */ status = mb_get_format(verbose, ifile, fileroot, &testformat, &error); if (testformat == MBF_RESON7KR && strncmp(".s7k",&ifile[strlen(ifile)-4],4) == 0) sprintf(ofile, "%s.mb%d", fileroot, testformat); else if (testformat == MBF_RESON7KR) sprintf(ofile, "%sf.mb%d", fileroot, testformat); else if (testformat == MBF_RESON7KR) sprintf(ofile, "%s.mb%d", ifile, testformat); /* initialize reading the input swath file */ if ((status = mb_read_init( verbose,ifile,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",ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize writing the output swath sonar file */ if ((status = mb_write_init( verbose,ofile,format,&ombio_ptr, &obeams_bath,&obeams_amp,&opixels_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 writing\n",ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize ctd output file */ sprintf(ctdfile,"%s_ctd.txt",fileroot); if ((tfp = fopen(ctdfile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open ctd data file <%s> for writing\n",ctdfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize asynchronous heading output file */ sprintf(athfile,"%s.ath",ofile); if ((athfp = fopen(athfile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open asynchronous heading data file <%s> for writing\n",athfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize asynchronous sonardepth output file */ sprintf(atsfile,"%s.ats",ofile); if ((atsfp = fopen(atsfile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open asynchronous sonardepth data file <%s> for writing\n",atsfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize asynchronous attitude output file */ sprintf(atafile,"%s.ata",ofile); if ((atafp = fopen(atafile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open asynchronous attitude data file <%s> for writing\n",atafile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize synchronous attitude output file */ sprintf(stafile,"%s.sta",ofile); if ((stafp = fopen(stafile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open synchronous attitude data file <%s> for writing\n",stafile); 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; /* initialize pixel_size and swath_width */ pixel_size = 0.0; swath_width = 0.0; 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 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); } /* reset file record counters */ nrec_reference = 0; nrec_sensoruncal = 0; nrec_sensorcal = 0; nrec_position = 0; nrec_customattitude = 0; nrec_tide = 0; nrec_altitude = 0; nrec_motion = 0; nrec_depth = 0; nrec_svp = 0; nrec_ctd = 0; nrec_geodesy = 0; nrec_rollpitchheave = 0; nrec_heading = 0; nrec_surveyline = 0; nrec_navigation = 0; nrec_attitude = 0; nrec_fsdwsslo = 0; nrec_fsdwsshi = 0; nrec_fsdwsbp = 0; nrec_bluefinnav = 0; nrec_bluefinenv = 0; nrec_multibeam = 0; nrec_volatilesettings = 0; nrec_configuration = 0; nrec_matchfilter = 0; nrec_beamgeometry = 0; nrec_calibration = 0; nrec_bathymetry = 0; nrec_backscatter = 0; nrec_beam = 0; nrec_verticaldepth = 0; nrec_image = 0; nrec_v2pingmotion = 0; nrec_v2detectionsetup = 0; nrec_v2beamformed = 0; nrec_v2detection = 0; nrec_v2rawdetection = 0; nrec_v2snippet = 0; nrec_processedsidescan = 0; nrec_installation = 0; nrec_systemeventmessage = 0; nrec_fileheader = 0; nrec_remotecontrolsettings = 0; nrec_other = 0; /* read and print data */ while (error <= MB_ERROR_NO_ERROR) { /* reset error */ status = MB_SUCCESS; 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); /* some nonfatal errors do not matter */ if (error < MB_ERROR_NO_ERROR && error > MB_ERROR_UNINTELLIGIBLE) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* handle multibeam data */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { nrec_multibeam++; bathymetry = &(istore->bathymetry); v2detection = &(istore->v2detection); v2rawdetection = &(istore->v2rawdetection); if (istore->read_volatilesettings == MB_YES) nrec_volatilesettings++; if (istore->read_matchfilter == MB_YES) nrec_matchfilter++; if (istore->read_beamgeometry == MB_YES) nrec_beamgeometry++; if (istore->read_remotecontrolsettings == MB_YES) nrec_remotecontrolsettings++; if (istore->read_bathymetry == MB_YES) nrec_bathymetry++; if (istore->read_backscatter == MB_YES) nrec_backscatter++; if (istore->read_beam == MB_YES) nrec_beam++; if (istore->read_verticaldepth == MB_YES) nrec_verticaldepth++; if (istore->read_image == MB_YES) nrec_image++; if (istore->read_v2pingmotion == MB_YES) nrec_v2pingmotion++; if (istore->read_v2detectionsetup == MB_YES) nrec_v2detectionsetup++; if (istore->read_v2beamformed == MB_YES) nrec_v2beamformed++; if (istore->read_v2detection == MB_YES) nrec_v2detection++; if (istore->read_v2rawdetection == MB_YES) nrec_v2rawdetection++; if (istore->read_v2snippet == MB_YES) nrec_v2snippet++; if (istore->read_processedsidescan == MB_YES) nrec_processedsidescan++; /* print out record headers */ if (istore->read_volatilesettings == MB_YES) { volatilesettings = &(istore->volatilesettings); header = &(volatilesettings->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kVolatileSonarSettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } if (istore->read_matchfilter == MB_YES) { matchfilter = &(istore->matchfilter); header = &(matchfilter->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kMatchFilter: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } if (istore->read_beamgeometry == MB_YES) { beamgeometry = &(istore->beamgeometry); header = &(beamgeometry->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBeamGeometry: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,beamgeometry->number_beams); } if (istore->read_remotecontrolsettings == MB_YES) { remotecontrolsettings = &(istore->remotecontrolsettings); header = &(remotecontrolsettings->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kremotecontrolsettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } if (istore->read_bathymetry != MB_YES) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } else if (istore->read_bathymetry == MB_YES) { bathymetry = &(istore->bathymetry); header = &(bathymetry->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); last_7k_time_d = MAX(last_7k_time_d, time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBathymetricData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,bathymetry->ping_number,bathymetry->number_beams); if (last_7k_time_d > time_d) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } /* apply fixes to good data */ if (status == MB_SUCCESS) { /* fix time stamp */ if (fix_time_stamps == MB7KPREPROCESS_TIMEFIX_RESON) { found = MB_NO; for (j=0; j < nbatht && found == MB_NO; j++) { if (bathymetry->ping_number == batht_ping[j]) { found = MB_YES; time_d = batht_time_d_new[j]; mb_get_date(verbose, time_d, time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_j[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; } } } /* fix version 4 quality flags */ if (bathymetry->header.Version < 5) { for (i=0;inumber_beams;i++) { if ((bathymetry->quality[i]) < 16) { if (bathymetry->range[i] > 0.007) { bathymetry->quality[i] = 23; } else if (bathymetry->range[i] > 0.0) { bathymetry->quality[i] = 20; } else { bathymetry->quality[i] = 0; } } } } /* fix early version 5 quality flags */ else if (bathymetry->header.Version == 5 && header->s7kTime.Year < 2006) { for (i=0;inumber_beams;i++) { /* phase picks */ if ((bathymetry->quality[i]) == 8) { /*fprintf(stderr,"beam %d: PHASE quality: %d",i,bathymetry->quality[i]);*/ bathymetry->quality[i] = 32 + 15; /*fprintf(stderr," %d\n",bathymetry->quality[i]);*/ } else if ((bathymetry->quality[i]) == 4) { /*fprintf(stderr,"beam %d: AMPLI quality: %d",i,bathymetry->quality[i]);*/ bathymetry->quality[i] = 16 + 15; /*fprintf(stderr," %d\n",bathymetry->quality[i]);*/ } } } /* fix early MBARI version 5 quality flags */ else if (bathymetry->header.Version == 5 && MBARIdata == MB_YES && header->s7kTime.Year < 2008) { for (i=0;inumber_beams;i++) { /* phase picks */ if ((bathymetry->quality[i]) == 4) { /*fprintf(stderr,"beam %d: PHASE quality: %d",i,bathymetry->quality[i]);*/ bathymetry->quality[i] = 32 + 15; /*fprintf(stderr," %d\n",bathymetry->quality[i]);*/ } else if ((bathymetry->quality[i]) == 2) { /*fprintf(stderr,"beam %d: AMPLI quality: %d",i,bathymetry->quality[i]);*/ bathymetry->quality[i] = 16 + 15; /*fprintf(stderr," %d\n",bathymetry->quality[i]);*/ } } } /* fix upgraded MBARI version 5 quality flags */ else if (bathymetry->header.Version >= 5 && MBARIdata == MB_YES && header->s7kTime.Year <= 2010) { for (i=0;inumber_beams;i++) { /* fprintf(stderr,"S Flag[%d]: %d\n",i,bathymetry->quality[i]); */ bathymetry->quality[i] = bathymetry->quality[i] & 15; /* phase or amplitude picks */ if (bathymetry->quality[i] & 8) { /* fprintf(stderr,"beam %d: PHASE quality: %d",i,bathymetry->quality[i]); */ bathymetry->quality[i] += 32; /* fprintf(stderr," %d\n",bathymetry->quality[i]); */ } else if (bathymetry->quality[i] & 4) { /* fprintf(stderr,"beam %d: AMPLI quality: %d",i,bathymetry->quality[i]); */ bathymetry->quality[i] += 16; /* fprintf(stderr," %d\n",bathymetry->quality[i]); */ } /* flagged by sonar */ if ((bathymetry->quality[i] & 3) == 0 && bathymetry->quality[i] > 0) { bathymetry->quality[i] += 64; } /* fprintf(stderr,"E Flag[%d]: %d\n\n",i,bathymetry->quality[i]); */ } } /* fix upgraded version 5 quality flags */ else if (bathymetry->header.Version >= 5) { for (i=0;inumber_beams;i++) { /* fprintf(stderr,"S Flag[%d]: %d\n",i,bathymetry->quality[i]); */ bathymetry->quality[i] = bathymetry->quality[i] & 15; /* phase or amplitude picks */ if (bathymetry->quality[i] & 8) { /* fprintf(stderr,"beam %d: PHASE quality: %d",i,bathymetry->quality[i]); */ bathymetry->quality[i] += 32; /* fprintf(stderr," %d\n",bathymetry->quality[i]); */ } else if (bathymetry->quality[i] & 4) { /* fprintf(stderr,"beam %d: AMPLI quality: %d",i,bathymetry->quality[i]); */ bathymetry->quality[i] += 16; /* fprintf(stderr," %d\n",bathymetry->quality[i]); */ } /* flagged by sonar */ if ((bathymetry->quality[i] & 3) == 3) { } else if ((bathymetry->quality[i] & 3) == 0 && bathymetry->quality[i] > 0) { bathymetry->quality[i] += 64; } else if (bathymetry->quality[i] > 0) { bathymetry->quality[i] += 64; } /* fprintf(stderr,"E Flag[%d]: %d\n\n",i,bathymetry->quality[i]); */ } } /* apply specified offsets to range values */ for (j=0;jrange[i] += rangeoffset[j]; } } /* recalculate optional values in bathymetry record */ interp_status = MB_SUCCESS; /* get nav */ j = 0; if (nins > 0) { interp_status = mb_linear_interp_degrees(verbose, ins_time_d-1, ins_lon-1, nins, time_d, &navlon, &jins, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, ins_time_d-1, ins_lat-1, nins, time_d, &navlat, &jins, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, ins_speed_time_d-1, ins_speed-1, nins_speed, time_d, &speed, &jins, &error); } else if (nrock > 0) { interp_status = mb_linear_interp_degrees(verbose, rock_time_d-1, rock_lon-1, nrock, time_d, &navlon, &jrock, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, rock_time_d-1, rock_lat-1, nrock, time_d, &navlat, &jrock, &error); if (j > 1) { j1 = j - 2; j2 = j - 1; } else { j1 = j - 1; j2 = j; } mb_coor_scale(verbose,navlat,&mtodeglon,&mtodeglat); dx = (rock_lon[j2] - rock_lon[j1])/mtodeglon; dy = (rock_lat[j2] - rock_lat[j1])/mtodeglat; dist = sqrt(dx*dx + dy*dy); dt = (rock_time_d[j2] - rock_time_d[j1]); if (dt > 0.0) speed = 3.6 * dist / dt; } else if (ndsl > 0) { interp_status = mb_linear_interp_degrees(verbose, dsl_time_d-1, dsl_lon-1, ndsl, time_d, &navlon, &jdsl, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, dsl_time_d-1, dsl_lat-1, ndsl, time_d, &navlat, &jdsl, &error); if (j > 1) { j1 = j - 2; j2 = j - 1; } else { j1 = j - 1; j2 = j; } mb_coor_scale(verbose,navlat,&mtodeglon,&mtodeglat); dx = (dsl_lon[j2] - dsl_lon[j1])/mtodeglon; dy = (dsl_lat[j2] - dsl_lat[j1])/mtodeglat; dist = sqrt(dx*dx + dy*dy); dt = (dsl_time_d[j2] - dsl_time_d[j1]); if (dt > 0.0) speed = 3.6 * dist / dt; } else if (ndat_nav > 0) { interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_lon-1, ndat_nav, time_d, &navlon, &jdnav, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_lat-1, ndat_nav, time_d, &navlat, &jdnav, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_speed-1, ndat_nav, time_d, &speed, &jdnav, &error); } else { navlon = 0.0; navlat = 0.0; speed = 0.0; } /* get heading */ j = 0; if (interp_status != MB_SUCCESS) { } else if (nins > 0) { interp_status = mb_linear_interp_degrees(verbose, ins_time_d-1, ins_heading-1, nins, time_d, &heading, &jins, &error); } else if (nrock > 0) { interp_status = mb_linear_interp_degrees(verbose, rock_time_d-1, rock_heading-1, nrock, time_d, &heading, &jrock, &error); } else if (ndsl > 0) { interp_status = mb_linear_interp_degrees(verbose, dsl_time_d-1, dsl_heading-1, ndsl, time_d, &heading, &jdsl, &error); } else if (ndat_heading > 0) { interp_status = mb_linear_interp_degrees(verbose, dat_heading_time_d-1, dat_heading_heading-1, ndat_heading, time_d, &heading, &jdheading, &error); } else { heading = 0.0; } /* get altitude */ if (interp_status != MB_SUCCESS) { } else if (nins > 0) { interp_status = mb_linear_interp(verbose, ins_altitude_time_d-1, ins_altitude-1, nins_altitude, time_d, &altitude, &jins, &error); } else if (ndat_altitude > 0) { interp_status = mb_linear_interp(verbose, dat_altitude_time_d-1, dat_altitude_altitude-1, ndat_altitude, time_d, &altitude, &jdaltitude, &error); } else { altitude = 0.0; } /* get attitude */ if (interp_status != MB_SUCCESS) { } else if (nins > 0) { interp_status = mb_linear_interp(verbose, ins_time_d-1, ins_roll-1, nins, time_d, &roll, &jins, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, ins_time_d-1, ins_pitch-1, nins, time_d, &pitch, &jins, &error); } else if (nrock > 0) { interp_status = mb_linear_interp(verbose, rock_time_d-1, rock_roll-1, nrock, time_d, &roll, &jrock, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, rock_time_d-1, rock_pitch-1, nrock, time_d, &pitch, &jrock, &error); } else if (ndsl > 0) { interp_status = mb_linear_interp(verbose, dsl_time_d-1, dsl_roll-1, ndsl, time_d, &roll, &jdsl, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, dsl_time_d-1, dsl_pitch-1, ndsl, time_d, &pitch, &jdsl, &error); } else if (ndat_rph > 0) { interp_status = mb_linear_interp(verbose, dat_rph_time_d-1, dat_rph_roll-1, ndat_rph, time_d, &roll, &jdattitude, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, dat_rph_time_d-1, dat_rph_pitch-1, ndat_rph, time_d, &pitch, &jdattitude, &error); } else { roll = 0.0; pitch = 0.0; } /* get sonar depth */ if (kluge_useverticaldepth == MB_YES) { verticaldepth = (s7kr_verticaldepth *)&(istore->verticaldepth); sonardepth = (double)(verticaldepth->vertical_depth); } else if (interp_status != MB_SUCCESS) { } else if (nsonardepth > 0) { if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, sonardepth_time_d-1, sonardepth_sonardepth-1, nsonardepth, time_d, &sonardepth, &jsonardepth, &error); } else if (nins > 0) { interp_status = mb_linear_interp(verbose, ins_time_d-1, ins_sonardepth-1, nins, time_d, &sonardepth, &jins, &error); } else if (nrock > 0) { interp_status = mb_linear_interp(verbose, rock_time_d-1, rock_sonardepth-1, nrock, time_d, &sonardepth, &jrock, &error); } else if (ndsl > 0) { interp_status = mb_linear_interp(verbose, dsl_time_d-1, dsl_sonardepth-1, ndsl, time_d, &sonardepth, &jdsl, &error); } else if (ndat_sonardepth > 0) { sonardepthlag = 0.0; if (sonardepthlagfix == MB_YES && ndat_sonardepth > 1 && sonardepthratemax > 0.0 && interp_status == MB_SUCCESS) { interp_status = mb_linear_interp(verbose, dat_sonardepth_time_d-1, dat_sonardepth_sonardepthrate-1, ndat_sonardepth, time_d, &sonardepthrate, &jdsonardepth, &error); sonardepthlag = sonardepthrate * sonardepthlagmax / sonardepthratemax; if (sonardepthrate >= sonardepthratemax) sonardepthlag = sonardepthlagmax; } if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, dat_sonardepth_time_d-1, dat_sonardepth_sonardepth-1, ndat_sonardepth, time_d + sonardepthlag, &sonardepth, &jdsonardepth, &error); } else if (ndat_rph > 0) { interp_status = mb_linear_interp(verbose, dat_rph_time_d-1, dat_rph_heave-1, ndat_rph, time_d, &heave, &jdattitude, &error); sonardepth = heave; } else { sonardepth = 0.0; } /* apply offset between depth sensor and sonar */ sonardepth += sonardepthoffset + depthsensoroffx * sin(DTR * pitch) + depthsensoroffz * cos(DTR * pitch); /* if the optional data are not all available, this ping is not useful, and is discarded by setting *error to MB_ERROR_MISSING_NAVATTITUDE unless the -N flag has been specified */ if (interp_status == MB_FAILURE && goodnavattitudeonly == MB_YES) { status = MB_FAILURE; error = MB_ERROR_MISSING_NAVATTITUDE; } } /* if the optional data are available, then proceed */ if (status == MB_SUCCESS) { bathymetry->longitude = DTR * navlon; bathymetry->latitude = DTR * navlat; bathymetry->heading = DTR * heading; bathymetry->height_source = 1; bathymetry->tide = 0.0; bathymetry->roll = DTR * roll; bathymetry->pitch = DTR * pitch; bathymetry->heave = 0.0; bathymetry->vehicle_height = -sonardepth; /* zero alongtrack angles if requested */ if (kluge_zeroalongtrackangles == MB_YES) { for (i=0;inumber_beams;i++) { beamgeometry->angle_alongtrack[i] = 0.0; } } /* get ready to calculate bathymetry */ if (volatilesettings->sound_velocity > 0.0) soundspeed = volatilesettings->sound_velocity; else if (bluefin->environmental[0].sound_speed > 0.0) soundspeed = bluefin->environmental[0].sound_speed; else soundspeed = 1500.0; /* fprintf(stderr,"roll:%f pitch:%f\n",bathymetry->roll,bathymetry->pitch); */ rollr = DTR * roll; pitchr = DTR * pitch; /* zero atttitude correction if requested */ if (kluge_zeroattitudecorrection == MB_YES) { rollr = 0.0; pitchr = 0.0; } /* loop over detections as available - the 7k format has used several different records over the years, so there are several different cases that must be handled */ /* case of v2rawdetection record */ if (istore->read_v2rawdetection == MB_YES) { /* initialize all of the beams */ for (i=0;inumber_beams;i++) { bathymetry->quality[i] = 0; bathymetry->depth[i] = 0.0; bathymetry->acrosstrack[i] = 0.0; bathymetry->alongtrack[i] = 0.0; bathymetry->pointing_angle[i] = 0.0; bathymetry->azimuth_angle[i] = 0.0; } /* now loop over the detects */ for (j=0;jnumber_beams;j++) { i = v2rawdetection->beam_descriptor[j]; bathymetry->range[i] = v2rawdetection->detection_point[j] / v2rawdetection->sampling_rate; bathymetry->quality[i] = v2rawdetection->quality[j]; alpha = RTD * pitchr + pitchbias; beta = 90.0 - RTD * (v2rawdetection->rx_angle[j] - rollr) + rollbias; mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, &error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonardepth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"i:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", i,roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } } /* case of v2detection record */ else if (istore->read_v2detection == MB_YES) { /* now loop over the detects */ for (i=0;inumber_beams;i++) { bathymetry->range[i] = v2detection->range[i]; alpha = RTD * (v2detection->angle_y[i] + pitchr) + pitchbias; beta = 90.0 - RTD * (v2detection->angle_x[i] - rollr) + rollbias; mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, &error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonardepth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"i:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", i,roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } } /* else default case of beamgeometry record */ else { /* loop over all beams */ for (i=0;inumber_beams;i++) { if ((bathymetry->quality[i] & 15) > 0) { alpha = RTD * (beamgeometry->angle_alongtrack[i] + pitchr) + pitchbias; beta = 90.0 - RTD * (beamgeometry->angle_acrosstrack[i] - rollr) + rollbias; mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, &error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonardepth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"i:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", i,roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } else { bathymetry->quality[i] = 0; bathymetry->depth[i] = 0.0; bathymetry->acrosstrack[i] = 0.0; bathymetry->alongtrack[i] = 0.0; bathymetry->pointing_angle[i] = 0.0; bathymetry->azimuth_angle[i] = 0.0; } } } /* set flag */ bathymetry->optionaldata = MB_YES; bathymetry->header.OffsetToOptionalData = MBSYS_RESON7K_RECORDHEADER_SIZE + R7KHDRSIZE_7kBathymetricData + bathymetry->number_beams * 9; /* output synchronous attitude */ fprintf(stafp, "%0.6f\t%0.3f\t%0.3f\n", time_d, roll, pitch); } } if (istore->read_backscatter == MB_YES) { backscatter = &(istore->backscatter); header = &(backscatter->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBackscatterImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,backscatter->ping_number,backscatter->number_samples); } if (istore->read_beam == MB_YES) { beam = &(istore->beam); header = &(beam->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kBeamData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d beams:%d samples:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,beam->ping_number,beam->number_beams,beam->number_samples); } if (istore->read_verticaldepth == MB_YES) { verticaldepth = &(istore->verticaldepth); header = &(verticaldepth->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kVerticalDepth: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,verticaldepth->ping_number); } if (istore->read_image == MB_YES) { image = &(istore->image); header = &(image->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d width:%d height:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,image->ping_number,image->width,image->height); } /* regenerate sidescan */ status = mbsys_reson7k_makess(verbose, imbio_ptr, istore_ptr, ss_source, MB_NO, &pixel_size, MB_NO, &swath_width, MB_YES, &error); } /* handle reference point