/*-------------------------------------------------------------------- * The MB-system: mbinfo.c 2/1/93 * $Id: mbinfo.c 1975 2012-07-11 19:16:56Z caress $ * * Copyright (c) 1993-2012 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. *--------------------------------------------------------------------*/ /* * MBINFO reads a swath sonar data file and outputs * some basic statistics. If pings are averaged (pings > 2) * MBINFO estimates the variance for each of the swath * bathymetry beams by reading a set number of pings (>2) and then finding * the variance of the detrended values for each beam. The variances * for the amplitude beams and sidescan values are * calculated without detrending. * The results are dumped to stdout. * * Author: D. W. Caress * Date: February 1, 1993 * * $Log: mbinfo.c,v $ * Revision 5.30 2009/03/02 18:54:40 caress * Fixed pixel size problems with mbmosaic, resurrected program mbfilter, and also updated copyright dates in several source files. * * Revision 5.29 2008/10/17 07:52:44 caress * Check in on October 17, 2008. * * Revision 5.28 2008/07/10 18:16:33 caress * Proceeding towards 5.1.1beta20. * * Revision 5.26 2008/05/16 22:44:37 caress * Release 5.1.1beta18 * * Revision 5.25 2007/10/08 16:48:07 caress * State of the code on 8 October 2007. * * Revision 5.24 2006/02/03 21:10:39 caress * Working on supporting water column datagrams in Simrad formats. * * Revision 5.23 2006/01/20 19:34:48 caress * Working towards 5.0.8 * * Revision 5.22 2006/01/18 15:17:00 caress * Added stdlib.h include. * * Revision 5.21 2006/01/06 18:19:59 caress * Working towards 5.0.8 * * Revision 5.20 2005/11/05 01:07:54 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.19 2005/03/25 04:43:01 caress * Standardized the string lengths used for filenames and comment data. * * Revision 5.18 2004/12/02 06:38:09 caress * Fixes while supporting Reson 7k data. * * Revision 5.17 2004/09/16 00:59:15 caress * Fixed good-nav-only mode. * * Revision 5.16 2004/07/15 19:33:57 caress * Improvements to support for Reson 7k data. * * Revision 5.15 2004/04/27 02:59:48 caress * Added support for subbottom data. * * Revision 5.14 2003/04/17 21:18:57 caress * Release 5.0.beta30 * * Revision 5.13 2002/10/02 23:56:06 caress * Release 5.0.beta24 * * Revision 5.12 2002/09/19 00:28:12 caress * Release 5.0.beta23 * * Revision 5.11 2002/07/20 20:56:55 caress * Release 5.0.beta20 * * Revision 5.10 2002/05/29 23:43:09 caress * Release 5.0.beta18 * * Revision 5.9 2002/02/22 09:07:08 caress * Release 5.0.beta13 * * Revision 5.8 2001/11/20 20:41:55 caress * Reset output of comments to not use ##. * * Revision 5.7 2001/11/20 02:00:19 caress * Now prints ## before comments when -C option used. * * Revision 5.6 2001/10/25 16:02:55 caress * Fixed bug in parsing DRAFT metadata tag. * * Revision 5.5 2001/09/17 23:21:14 caress * Fixed metadata support. * * Revision 5.4 2001/08/10 22:42:50 dcaress * Release 5.0.beta07 * * Revision 5.3 2001-07-19 17:34:38-07 caress * Release 5.0.beta03 * * Revision 5.2 2001/06/03 07:07:34 caress * Release 5.0.beta01. * * Revision 5.1 2001/03/22 21:15:49 caress * Trying to make release 5.0.beta0. * * Revision 5.0 2000/12/01 22:57:08 caress * First cut at Version 5.0. * * Revision 4.21 2000/10/11 01:06:15 caress * Convert to ANSI C * * Revision 4.20 2000/09/30 07:06:28 caress * Snapshot for Dale. * * Revision 4.19 2000/09/11 20:10:02 caress * Linked to new datalist parsing functions. Now supports recursive datalists * and comments in datalists. * * Revision 4.18 1999/03/31 18:33:06 caress * MB-System 4.6beta7 * * Revision 4.17 1998/10/05 19:19:24 caress * MB-System version 4.6beta * * Revision 4.16 1997/04/21 17:19:14 caress * MB-System 4.5 Beta Release. * * Revision 4.16 1997/04/17 15:14:38 caress * MB-System 4.5 Beta Release * * Revision 4.15 1996/04/22 13:23:05 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.14 1995/11/28 21:03:36 caress * Fixed scaling for meters to feet. * * Revision 4.13 1995/11/22 22:21:36 caress * Now handles bathymetry in feet with -W option. * * Revision 4.12 1995/07/18 17:14:55 caress * Added -G option to try to exclude bad nav from min max results. * * Revision 4.11 1995/05/12 17:12:32 caress * Made exit status values consistent with Unix convention. * 0: ok nonzero: error * * Revision 4.10 1995/05/08 21:32:34 caress * Fixed ability to read from stdin. * * Revision 4.9 1995/03/06 19:37:59 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.8 1995/03/02 13:49:21 caress * Fixed bug related to error