data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_ReferencePoint) { nrec_reference++; reference = &(istore->reference); header = &(reference->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_ReferencePoint: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle uncalibrated sensor offset data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_UncalibratedSensorOffset) { nrec_sensoruncal++; sensoruncal = &(istore->sensoruncal); header = &(sensoruncal->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_UncalibratedSensorOffset: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle calibrated sensor offset data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_CalibratedSensorOffset) { nrec_sensorcal++; sensorcal = &(istore->sensorcal); header = &(sensorcal->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_CalibratedSensorOffset: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle position data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Position) { nrec_position++; position = &(istore->position); header = &(position->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_Position: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle customattitude data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_CustomAttitude) { nrec_customattitude++; customattitude = &(istore->customattitude); header = &(customattitude->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_CustomAttitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle tide data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Tide) { nrec_tide++; tide = &(istore->tide); header = &(fileheader->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Tide: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle altitude data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Altitude) { nrec_altitude++; altituderec = &(istore->altitude); header = &(fileheader->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_Altitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle motion data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_MotionOverGround) { nrec_motion++; motion = &(istore->motion); header = &(motion->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_MotionOverGround: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,motion->n); } /* handle depth data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Depth) { nrec_depth++; depth = &(istore->depth); header = &(depth->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_Depth: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle sound velocity data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_SoundVelocityProfile) { nrec_svp++; svp = &(istore->svp); header = &(svp->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_SoundVelocityProfile: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,svp->n); } /* handle ctd data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_CTD) { nrec_ctd++; ctd = &(istore->ctd); header = &(ctd->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_CTD: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,ctd->n); } /* handle geodesy data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Geodesy) { nrec_geodesy++; geodesy = &(istore->geodesy); header = &(geodesy->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_Geodesy: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle rollpitchheave data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_RollPitchHeave) { nrec_rollpitchheave++; rollpitchheave = &(istore->rollpitchheave); header = &(rollpitchheave->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_RollPitchHeave: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle heading data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Heading) { nrec_heading++; headingrec = &(istore->heading); header = &(headingrec->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_Heading: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle survey line data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_SurveyLine) { nrec_surveyline++; surveyline = &(istore->surveyline); header = &(surveyline->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_SurveyLine: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle navigation data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Navigation) { nrec_navigation++; navigation = &(istore->navigation); header = &(navigation->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_Navigation: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle attitude data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Attitude) { nrec_attitude++; attitude = &(istore->attitude); header = &(attitude->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_Attitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d n:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber,attitude->n); } /* handle file header data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_7kFileHeader) { nrec_fileheader++; fileheader = &(istore->fileheader); header = &(fileheader->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (verbose > 0) fprintf(stderr,"R7KRECID_7kFileHeader: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); } /* handle bluefin ctd data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Bluefin && kind == MB_DATA_SSV) { nrec_bluefinenv++; bluefin = &(istore->bluefin); header = &(bluefin->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); last_bluefinenv_time_d = MAX(last_bluefinenv_time_d, time_d); if (last_bluefinenv_time_d > time_d) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_BluefinEnvironmental: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); for (i=0;inumber_frames;i++) { time_j[0] = bluefin->environmental[i].s7kTime.Year; time_j[1] = bluefin->environmental[i].s7kTime.Day; time_j[2] = 60 * bluefin->environmental[i].s7kTime.Hours + bluefin->environmental[i].s7kTime.Minutes; time_j[3] = (int) bluefin->environmental[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->environmental[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); time_d += timelag; bluefin->environmental[i].ctd_time = time_d; bluefin->environmental[i].temperature_time = time_d; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); bluefin->environmental[i].s7kTime.Year = time_i[0]; bluefin->environmental[i].s7kTime.Day = time_j[1]; bluefin->environmental[i].s7kTime.Hours = time_i[3]; bluefin->environmental[i].s7kTime.Minutes = time_i[4]; bluefin->environmental[i].s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) CTD_time:%f T_time:%f\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->environmental[i].ctd_time, bluefin->environmental[i].temperature_time); /* get nav */ interp_status = MB_SUCCESS; j = 0; if (nins > 0) { interp_status = mb_linear_interp_degrees(verbose, ins_time_d-1, ins_lon-1, nins, time_d, &navlon, &jins, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, ins_time_d-1, ins_lat-1, nins, time_d, &navlat, &jins, &error); } else if (nrock > 0) { interp_status = mb_linear_interp_degrees(verbose, rock_time_d-1, rock_lon-1, nrock, time_d, &navlon, &jrock, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, rock_time_d-1, rock_lat-1, nrock, time_d, &navlat, &jrock, &error); } else if (ndsl > 0) { interp_status = mb_linear_interp_degrees(verbose, dsl_time_d-1, dsl_lon-1, ndsl, time_d, &navlon, &jdsl, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, dsl_time_d-1, dsl_lat-1, ndsl, time_d, &navlat, &jdsl, &error); } else if (ndat_nav > 0) { interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_lon-1, ndat_nav, time_d, &navlon, &jdnav, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_lat-1, ndat_nav, time_d, &navlat, &jdnav, &error); } else { navlon = 0.0; navlat = 0.0; } /* get sonar depth */ if (interp_status != MB_SUCCESS) { } else if (nsonardepth > 0) { if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, sonardepth_time_d-1, sonardepth_sonardepth-1, nsonardepth, time_d, &sonardepth, &jsonardepth, &error); } else if (nins > 0) { interp_status = mb_linear_interp(verbose, ins_time_d-1, ins_sonardepth-1, nins, time_d, &sonardepth, &jins, &error); } else if (nrock > 0) { interp_status = mb_linear_interp(verbose, rock_time_d-1, rock_sonardepth-1, nrock, time_d, &sonardepth, &jrock, &error); } else if (ndsl > 0) { interp_status = mb_linear_interp(verbose, dsl_time_d-1, dsl_sonardepth-1, ndsl, time_d, &sonardepth, &jdsl, &error); } else if (ndat_sonardepth > 0) { sonardepthlag = 0.0; if (sonardepthlagfix == MB_YES && ndat_sonardepth > 1 && sonardepthratemax > 0.0 && interp_status == MB_SUCCESS) { interp_status = mb_linear_interp(verbose, dat_sonardepth_time_d-1, dat_sonardepth_sonardepthrate-1, ndat_sonardepth, time_d, &sonardepthrate, &jdsonardepth, &error); sonardepthlag = sonardepthrate * sonardepthlagmax / sonardepthratemax; if (sonardepthrate >= sonardepthratemax) sonardepthlag = sonardepthlagmax; } if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, dat_sonardepth_time_d-1, dat_sonardepth_sonardepth-1, ndat_sonardepth, time_d + sonardepthlag, &sonardepth, &jdsonardepth, &error); } else if (ndat_rph > 0) { interp_status = mb_linear_interp(verbose, dat_rph_time_d-1, dat_rph_heave-1, ndat_rph, time_d, &heave, &jdattitude, &error); sonardepth = heave; } else { sonardepth = 0.0; } /* get altitude */ if (interp_status != MB_SUCCESS) { } else if (nins > 0) { interp_status = mb_linear_interp(verbose, ins_altitude_time_d-1, ins_altitude-1, nins_altitude, time_d, &altitude, &jins, &error); } else if (ndat_altitude > 0) { interp_status = mb_linear_interp(verbose, dat_altitude_time_d-1, dat_altitude_altitude-1, ndat_altitude, time_d, &altitude, &jdaltitude, &error); } else { altitude = 0.0; } /* output ctd data to file */ fprintf(tfp,"%.3f %11.6f %10.6f %.3f %.3f %.2f %.3f\n", time_d, navlon, navlat, sonardepth, altitude, bluefin->environmental[i].temperature, bluefin->environmental[i].conductivity); } } /* handle bluefin nav data */ else if (status == MB_SUCCESS && istore->type == R7KRECID_Bluefin && kind == MB_DATA_NAV2) { nrec_bluefinnav++; bluefin = &(istore->bluefin); header = &(bluefin->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); last_bluefinnav_time_d = MAX(last_bluefinnav_time_d, time_d); if (last_bluefinnav_time_d > time_d) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } /* get timelag value */ timelag = 0.0; if (timedelaymode == MB7KPREPROCESS_TIMEDELAY_ON && ntimedelay > 0) interp_status = mb_linear_interp(verbose, timedelay_time_d-1, timedelay_timedelay-1, ntimedelay, time_d, &timelag, &jtimedelay, &error); if (timelagmode == MB7KPREPROCESS_TIMELAG_CONSTANT) { timelag -= timelagconstant; } else if (timelagmode == MB7KPREPROCESS_TIMELAG_MODEL && ntimelag > 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, time_d, &timelagm, &jtimelag, &error); timelag -= timelagm; } time_d += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); header->s7kTime.Year = time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = time_i[3]; header->s7kTime.Minutes = time_i[4]; header->s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr,"R7KRECID_BluefinNav: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); for (i=0;inumber_frames;i++) { time_j[0] = bluefin->nav[i].s7kTime.Year; time_j[1] = bluefin->nav[i].s7kTime.Day; time_j[2] = 60 * bluefin->nav[i].s7kTime.Hours + bluefin->nav[i].s7kTime.Minutes; time_j[3] = (int) bluefin->nav[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->nav[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); time_d += timelag; bluefin->nav[i].position_time += timelag; bluefin->nav[i].depth_time += timelag; mb_get_date(verbose, time_d,time_i); mb_get_jtime(verbose, time_i, time_j); bluefin->nav[i].s7kTime.Year = time_i[0]; bluefin->nav[i].s7kTime.Day = time_j[1]; bluefin->nav[i].s7kTime.Hours = time_i[3]; bluefin->nav[i].s7kTime.Minutes = time_i[4]; bluefin->nav[i].s7kTime.Seconds = time_i[5] + 0.000001 * time_i[6]; if (verbose > 0) fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) Pos_time:%f\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->nav[i].position_time); /* output asynchronous heading, sonardepth, and attitude */ fprintf(athfp, "%0.6f\t%7.3f\n", time_d, RTD * bluefin->nav[i].yaw); sonardepth = bluefin->nav[i].depth + depthsensoroffx * sin(bluefin->nav[i].pitch) + depthsensoroffz * cos(bluefin->nav[i].pitch) + sonardepthoffset; fprintf(atsfp, "%0.6f\t%0.3f\n", time_d, sonardepth); fprintf(atafp, "%0.6f\t%0.3f\t%0.3f\n", time_d, RTD * bluefin->nav[i].roll, RTD * bluefin->nav[i].pitch); } } /* handle subbottom data */ else if (status == MB_SUCCESS && kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { nrec_fsdwsbp++; fsdwsb = &(istore->fsdwsb); header = &(fsdwsb->header); time7k_j[0] = header->s7kTime.Year; time7k_j[1] = header->s7kTime.Day; time7k_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time7k_j[3] = (int) header->s7kTime.Seconds; time7k_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time7k_j[3])); mb_get_itime(verbose, time7k_j, time7k_i); mb_get_time(verbose, time7k_i, &time7k_d); last_fsdwsbp_time_d = MAX(last_fsdwsbp_time_d, time7k_d); if (last_fsdwsbp_time_d > time7k_d) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } fsdwchannel = &(fsdwsb->channel); fsdwsegyheader = &(fsdwsb->segyheader); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsubbottom: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d sampint:%d samples:%d\n", time7k_i[0],time7k_i[1],time7k_i[2], time7k_i[3],time7k_i[4],time7k_i[5],time7k_i[6], fsdwsegyheader->year,fsdwsegyheader->day,fsdwsegyheader->hour,fsdwsegyheader->minute,fsdwsegyheader->second, fsdwsegyheader->millisecondsToday - 1000 * (int)(0.001 * fsdwsegyheader->millisecondsToday), fsdwsb->ping_number,fsdwchannel->sample_interval,fsdwchannel->number_samples); /* fix time stamp */ if (fix_time_stamps == MB7KPREPROCESS_TIMEFIX_EDGETECH) { found = MB_NO; for (j=0; j < nedget && found == MB_NO; j++) { if (istore->time_d >= edget_time_d[j]) { found = MB_YES; time_d = istore->time_d + edget_time_offset[j]; mb_get_date(verbose, time_d, time_i); mb_get_jtime(verbose, time_i, time_j); fsdwsegyheader->year = time_i[0]; fsdwsegyheader->day = time_j[1]; fsdwsegyheader->hour = time_i[3]; fsdwsegyheader->minute = time_i[4]; fsdwsegyheader->second = time_i[5]; fsdwsegyheader->millisecondsToday = 0.001 * time_i[6] + 1000 * (time_i[5] + 60.0 * (time_i[4] + 60.0 * time_i[3])); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsubbottom FIXED: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d sampint:%d samples:%d\n", time7k_i[0],time7k_i[1],time7k_i[2], time7k_i[3],time7k_i[4],time7k_i[5],time7k_i[6], fsdwsegyheader->year,fsdwsegyheader->day,fsdwsegyheader->hour,fsdwsegyheader->minute,fsdwsegyheader->second, fsdwsegyheader->millisecondsToday - 1000 * (int)(0.001 * fsdwsegyheader->millisecondsToday), fsdwsb->ping_number,fsdwchannel->sample_interval,fsdwchannel->number_samples); } } } } /* handle low frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN2) { nrec_fsdwsslo++; fsdwsslo = &(istore->fsdwsslo); header = &(fsdwsslo->header); time7k_j[0] = header->s7kTime.Year; time7k_j[1] = header->s7kTime.Day; time7k_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time7k_j[3] = (int) header->s7kTime.Seconds; time7k_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time7k_j[3])); mb_get_itime(verbose, time7k_j, time7k_i); mb_get_time(verbose, time7k_i, &time7k_d); last_fsdwsslo_time_d = MAX(last_fsdwsslo_time_d, time7k_d); if (last_fsdwsslo_time_d > time7k_d) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsslo->channel[i]); fsdwssheader = &(fsdwsslo->ssheader[i]); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsidescanLo: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d channel:%d sampint:%d samples:%d\n", time7k_i[0],time7k_i[1],time7k_i[2], time7k_i[3],time7k_i[4],time7k_i[5],time7k_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsslo->ping_number,fsdwchannel->number, fsdwchannel->sample_interval,fsdwchannel->number_samples); } /* fix time stamp */ if (fix_time_stamps == MB7KPREPROCESS_TIMEFIX_EDGETECH) { found = MB_NO; for (j=0; j < nedget && found == MB_NO; j++) { if (istore->time_d >= edget_time_d[j]) { found = MB_YES; time_d = istore->time_d + edget_time_offset[j]; mb_get_date(verbose, time_d, time_i); mb_get_jtime(verbose, time_i, time_j); for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsslo->channel[i]); fsdwssheader = &(fsdwsslo->ssheader[i]); fsdwssheader->year = time_i[0]; fsdwssheader->day = time_j[1]; fsdwssheader->hour = time_i[3]; fsdwssheader->minute = time_i[4]; fsdwssheader->second = time_i[5]; fsdwssheader->millisecondsToday = 0.001 * time_i[6] + 1000 * (time_i[5] + 60.0 * (time_i[4] + 60.0 * time_i[3])); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsidescanLo FIXED: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d channel:%d sampint:%d samples:%d\n", time7k_i[0],time7k_i[1],time7k_i[2], time7k_i[3],time7k_i[4],time7k_i[5],time7k_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsslo->ping_number,fsdwchannel->number, fsdwchannel->sample_interval,fsdwchannel->number_samples); } } } } } /* handle high frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN3) { nrec_fsdwsshi++; fsdwsshi = &(istore->fsdwsshi); header = &(fsdwsshi->header); time7k_j[0] = header->s7kTime.Year; time7k_j[1] = header->s7kTime.Day; time7k_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time7k_j[3] = (int) header->s7kTime.Seconds; time7k_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time7k_j[3])); mb_get_itime(verbose, time7k_j, time7k_i); mb_get_time(verbose, time7k_i, &time7k_d); last_fsdwsshi_time_d = MAX(last_fsdwsshi_time_d, time7k_d); if (last_fsdwsshi_time_d > time7k_d) { status = MB_FAILURE; error = MB_ERROR_IGNORE; } for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsshi->channel[i]); fsdwssheader = &(fsdwsshi->ssheader[i]); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsidescanHi: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d channel:%d sampint:%d samples:%d\n", time7k_i[0],time7k_i[1],time7k_i[2], time7k_i[3],time7k_i[4],time7k_i[5],time7k_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsshi->ping_number,fsdwchannel->number, fsdwchannel->sample_interval,fsdwchannel->number_samples); } /* fix time stamp */ if (fix_time_stamps == MB7KPREPROCESS_TIMEFIX_EDGETECH) { found = MB_NO; for (j=0; j < nedget && found == MB_NO; j++) { if (istore->time_d >= edget_time_d[j]) { found = MB_YES; time_d = istore->time_d + edget_time_offset[j]; mb_get_date(verbose, time_d, time_i); mb_get_jtime(verbose, time_i, time_j); for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsshi->channel[i]); fsdwssheader = &(fsdwsshi->ssheader[i]); fsdwssheader->year = time_i[0]; fsdwssheader->day = time_j[1]; fsdwssheader->hour = time_i[3]; fsdwssheader->minute = time_i[4]; fsdwssheader->second = time_i[5]; fsdwssheader->millisecondsToday = 0.001 * time_i[6] + 1000 * (time_i[5] + 60.0 * (time_i[4] + 60.0 * time_i[3])); if (verbose > 0) fprintf(stderr,"R7KRECID_FSDWsidescanHi FIXED: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d channel:%d sampint:%d samples:%d\n", time7k_i[0],time7k_i[1],time7k_i[2], time7k_i[3],time7k_i[4],time7k_i[5],time7k_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsshi->ping_number,fsdwchannel->number, fsdwchannel->sample_interval,fsdwchannel->number_samples); } } } } } /* handle unknown data */ else if (status == MB_SUCCESS) { /*fprintf(stderr,"DATA TYPE UNKNOWN: status:%d error:%d kind:%d\n",status,error,kind);*/ nrec_other++; } /* 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); } /*-------------------------------------------- write the processed data --------------------------------------------*/ /* if using AUV ins data log for navigation and attitude, then output these data in new bluefin racords while not outputting any old bluefin records. */ if (nins > 0 && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { /* if first output find starting point in ins, attitude, and speed data */ if (ins_output_index < 0) { for (i = 0; i < nins && ins_time_d[i] < time_d - 1; i++) { /*fprintf(stderr,"i:%d time: %f ins:%f\n",i,time_d,ins_time_d[i]);*/ } ins_output_index = MAX(0,i-1); } /* output bluefin record with 25 samples if survey record has a time later than that of the last sample output */ if (time_d > ins_time_d[ins_output_index]) { bluefin = &(istore->bluefin); header = &(bluefin->header); type_save = istore->type; kind_save = istore->kind; istore->kind = MB_DATA_NAV2; istore->type = R7KRECID_Bluefin; bluefin->number_frames = MIN(25, nins - ins_output_index + 1); header->Version = 4; header->Offset = 60; header->SyncPattern = 65535; header->Size = 100 + 128 * bluefin->number_frames; header->OffsetToOptionalData = 0; header->OptionalDataIdentifier = 0; mb_get_jtime(verbose, istore->time_i, time_j); header->s7kTime.Year = istore->time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = istore->time_i[3]; header->s7kTime.Minutes = istore->time_i[4]; header->s7kTime.Seconds = istore->time_i[5] + 0.000001 * istore->time_i[6]; header->Reserved = 0; header->RecordType = R7KRECID_Bluefin; header->DeviceId = R7KDEVID_Bluefin; header->Reserved2 = 0; header->SystemEnumerator = 0; header->DataSetNumber = 0; header->RecordNumber = 0; for (i=0;i<8;i++) { header->PreviousRecord[i] = 0; header->NextRecord[i] = 0; } header->Flags = 0; header->Reserved3 = 0; header->Reserved4 = 0; header->FragmentedTotal = 0; header->FragmentNumber = 0; bluefin->msec_timestamp = 0; /* bluefin->number_frames = MIN(25, nins - ins_output_index + 1); */ bluefin->frame_size = 128; bluefin->data_format = R7KRECID_BluefinNav; for (i=0;i<16;i++) bluefin->reserved[i] = 0; if (verbose > 0) fprintf(stderr,"R7KRECID_BluefinNav: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], header->RecordNumber); for (i=0;inumber_frames;i++) { bluefin->nav[i].packet_size = 128; bluefin->nav[i].version = 2; bluefin->nav[i].offset = 32; bluefin->nav[i].data_type = 1; bluefin->nav[i].data_size = 