messages. * * Revision 4.7 1995/02/27 14:43:18 caress * Fixed bug regarding closing a text input file. * * Revision 4.6 1995/01/06 00:06:41 caress * Can now read from either single data files or from multiple * data files specified in a datalist. * * Revision 4.5 1994/11/03 18:33:41 caress * Embellished the output a bit, with speed in knots for * the "units impaired". * * Revision 4.4 1994/11/03 13:28:44 caress * Added percentages to data quality statistics. * * Revision 4.3 1994/10/21 13:02:31 caress * Release V4.0 * * Revision 4.2 1994/04/28 01:32:57 caress * Changed mb_get to mb_read so that min/max of longitude can * be calculated using both navigation and beam data. * * Revision 4.1 1994/03/12 01:44:37 caress * Added declarations of ctime and/or getenv for compatability * with SGI compilers. * * Revision 4.0 1994/03/06 00:13:22 caress * First cut at version 4.0 * * Revision 4.1 1994/03/02 22:45:03 caress * Fixed calculations of mean and variance values for * amplitude and sidescan data. * * Revision 4.0 1994/03/01 18:59:27 caress * First cut at new version. Any changes are associated with * support of three data types (beam bathymetry, beam amplitude, * and sidescan) instead of two (bathymetry and backscatter). * * Revision 3.3 1993/06/29 23:57:14 caress * Made NOT printing out comments the default, with -C * instead of -N now the comment printing toggle. * Added julian day to the begin and end time strings. * * Revision 3.2 1993/06/17 16:14:13 caress * Initialized several variables so that the programs does * not print out trash if no data is found. * * Revision 3.1 1993/06/12 04:29:33 caress * Added -N option which prevents mbinfo from listing out * comments encountered in the input data file. * * Revision 3.0 1993/05/04 22:38:24 dale * Inital version. * */ /* standard include files */ #include #include #include #include #include /* MBIO include files */ #include "../../include/mb_status.h" #include "../../include/mb_define.h" #include "../../include/mb_io.h" #define MBINFO_MAXPINGS 50 struct ping { char *beamflag; double *bath; double *bathlon; double *bathlat; double *amp; double *ss; double *sslon; double *sslat; }; /* output formats */ #define FREE_TEXT 0 #define JSON 1 #define XML 2 #define MAX_OUTPUT_FORMAT 2 static char rcs_id[] = "$Id: mbinfo.c 1975 2012-07-11 19:16:56Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "MBINFO"; char help_message[] = "MBINFO reads a swath sonar data file and outputs\n" "some basic statistics. If pings are averaged (pings > 2)\n" "MBINFO estimates the variance for each of the swath\n" "beams by reading a set number of pings (>2) and then finding\n" "the variance of the detrended values for each beam.\n" "The results are dumped to stdout."; char usage_message[] = "mbinfo [-Byr/mo/da/hr/mn/sc -C " "-Eyr/mo/da/hr/mn/sc -Fformat -G -Ifile -Llonflip -Mnx/ny " "-N -O -Ppings -Rw/e/s/n -Sspeed -W -V -H -XinfFormat]"; 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; char format_description[MB_DESCRIPTION_LENGTH]; /* 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; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; char file[MB_PATH_MAXLINE]; int pings_get = 1; int pings_read = 1; int beams_bath_alloc = 0; int beams_amp_alloc = 0; int pixels_ss_alloc = 0; int beams_bath_max = 0; int beams_amp_max = 0; int pixels_ss_max = 0; int beams_bath = 0; int beams_amp = 0; int pixels_ss = 0; /* MBIO read values */ void *mbio_ptr = NULL; struct mb_io_struct *mb_io_ptr; int kind; struct ping *data[MBINFO_MAXPINGS]; struct ping *datacur; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; char *beamflag = NULL; double *bath = NULL; double *bathlon = NULL; double *bathlat = NULL; double *amp = NULL; double *ss = NULL; double *sslon = NULL; double *sslat = NULL; char comment[MB_COMMENT_MAXLINE]; int icomment = 0; /* metadata controls */ int imetadata = 0; int meta_vessel = 0; int meta_institution = 0; int meta_platform = 0; int meta_sonar = 0; int meta_sonarversion = 0; int meta_cruiseid = 0; int meta_cruisename = 0; int meta_pi = 0; int meta_piinstitution = 0; int meta_client = 0; int meta_svcorrected = 0; int meta_tidecorrected = 0; int meta_batheditmanual = 0; int meta_batheditauto = 0; int meta_rollbias = 0; int meta_pitchbias = 0; int meta_headingbias = 0; int meta_draft = 0; /* mbinfo control parameters */ int comments = MB_NO; int good_nav_only = MB_NO; int good_nav; double speed_threshold = 50.0; int bathy_in_feet = MB_NO; double bathy_scale; int lonflip_use = 0; int lonflip_set = MB_NO; /* limit variables */ double lonmin = 0.0; double lonmax = 0.0; double latmin = 0.0; double latmax = 0.0; double sdpmin = 0.0; double sdpmax = 0.0; double altmin = 0.0; double altmax = 0.0; double bathmin = 0.0; double bathmax = 0.0; double ampmin = 0.0; double ampmax = 0.0; double ssmin = 0.0; double ssmax = 0.0; double bathbeg = 0.0; double bathend = 0.0; double lonbeg = 0.0; double latbeg = 0.0; double lonend = 0.0; double latend = 0.0; double spdbeg = 0.0; double hdgbeg = 0.0; double sdpbeg = 0.0; double altbeg = 0.0; double spdend = 0.0; double hdgend = 0.0; double sdpend = 0.0; double altend = 0.0; double timbeg = 0.0; double timend = 0.0; int timbeg_i[7]; int timend_i[7]; int timbeg_j[5]; int timend_j[5]; double distot = 0.0; double timtot = 0.0; double spdavg = 0.0; int irec = 0; int isbtmrec = 0; double timbegfile = 0.0; double timendfile = 0.0; double distotfile = 0.0; double timtotfile = 0.0; double spdavgfile = 0.0; int irecfile = 0; int ntdbeams = 0; int ngdbeams = 0; int nzdbeams = 0; int nfdbeams = 0; int ntabeams = 0; int ngabeams = 0; int nzabeams = 0; int nfabeams = 0; int ntsbeams = 0; int ngsbeams = 0; int nzsbeams = 0; int nfsbeams = 0; double ngd_percent; double nzd_percent; double nfd_percent; double nga_percent; double nza_percent; double nfa_percent; double ngs_percent; double nzs_percent; double nfs_percent; int beginnav = MB_NO; int beginsdp = MB_NO; int beginalt = MB_NO; int beginbath = MB_NO; int beginamp = MB_NO; int beginss = MB_NO; int nread = 0; /* variance finding variables */ int nbath; int namp; int nss; double sumx, sumxx, sumy, sumxy, delta; double a, b, dev, mean, variance; double *bathmean = NULL; double *bathvar = NULL; int *nbathvar = NULL; double *ampmean = NULL; double *ampvar = NULL; int *nampvar = NULL; double *ssmean = NULL; double *ssvar = NULL; int *nssvar = NULL; int nbathtot_alloc = 0; int namptot_alloc = 0; int nsstot_alloc = 0; double *bathmeantot = NULL; double *bathvartot = NULL; int *nbathvartot = NULL; double *ampmeantot = NULL; double *ampvartot = NULL; int *nampvartot = NULL; double *ssmeantot = NULL; double *ssvartot = NULL; int *nssvartot = NULL; /* coverage mask variables */ int coverage_mask = MB_NO; int pass; int done; int mask_nx = 0; int mask_ny = 0; double mask_dx = 0.0; double mask_dy = 0.0; int *mask = NULL; /* notice variables */ int print_notices = MB_NO; int notice_list[MB_NOTICE_MAX]; int notice_list_tot[MB_NOTICE_MAX]; int notice_total; char *notice_msg; /* output stream for basic stuff (stdout if verbose <= 1, output if verbose > 1) */ FILE *stream = NULL; FILE *output = NULL; int output_usefile = MB_NO; char output_file[MB_PATH_MAXLINE]; char *fileprint; int output_format = FREE_TEXT; int len1,len2; char string[500]; int read_data; double speed_apparent, time_d_last; int val_int; double val_double; int ix, iy; int i, j, k; double sigma; char *getenv(); /* initialize some variables */ for (i=0;i<7;i++) { timbeg_i[i] = 0; timend_i[i] = 0; } for (i=0;i MBINFO_MAXPINGS) pings_read = MBINFO_MAXPINGS; flag++; break; case 'R': case 'r': mb_get_bounds(optarg, bounds); flag++; break; case 'S': case 's': sscanf (optarg,"%lf", &speedmin); flag++; break; case 'T': case 't': sscanf (optarg,"%lf", &timegap); flag++; break; case 'V': case 'v': verbose++; break; case 'W': case 'w': bathy_in_feet = MB_YES; break; case 'X': case 'x': sscanf (optarg,"%d",&output_format); if (output_format < 0 || output_format > MAX_OUTPUT_FORMAT) { errflg++; fprintf(stream,"Invalid output format for inf file"); } flag++; break; case '?': errflg++; } /* set output stream */ if (verbose <= 1) stream = stdout; else stream = stderr; /* if error flagged then print it and exit */ if (errflg) { fprintf(stream,"usage: %s\n", usage_message); fprintf(stream,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stream,"\nProgram %s\n",program_name); fprintf(stream,"Version %s\n",rcs_id); fprintf(stream,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stream,"\ndbg2 Program <%s>\n",program_name); fprintf(stream,"dbg2 Version %s\n",rcs_id); fprintf(stream,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stream,"dbg2 Control Parameters:\n"); fprintf(stream,"dbg2 verbose: %d\n",verbose); fprintf(stream,"dbg2 help: %d\n",help); fprintf(stream,"dbg2 format: %d\n",format); fprintf(stream,"dbg2 pings: %d\n",pings_read); fprintf(stream,"dbg2 lonflip: %d\n",lonflip); fprintf(stream,"dbg2 bounds[0]: %f\n",bounds[0]); fprintf(stream,"dbg2 bounds[1]: %f\n",bounds[1]); fprintf(stream,"dbg2 bounds[2]: %f\n",bounds[2]); fprintf(stream,"dbg2 bounds[3]: %f\n",bounds[3]); fprintf(stream,"dbg2 btime_i[0]: %d\n",btime_i[0]); fprintf(stream,"dbg2 btime_i[1]: %d\n",btime_i[1]); fprintf(stream,"dbg2 btime_i[2]: %d\n",btime_i[2]); fprintf(stream,"dbg2 btime_i[3]: %d\n",btime_i[3]); fprintf(stream,"dbg2 btime_i[4]: %d\n",btime_i[4]); fprintf(stream,"dbg2 btime_i[5]: %d\n",btime_i[5]); fprintf(stream,"dbg2 btime_i[6]: %d\n",btime_i[6]); fprintf(stream,"dbg2 etime_i[0]: %d\n",etime_i[0]); fprintf(stream,"dbg2 etime_i[1]: %d\n",etime_i[1]); fprintf(stream,"dbg2 etime_i[2]: %d\n",etime_i[2]); fprintf(stream,"dbg2 etime_i[3]: %d\n",etime_i[3]); fprintf(stream,"dbg2 etime_i[4]: %d\n",etime_i[4]); fprintf(stream,"dbg2 etime_i[5]: %d\n",etime_i[5]); fprintf(stream,"dbg2 etime_i[6]: %d\n",etime_i[6]); fprintf(stream,"dbg2 speedmin: %f\n",speedmin); fprintf(stream,"dbg2 timegap: %f\n",timegap); fprintf(stream,"dbg2 good_nav: %d\n",good_nav_only); fprintf(stream,"dbg2 comments: %d\n",comments); fprintf(stream,"dbg2 file: %s\n",read_file); fprintf(stream,"dbg2 bathy feet: %d\n",bathy_in_feet); fprintf(stream,"dbg2 lonflip_set:%d\n",lonflip_set); fprintf(stream,"dbg2 coverage: %d\n",coverage_mask); if (coverage_mask == MB_YES) { fprintf(stream,"dbg2 mask_nx: %d\n",mask_nx); fprintf(stream,"dbg2 mask_ny: %d\n",mask_ny); } } /* if help desired then print it and exit */ if (help) { fprintf(stream,"\n%s\n",help_message); fprintf(stream,"\nusage: %s\n", usage_message); exit(error); } /* get format if required */ if (format == 0) mb_get_format(verbose,read_file,NULL,&format,&error); /* set bathymetry scaling */ if (bathy_in_feet == MB_YES) bathy_scale = 1.0 / 0.3048; else bathy_scale = 1.0; /* determine whether to read one file or a list of files */ if (format < 0) read_datalist = MB_YES; /* if reading from datalist then variance calculations are disabled */ if (read_datalist == MB_YES) pings_read = 1; /* Open output file if requested */ if (output_usefile == MB_YES) { strcpy(output_file, read_file); switch (output_format) { case FREE_TEXT: strcat(output_file, ".inf"); break; case JSON: strcat(output_file,"_inf.json"); break; case XML: strcat(output_file,"_inf.xml"); break; case '?': break; } if ((output = fopen(output_file, "w")) == NULL) output = stream; } else { output = stream; } switch (output_format) { case FREE_TEXT: break; case JSON: fprintf(output,"{\n"); break; case XML: fprintf(output,"\n"); break; case '?': break; } /* read only once unless coverage mask requested */ pass = 0; done = MB_NO; while (done == MB_NO) { /* open file list */ if (read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose,&datalist, read_file,look_processed,&error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", read_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(file, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES) { /* initialize reading the swath file */ if ((status = mb_read_init( verbose,file,format,pings_get,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &mbio_ptr,&btime_d,&etime_d, &beams_bath_alloc, &beams_amp_alloc, &pixels_ss_alloc, &error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stream,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stream,"\nSwath File <%s> not initialized for reading\n",file); fprintf(stream,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* allocate memory for data arrays */ for (i=0;ibeamflag = NULL; datacur->bath = NULL; datacur->amp = NULL; datacur->bathlon = NULL; datacur->bathlat = NULL; datacur->ss = NULL; datacur->sslon = NULL; datacur->sslat = NULL; } if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&datacur->beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&datacur->bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&datacur->amp, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&datacur->bathlon, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&datacur->bathlat, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&datacur->ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&datacur->sslon, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&datacur->sslat, &error); } if (pings_read > 1 && pass == 0) { if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathmean, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathvar, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(int), (void **)&nbathvar, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double),(void **) &mean, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&var, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(int), (void **)&nampvar, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssmean, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssvar, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(int), (void **)&nssvar, &error); } /* if coverage mask requested get cell sizes */ if (pass == 1 && coverage_mask == MB_YES) { if (mask_nx > 1 && mask_ny <= 0) { if ((lonmax - lonmin) > (latmax - latmin)) { mask_ny = mask_nx * (latmax - latmin) / (lonmax - lonmin); } else { mask_ny = mask_nx; mask_nx = mask_ny * (lonmax - lonmin) / (latmax - latmin); if (mask_ny < 2) mask_ny = 2; } } if (mask_nx < 2) mask_nx = 2; if (mask_ny < 2) mask_ny = 2; mask_dx = (lonmax - lonmin) / mask_nx; mask_dy = (latmax - latmin) / mask_ny; /* allocate mask */ status = mb_mallocd(verbose,__FILE__,__LINE__,mask_nx*mask_ny*sizeof(int), (void **)&mask,&error); } /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stream,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stream,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize data arrays */ irecfile = 0; distotfile = 0.0; timtotfile = 0.0; spdavgfile = 0.0; if (pass == 0 && pings_read > 1) { for (i=0;i\n"); fprintf(output,"\t\t%s\n",fileprint); fprintf(output,"\t\t%d\n",format); len1=strspn(format_description,"Formatname: "); len2=strcspn(&format_description[len1],"\n"); strncpy(string,&format_description[len1],len2); fprintf(output,"\t\t%s\n",string); len1+=len2+1; len1+=strspn(&format_description[len1],"InformalDescription: "); len2=strcspn(&format_description[len1],"\n"); strncpy(string,&format_description[len1],len2); fprintf(output,"\t\t%s\n",string); len1+=len2+1; len1+=strspn(&format_description[len1],"Attributes: "); len2=strlen(format_description); format_description[strlen(format_description)-1]='\0'; for (len2=len1;len2<=strlen(format_description);len2++) if (format_description[len2]==10)format_description[len2]=' '; fprintf(output,"\t\t%s\n",&format_description[len1]); fprintf(output,"\t\n"); break; case '?': errflg++; } } /* read and process data */ while (error <= MB_ERROR_NO_ERROR) { nread = 0; error = MB_ERROR_NO_ERROR; while (nread < pings_read && error == MB_ERROR_NO_ERROR) { /* read a ping of data */ datacur = data[nread]; status = mb_read(verbose,mbio_ptr,&kind,&pings, time_i,&time_d, &navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, datacur->beamflag,datacur->bath,datacur->amp, datacur->bathlon,datacur->bathlat, datacur->ss,datacur->sslon,datacur->sslat, comment,&error); /* use local pointers for convenience - do not set these before the mb_read call because registered arrays can be dynamically reallocated during mb_read, mb_get, and mb_get_all calls */ beamflag = datacur->beamflag; bath = datacur->bath; amp = datacur->amp; bathlon = datacur->bathlon; bathlat = datacur->bathlat; ss = datacur->ss; sslon = datacur->sslon; sslat = datacur->sslat; /* increment counters */ if (pass == 0 && (error == MB_ERROR_NO_ERROR || error == MB_ERROR_TIME_GAP)) { irec++; irecfile++; nread++; } /* print comment records */ if (pass == 0 && error == MB_ERROR_COMMENT && comments == MB_YES) { if (strncmp(comment,"META",4) != 0) { if (icomment == 0) { switch (output_format) { case FREE_TEXT: fprintf(output,"\nComments in file %s:\n",file); icomment++; break; case '?': break; } } switch (output_format) { case FREE_TEXT: fprintf(output," %s\n",comment); break; case JSON: fprintf(output,"\"comment\":\"%s\",\n",comment); break; case XML: fprintf(output,"\t%s\n",comment); break; case '?': break; } } } /* print metadata */ if (pass == 0 && error == MB_ERROR_COMMENT && strncmp(comment,"META",4) == 0) { switch (output_format) { case FREE_TEXT: if (imetadata == 0) { fprintf(output,"\nMetadata:\n"); imetadata++; } if (strncmp(comment, "METAVESSEL:", 11) == 0) { if (meta_vessel == 0) fprintf(output,"Vessel: %s\n", &comment[11]); meta_vessel++; } else if (strncmp(comment, "METAINSTITUTION:", 16) == 0) { if (meta_institution == 0) fprintf(output,"Institution: %s\n", &comment[16]); meta_institution++; } else if (strncmp(comment, "METAPLATFORM:", 13) == 0) { if (meta_platform == 0) fprintf(output,"Platform: %s\n", &comment[13]); meta_platform++; } else if (strncmp(comment, "METASONARVERSION:", 17) == 0) { if (meta_sonarversion == 0) fprintf(output,"Sonar Version: %s\n", &comment[17]); meta_sonarversion++; } else if (strncmp(comment, "METASONAR:", 10) == 0) { if (meta_sonar == 0) fprintf(output,"Sonar: %s\n", &comment[10]); meta_sonar++; } else if (strncmp(comment, "METACRUISEID:", 