96; mb_get_date(verbose, ins_time_d[ins_output_index], time_i); mb_get_jtime(verbose, time_i, time_j); bluefin->nav[i].s7kTime.Year = istore->time_i[0]; bluefin->nav[i].s7kTime.Day = time_j[1]; bluefin->nav[i].s7kTime.Hours = istore->time_i[3]; bluefin->nav[i].s7kTime.Minutes = istore->time_i[4]; bluefin->nav[i].s7kTime.Seconds = istore->time_i[5] + 0.000001 * istore->time_i[6]; if (verbose > 0) fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) Pos_time:%f\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->nav[i].position_time); bluefin->nav[i].checksum = 0; bluefin->nav[i].timedelay = 0; bluefin->nav[i].quality = 0; bluefin->nav[i].latitude = DTR * ins_lat[ins_output_index]; bluefin->nav[i].longitude = DTR * ins_lon[ins_output_index]; speed = bluefin->nav[i].speed; mb_linear_interp(verbose, ins_speed_time_d-1, ins_speed-1, nins_speed, ins_time_d[ins_output_index], &speed, &jins, &error); bluefin->nav[i].depth = ins_sonardepth[ins_output_index]; mb_linear_interp(verbose, ins_altitude_time_d-1, ins_altitude-1, nins_altitude, ins_time_d[ins_output_index], &(bluefin->nav[i].altitude), &jins, &error); bluefin->nav[i].roll = DTR * ins_roll[ins_output_index]; bluefin->nav[i].pitch = DTR * ins_pitch[ins_output_index]; bluefin->nav[i].yaw = DTR * ins_heading[ins_output_index]; bluefin->nav[i].northing_rate = 0; bluefin->nav[i].easting_rate = 0; bluefin->nav[i].depth_rate = 0; bluefin->nav[i].altitude_rate = 0; bluefin->nav[i].roll_rate = 0; bluefin->nav[i].pitch_rate = 0; bluefin->nav[i].yaw_rate = 0; bluefin->nav[i].position_time = ins_time_d[ins_output_index]; bluefin->nav[i].depth_time = ins_time_d[ins_output_index]; ins_output_index++; } /* write the new bluefin record */ status = mb_put_all(verbose,ombio_ptr, istore_ptr,MB_NO,MB_DATA_NAV2, time_i,time_d, navlon,navlat,speed,heading, obeams_bath,obeams_amp,opixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); if (status != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam Data Not Written To File <%s>\n",ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* restore kind and time_i */ istore->type = type_save; istore->kind = kind_save; mb_get_date(verbose, time_d, time_i); } } /* do not output full beam data */ if (error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && istore->read_beam == MB_YES) istore->read_beam = MB_NO; /* write some data */ if (error == MB_ERROR_NO_ERROR && (nins < 1 || kind != MB_DATA_NAV2)) { status = mb_put_all(verbose,ombio_ptr, istore_ptr,MB_NO,kind, time_i,time_d, navlon,navlat,speed,heading, obeams_bath,obeams_amp,opixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); if (status != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam Data Not Written To File <%s>\n",ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); status = mb_close(verbose,&ombio_ptr,&error); fclose(tfp); fclose(athfp); fclose(atsfp); fclose(atafp); fclose(stafp); /* output counts */ fprintf(stdout, "\nData records written to: %s\n", ofile); fprintf(stdout, " File Header: %d\n", nrec_fileheader); fprintf(stdout, " Multibeam: %d\n", nrec_multibeam); fprintf(stdout, " Volatile Settings: %d\n", nrec_volatilesettings); fprintf(stdout, " Match Filter: %d\n", nrec_matchfilter); fprintf(stdout, " Beam Geometry: %d\n", nrec_beamgeometry); fprintf(stdout, " Remote Control: %d\n", nrec_remotecontrolsettings); fprintf(stdout, " Bathymetry: %d\n", nrec_bathymetry); fprintf(stdout, " Backscatter: %d\n", nrec_backscatter); fprintf(stdout, " Beam: %d\n", nrec_beam); fprintf(stdout, " Image: %d\n", nrec_image); fprintf(stdout, " V2PingMotion: %d\n", nrec_v2pingmotion); fprintf(stdout, " V2DetectionSetup: %d\n", nrec_v2detectionsetup); fprintf(stdout, " V2Beamformed: %d\n", nrec_v2beamformed); fprintf(stdout, " V2Detection: %d\n", nrec_v2detection); fprintf(stdout, " V2RawDetection: %d\n", nrec_v2rawdetection); fprintf(stdout, " V2Snippet: %d\n", nrec_v2snippet); fprintf(stdout, " processedsidescan: %d\n", nrec_processedsidescan); fprintf(stdout, " Reference: %d\n", nrec_reference); fprintf(stdout, " Uncalibrated Sensor Offset: %d\n", nrec_sensoruncal); fprintf(stdout, " Calibrated Sensor Offset: %d\n", nrec_sensorcal); fprintf(stdout, " Position: %d\n", nrec_position); fprintf(stdout, " Custom Attitude: %d\n", nrec_customattitude); fprintf(stdout, " Tide: %d\n", nrec_tide); fprintf(stdout, " Altitude: %d\n", nrec_altitude); fprintf(stdout, " Motion Over Ground: %d\n", nrec_motion); fprintf(stdout, " Depth: %d\n", nrec_depth); fprintf(stdout, " Sound Speed Profile: %d\n", nrec_svp); fprintf(stdout, " CTD: %d\n", nrec_ctd); fprintf(stdout, " Geodosy: %d\n", nrec_geodesy); fprintf(stdout, " Roll Pitch Heave: %d\n", nrec_rollpitchheave); fprintf(stdout, " Heading: %d\n", nrec_heading); fprintf(stdout, " Survey Line: %d\n", nrec_surveyline); fprintf(stdout, " Navigation: %d\n", nrec_navigation); fprintf(stdout, " Attitude: %d\n", nrec_attitude); fprintf(stdout, " Edgetech Low Frequency Sidescan: %d\n", nrec_fsdwsslo); fprintf(stdout, " Edgetech High Frequency Sidescan: %d\n", nrec_fsdwsshi); fprintf(stdout, " Edgetech Subbottom: %d\n", nrec_fsdwsbp); fprintf(stdout, " MBARI Mapping AUV Environmental: %d\n", nrec_bluefinnav); fprintf(stdout, " MBARI Mapping AUV Navigation: %d\n", nrec_bluefinenv); fprintf(stdout, " Configuration: %d\n", nrec_configuration); fprintf(stdout, " Calibration: %d\n", nrec_calibration); fprintf(stdout, " Vertical Depth: %d\n", nrec_verticaldepth); fprintf(stdout, " Installation: %d\n", nrec_installation); fprintf(stdout, " System Event Message: %d\n", nrec_systemeventmessage); fprintf(stdout, " Other: %d\n", nrec_other); nrec_fileheader_tot += nrec_fileheader; nrec_multibeam_tot += nrec_multibeam; nrec_volatilesettings_tot += nrec_volatilesettings; nrec_matchfilter_tot += nrec_matchfilter; nrec_beamgeometry_tot += nrec_beamgeometry; nrec_remotecontrolsettings_tot += nrec_remotecontrolsettings; nrec_bathymetry_tot += nrec_bathymetry; nrec_backscatter_tot += nrec_backscatter; nrec_beam_tot += nrec_beam; nrec_image_tot += nrec_image; nrec_v2pingmotion_tot += nrec_v2pingmotion; nrec_v2detectionsetup_tot += nrec_v2detectionsetup; nrec_v2beamformed_tot += nrec_v2beamformed; nrec_v2detection_tot += nrec_v2detection; nrec_v2rawdetection_tot += nrec_v2rawdetection; nrec_v2snippet_tot += nrec_v2snippet; nrec_processedsidescan_tot += nrec_processedsidescan; nrec_reference_tot += nrec_reference; nrec_sensoruncal_tot += nrec_sensoruncal; nrec_sensorcal_tot += nrec_sensorcal; nrec_position_tot += nrec_position; nrec_customattitude_tot += nrec_customattitude; nrec_tide_tot += nrec_tide; nrec_altitude_tot += nrec_altitude; nrec_motion_tot += nrec_motion; nrec_depth_tot += nrec_depth; nrec_svp_tot += nrec_svp; nrec_ctd_tot += nrec_ctd; nrec_geodesy_tot += nrec_geodesy; nrec_rollpitchheave_tot += nrec_rollpitchheave; nrec_heading_tot += nrec_heading; nrec_surveyline_tot += nrec_surveyline; nrec_navigation_tot += nrec_navigation; nrec_attitude_tot += nrec_attitude; nrec_fsdwsbp_tot += nrec_fsdwsbp; nrec_fsdwsslo_tot += nrec_fsdwsslo; nrec_fsdwsshi_tot += nrec_fsdwsshi; nrec_bluefinenv_tot += nrec_bluefinenv; nrec_position_tot += nrec_position; nrec_bluefinnav_tot += nrec_bluefinnav; nrec_configuration_tot += nrec_configuration; nrec_calibration_tot += nrec_calibration; nrec_verticaldepth_tot += nrec_verticaldepth; nrec_installation_tot += nrec_installation; nrec_systemeventmessage_tot += nrec_systemeventmessage; nrec_other_tot += nrec_other; /* generate inf fnv and fbt files */ if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, ofile, format, &error); } /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, ifile,&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); /* output counts */ fprintf(stdout, "\nTotal data records written from: %s\n", read_file); fprintf(stdout, " File Header: %d\n", nrec_fileheader_tot); fprintf(stdout, " Multibeam: %d\n", nrec_multibeam_tot); fprintf(stdout, " Volatile Settings: %d\n", nrec_volatilesettings_tot); fprintf(stdout, " Match Filter: %d\n", nrec_matchfilter_tot); fprintf(stdout, " Beam Geometry: %d\n", nrec_beamgeometry_tot); fprintf(stdout, " Remote Control: %d\n", nrec_remotecontrolsettings_tot); fprintf(stdout, " Bathymetry: %d\n", nrec_bathymetry_tot); fprintf(stdout, " Backscatter: %d\n", nrec_backscatter_tot); fprintf(stdout, " Beam: %d\n", nrec_beam_tot); fprintf(stdout, " Image: %d\n", nrec_image_tot); fprintf(stdout, " V2PingMotion: %d\n", nrec_v2pingmotion_tot); fprintf(stdout, " V2DetectionSetup: %d\n", nrec_v2detectionsetup_tot); fprintf(stdout, " V2Beamformed: %d\n", nrec_v2beamformed_tot); fprintf(stdout, " V2Detection: %d\n", nrec_v2detection_tot); fprintf(stdout, " V2RawDetection: %d\n", nrec_v2rawdetection_tot); fprintf(stdout, " V2Snippet: %d\n", nrec_v2snippet_tot); fprintf(stdout, " processedsidescan: %d\n", nrec_processedsidescan_tot); fprintf(stdout, " Reference: %d\n", nrec_reference_tot); fprintf(stdout, " Uncalibrated Sensor Offset: %d\n", nrec_sensoruncal_tot); fprintf(stdout, " Calibrated Sensor Offset: %d\n", nrec_sensorcal_tot); fprintf(stdout, " Position: %d\n", nrec_position_tot); fprintf(stdout, " Custom Attitude: %d\n", nrec_customattitude_tot); fprintf(stdout, " Tide: %d\n", nrec_tide_tot); fprintf(stdout, " Altitude: %d\n", nrec_altitude_tot); fprintf(stdout, " Motion Over Ground: %d\n", nrec_motion_tot); fprintf(stdout, " Depth: %d\n", nrec_depth_tot); fprintf(stdout, " Sound Speed Profile: %d\n", nrec_svp_tot); fprintf(stdout, " CTD: %d\n", nrec_ctd_tot); fprintf(stdout, " Geodosy: %d\n", nrec_geodesy_tot); fprintf(stdout, " Roll Pitch Heave: %d\n", nrec_rollpitchheave_tot); fprintf(stdout, " Heading: %d\n", nrec_heading_tot); fprintf(stdout, " Survey Line: %d\n", nrec_surveyline_tot); fprintf(stdout, " Navigation: %d\n", nrec_navigation_tot); fprintf(stdout, " Attitude: %d\n", nrec_attitude_tot); fprintf(stdout, " Edgetech Low Frequency Sidescan: %d\n", nrec_fsdwsslo_tot); fprintf(stdout, " Edgetech High Frequency Sidescan: %d\n", nrec_fsdwsshi_tot); fprintf(stdout, " Edgetech Subbottom: %d\n", nrec_fsdwsbp_tot); fprintf(stdout, " MBARI Mapping AUV Environmental: %d\n", nrec_bluefinnav_tot); fprintf(stdout, " MBARI Mapping AUV Navigation: %d\n", nrec_bluefinenv_tot); fprintf(stdout, " Configuration: %d\n", nrec_configuration_tot); fprintf(stdout, " Calibration: %d\n", nrec_calibration_tot); fprintf(stdout, " Vertical Depth: %d\n", nrec_verticaldepth_tot); fprintf(stdout, " Installation: %d\n", nrec_installation_tot); fprintf(stdout, " System Event Message: %d\n", nrec_systemeventmessage_tot); fprintf(stdout, " Other: %d\n", nrec_other_tot); } /* deallocate navigation arrays */ if (ndat_nav > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_lon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_lat,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_speed,&error); } if (ndat_sonardepth > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_sonardepth_sonardepth,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_sonardepth_sonardepthrate,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_sonardepth_sonardepthfilter,&error); } if (ndat_heading > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_heading_heading,&error); } if (ndat_rph > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_rph_roll,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_rph_pitch,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_rph_heave,&error); } if (ndat_altitude > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_altitude_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_altitude_altitude,&error); } if (ntimedelay > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&timedelay_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&timedelay_timedelay,&error); } if (nbatht > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&batht_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&batht_ping,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&batht_time_d_new,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&batht_time_offset,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&batht_ping_offset,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&batht_good_offset,&error); } if (nedget > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&edget_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&edget_ping,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&edget_time_d_new,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&edget_time_offset,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&edget_ping_offset,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&edget_good_offset,&error); } if (nins > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_lon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_lat,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_heading,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_roll,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_pitch,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_sonardepth,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_sonardepthfilter,&error); } if (nrock > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_lon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_lat,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_sonardepth,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_sonardepthfilter,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_heading,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_roll,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&rock_pitch,&error); } if (ndsl > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_lon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_lat,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_sonardepth,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_sonardepthfilter,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_heading,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_roll,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dsl_pitch,&error); } if (nins_altitude > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_altitude_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_altitude,&error); } if (nins_speed > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_speed_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&ins_speed,&error); } if (nsonardepth > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sonardepth_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sonardepth_sonardepth,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sonardepth_sonardepthfilter,&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); } /*--------------------------------------------------------------------*/