13) == 0) { if (meta_cruiseid == 0) fprintf(output,"Cruise ID: %s\n", &comment[13]); meta_cruiseid++; } else if (strncmp(comment, "METACRUISENAME:", 15) == 0) { if (meta_cruisename == 0) fprintf(output,"Cruise Name: %s\n", &comment[15]); meta_cruisename++; } else if (strncmp(comment, "METAPI:", 7) == 0) { if (meta_pi == 0) fprintf(output,"PI: %s\n", &comment[7]); meta_pi++; } else if (strncmp(comment, "METAPIINSTITUTION:", 18) == 0) { if (meta_piinstitution == 0) fprintf(output,"PI Institution: %s\n", &comment[18]); meta_piinstitution++; } else if (strncmp(comment, "METACLIENT:", 11) == 0) { if (meta_client == 0) fprintf(output,"Client: %s\n", &comment[11]); meta_client++; } else if (strncmp(comment, "METASVCORRECTED:", 16) == 0) { if (meta_svcorrected == 0) { sscanf(comment, "METASVCORRECTED:%d", &val_int); if (val_int == MB_YES) fprintf(output,"Corrected Depths: YES\n"); else fprintf(output,"Corrected Depths: NO\n"); } meta_svcorrected++; } else if (strncmp(comment, "METATIDECORRECTED:", 18) == 0) { if (meta_tidecorrected == 0) { sscanf(comment, "METATIDECORRECTED:%d", &val_int); if (val_int == MB_YES) fprintf(output,"Tide Corrected: YES\n"); else fprintf(output,"Tide Corrected: NO\n"); } meta_tidecorrected++; } else if (strncmp(comment, "METABATHEDITMANUAL:", 19) == 0) { if (meta_batheditmanual == 0) { sscanf(comment, "METABATHEDITMANUAL:%d", &val_int); if (val_int == MB_YES) fprintf(output,"Depths Manually Edited: YES\n"); else fprintf(output,"Depths Manually Edited: NO\n"); } meta_batheditmanual++; } else if (strncmp(comment, "METABATHEDITAUTO:", 17) == 0) { if (meta_batheditauto == 0) { sscanf(comment, "METABATHEDITAUTO:%d", &val_int); if (val_int == MB_YES) fprintf(output,"Depths Auto-Edited: YES\n"); else fprintf(output,"Depths Auto-Edited: NO\n"); } meta_batheditauto++; } else if (strncmp(comment, "METAROLLBIAS:", 13) == 0) { if (meta_rollbias == 0) { sscanf(comment, "METAROLLBIAS:%lf", &val_double); fprintf(output,"Roll Bias: %f degrees\n", val_double); } meta_rollbias++; } else if (strncmp(comment, "METAPITCHBIAS:", 14) == 0) { if (meta_pitchbias == 0) { sscanf(comment, "METAPITCHBIAS:%lf", &val_double); fprintf(output,"Pitch Bias: %f degrees\n", val_double); } meta_pitchbias++; } else if (strncmp(comment, "METAHEADINGBIAS:", 16) == 0) { if (meta_headingbias == 0) { sscanf(comment, "METAHEADINGBIAS:%lf", &val_double); fprintf(output,"Heading Bias: %f degrees\n", val_double); } meta_headingbias++; } else if (strncmp(comment, "METADRAFT:", 10) == 0) { if (meta_draft == 0) { sscanf(comment, "METADRAFT:%lf", &val_double); fprintf(output,"Draft: %f m\n", val_double); } meta_draft++; } break; case JSON: if (strncmp(comment, "METAVESSEL:", 11) == 0) { if (meta_vessel == 0) fprintf(output,"\"vessel\":\"%s\",\n", &comment[11]); meta_vessel++; } else if (strncmp(comment, "METAINSTITUTION:", 16) == 0) { if (meta_institution == 0) fprintf(output,"\"institution\":\"%s\",\n", &comment[16]); meta_institution++; } else if (strncmp(comment, "METAPLATFORM:", 13) == 0) { if (meta_platform == 0) fprintf(output,"\"platform\": \"%s \",\n", &comment[13]); meta_platform++; } else if (strncmp(comment, "METASONARVERSION:", 17) == 0) { if (meta_sonarversion == 0) fprintf(output,"\"sonar_version\": \"%s\",\n", &comment[17]); meta_sonarversion++; } else if (strncmp(comment, "METASONAR:", 10) == 0) { if (meta_sonar == 0) fprintf(output,"\"sonar\": \"%s\",\n", &comment[10]); meta_sonar++; } else if (strncmp(comment, "METACRUISEID:", 13) == 0) { if (meta_cruiseid == 0) fprintf(output,"\"cruise_id\": \"%s\",\n", &comment[13]); meta_cruiseid++; } else if (strncmp(comment, "METACRUISENAME:", 15) == 0) { if (meta_cruisename == 0) fprintf(output,"\"cruise_name\": \"%s\",\n", &comment[15]); meta_cruisename++; } else if (strncmp(comment, "METAPI:", 7) == 0) { if (meta_pi == 0) fprintf(output,"\"pi\": \"%s\",\n", &comment[7]); meta_pi++; } else if (strncmp(comment, "METAPIINSTITUTION:", 18) == 0) { if (meta_piinstitution == 0) fprintf(output,"\"pi_institution\": \"%s\",\n", &comment[18]); meta_piinstitution++; } else if (strncmp(comment, "METACLIENT:", 11) == 0) { if (meta_client == 0) fprintf(output,"\"client\": \"%s\",\n", &comment[11]); meta_client++; } else if (strncmp(comment, "METASVCORRECTED:", 16) == 0) { if (meta_svcorrected == 0) { sscanf(comment, "METASVCORRECTED:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\"corrected_depths\": \"YES\",\n"); else fprintf(output,"\"corrected_depths\": \"NO\",\n"); } meta_svcorrected++; } else if (strncmp(comment, "METATIDECORRECTED:", 18) == 0) { if (meta_tidecorrected == 0) { sscanf(comment, "METATIDECORRECTED:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\"tide_corrected\": \"YES\",\n"); else fprintf(output,"\"tide_corrected\": \"NO\",\n"); } meta_tidecorrected++; } else if (strncmp(comment, "METABATHEDITMANUAL:", 19) == 0) { if (meta_batheditmanual == 0) { sscanf(comment, "METABATHEDITMANUAL:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\"depths_manually_edited\": \"YES\",\n"); else fprintf(output,"\"depths_manually_edited\": \"NO\",\n"); } meta_batheditmanual++; } else if (strncmp(comment, "METABATHEDITAUTO:", 17) == 0) { if (meta_batheditauto == 0) { sscanf(comment, "METABATHEDITAUTO:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\"depths_auto-edited\": \"YES\",\n"); else fprintf(output,"\"depths_auto-edited\": \"NO\",\n"); } meta_batheditauto++; } else if (strncmp(comment, "METAROLLBIAS:", 13) == 0) { if (meta_rollbias == 0) { sscanf(comment, "METAROLLBIAS:%lf", &val_double); fprintf(output,"\"roll_bias\": \"%f\",\n", val_double); } meta_rollbias++; } else if (strncmp(comment, "METAPITCHBIAS:", 14) == 0) { if (meta_pitchbias == 0) { sscanf(comment, "METAPITCHBIAS:%lf", &val_double); fprintf(output,"\"pitch_bias\": \"%f\",\n", val_double); } meta_pitchbias++; } else if (strncmp(comment, "METAHEADINGBIAS:", 16) == 0) { if (meta_headingbias == 0) { sscanf(comment, "METAHEADINGBIAS:%lf", &val_double); fprintf(output,"\"heading_bias\": \"%f\",\n", val_double); } meta_headingbias++; } else if (strncmp(comment, "METADRAFT:", 10) == 0) { if (meta_draft == 0) { sscanf(comment, "METADRAFT:%lf", &val_double); fprintf(output,"\"draft\": \"%f\",\n", val_double); } meta_draft++; } break; case XML: if (imetadata == 0) { fprintf(output,"\t\n"); imetadata++; } if (strncmp(comment, "METAVESSEL:", 11) == 0) { if (meta_vessel == 0) fprintf(output,"\t\t%s\n", &comment[11]); meta_vessel++; } else if (strncmp(comment, "METAINSTITUTION:", 16) == 0) { if (meta_institution == 0) fprintf(output,"\t\t%s\n", &comment[16]); meta_institution++; } else if (strncmp(comment, "METAPLATFORM:", 13) == 0) { if (meta_platform == 0) fprintf(output,"\t\t%s\n", &comment[13]); meta_platform++; } else if (strncmp(comment, "METASONARVERSION:", 17) == 0) { if (meta_sonarversion == 0) fprintf(output,"\t\t%s\n", &comment[17]); meta_sonarversion++; } else if (strncmp(comment, "METASONAR:", 10) == 0) { if (meta_sonar == 0) fprintf(output,"\t\t%s\n", &comment[10]); meta_sonar++; } else if (strncmp(comment, "METACRUISEID:", 13) == 0) { if (meta_cruiseid == 0) fprintf(output,"\t\t%s\n", &comment[13]); meta_cruiseid++; } else if (strncmp(comment, "METACRUISENAME:", 15) == 0) { if (meta_cruisename == 0) fprintf(output,"\t\t%s\n", &comment[15]); meta_cruisename++; } else if (strncmp(comment, "METAPI:", 7) == 0) { if (meta_pi == 0) fprintf(output,"\t\t%s\n", &comment[7]); meta_pi++; } else if (strncmp(comment, "METAPIINSTITUTION:", 18) == 0) { if (meta_piinstitution == 0) fprintf(output,"\t\t%s\n", &comment[18]); meta_piinstitution++; } else if (strncmp(comment, "METACLIENT:", 11) == 0) { if (meta_client == 0) fprintf(output,"\t\t%s\n", &comment[11]); meta_client++; } else if (strncmp(comment, "METASVCORRECTED:", 16) == 0) { if (meta_svcorrected == 0) { sscanf(comment, "METASVCORRECTED:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\t\tYES\n"); else fprintf(output,"\t\tNO\n"); } meta_svcorrected++; } else if (strncmp(comment, "METATIDECORRECTED:", 18) == 0) { if (meta_tidecorrected == 0) { sscanf(comment, "METATIDECORRECTED:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\t\tYES\n"); else fprintf(output,"\t\tNO\n"); } meta_tidecorrected++; } else if (strncmp(comment, "METABATHEDITMANUAL:", 19) == 0) { if (meta_batheditmanual == 0) { sscanf(comment, "METABATHEDITMANUAL:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\t\tYES\n"); else fprintf(output,"\t\tNO\n"); } meta_batheditmanual++; } else if (strncmp(comment, "METABATHEDITAUTO:", 17) == 0) { if (meta_batheditauto == 0) { sscanf(comment, "METABATHEDITAUTO:%d", &val_int); if (val_int == MB_YES) fprintf(output,"\t\tYES\n"); else fprintf(output,"\t\tNO\n"); } meta_batheditauto++; } else if (strncmp(comment, "METAROLLBIAS:", 13) == 0) { if (meta_rollbias == 0) { sscanf(comment, "METAROLLBIAS:%lf\n", &val_double); fprintf(output,"\t\t%f\n", val_double); } meta_rollbias++; } else if (strncmp(comment, "METAPITCHBIAS:", 14) == 0) { if (meta_pitchbias == 0) { sscanf(comment, "METAPITCHBIAS:%lf", &val_double); fprintf(output,"\t\t%f\n", val_double); } meta_pitchbias++; } else if (strncmp(comment, "METAHEADINGBIAS:", 16) == 0) { if (meta_headingbias == 0) { sscanf(comment, "METAHEADINGBIAS:%lf", &val_double); fprintf(output,"\t\t%f\n", val_double); } meta_headingbias++; } else if (strncmp(comment, "METADRAFT:", 10) == 0) { if (meta_draft == 0) { sscanf(comment, "METADRAFT:%lf", &val_double); fprintf(output,"\t\t%fm\n\t\n", val_double); } meta_draft++; } break; case '?': break; } } /* output error messages */ if (pass != 0 || error == MB_ERROR_COMMENT) { /* do nothing */ } else if (error == MB_ERROR_SUBBOTTOM) { /* do nothing */ } else if (verbose >= 1 && error < MB_ERROR_NO_ERROR && error >= MB_ERROR_OTHER) { mb_error(verbose,error,&message); fprintf(stream,"\nNonfatal MBIO Error:\n%s\n", message); fprintf(stream,"Time: %d %d %d %d %d %d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); } else if (verbose >= 1 && error < MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stream,"\nNonfatal MBIO Error:\n%s\n", message); fprintf(stream,"Number of good records so far: %d\n",irecfile); } else if (verbose >= 1 && error > MB_ERROR_NO_ERROR && error != MB_ERROR_EOF) { mb_error(verbose,error,&message); fprintf(stream,"\nFatal MBIO Error:\n%s\n", message); fprintf(stream,"Last Good Time: %d %d %d %d %d %d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); } /* take note of min and maxes */ if (pass == 0 && (error == MB_ERROR_NO_ERROR || error == MB_ERROR_TIME_GAP)) { /* update data counts */ beams_bath_max = MAX(beams_bath_max, beams_bath); beams_amp_max = MAX(beams_amp_max, beams_amp); pixels_ss_max = MAX(pixels_ss_max, pixels_ss); ntdbeams += beams_bath; ntabeams += beams_amp; ntsbeams += pixels_ss; /* set lonflip if needed */ if (lonflip_set == MB_NO && (navlon != 0.0 || navlat != 0.0)) { lonflip_set = MB_YES; if (navlon < -270.0) lonflip_use = 0; else if (navlon >= -270.0 && navlon < -90.0) lonflip_use = -1; else if (navlon >= -90.0 && navlon < 90.0) lonflip_use = 0; else if (navlon >= 90.0 && navlon < 270.0) lonflip_use = 1; else if (navlon >= 270.0) lonflip_use = 0; /* change and apply lonflip if needed */ if (lonflip_use != lonflip) { /* change lonflip used in reading */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; mb_io_ptr->lonflip = lonflip_use; lonflip = lonflip_use; /* apply lonflip to data already read */ if (lonflip_use == -1) { if (navlon > 0.0) navlon -= 360.0; for (i=0;i 0.0) bathlon[i] -= 360.0; } for (i=0;i 0.0) sslon[i] -= 360.0; } } else if (lonflip_use == 1) { if (navlon < 0.0) navlon += 360.0; for (i=0;i 180.0) navlon -= 360.0; for (i=0;i 180.0) bathlon[i] -= 360.0; } for (i=0;i 180.0) sslon[i] -= 360.0; } } } } /* get beginning values */ if (irec == 1) { if (beams_bath > 0) { if (mb_beam_ok(beamflag[beams_bath/2])) bathbeg = bath[beams_bath/2]; else bathbeg = altitude + sonardepth; } lonbeg = navlon; latbeg = navlat; timbeg = time_d; timbegfile = time_d; for (i=0;i<7;i++) timbeg_i[i] = time_i[i]; spdbeg = speed; hdgbeg = heading; sdpbeg = sonardepth; altbeg = altitude; } else if (good_nav_only == MB_YES) { if (lonbeg == 0.0 && latbeg == 0.0 && navlon != 0.0 && navlat != 0.0) { lonbeg = navlon; if (beams_bath > 0) { if (mb_beam_ok(beamflag[beams_bath/2])) bathbeg = bath[beams_bath/2]; else bathbeg = altitude + sonardepth; } latbeg = navlat; if (spdbeg == 0.0 && speed != 0.0) spdbeg = speed; if (hdgbeg == 0.0 && heading != 0.0) hdgbeg = heading; if (sdpbeg == 0.0 && sonardepth != 0.0) sdpbeg = sonardepth; if (altbeg == 0.0 && altitude != 0.0) altbeg = altitude; } } /* reset ending values each time */ if (beams_bath > 0) { if (mb_beam_ok(beamflag[beams_bath/2])) bathend = bath[beams_bath/2]; else bathend = altitude + sonardepth; } lonend = navlon; latend = navlat; spdend = speed; hdgend = heading; sdpend = sonardepth; altend = altitude; timend = time_d; timendfile = time_d; for (i=0;i<7;i++) timend_i[i] = time_i[i]; /* check for good nav */ speed_apparent = 3600.0*distance /(time_d - time_d_last); if (good_nav_only == MB_YES) { if (navlon == 0.0 || navlat == 0.0) good_nav = MB_NO; else if (beginnav == MB_YES && speed_apparent >= speed_threshold) good_nav = MB_NO; else good_nav = MB_YES; } else good_nav = MB_YES; /* get total distance */ if (good_nav_only == MB_NO || (good_nav == MB_YES && speed_apparent < speed_threshold)) { distot+= distance; distotfile += distance; } /* get starting mins and maxs */ if (beginnav == MB_NO && good_nav == MB_YES) { lonmin = navlon; lonmax = navlon; latmin = navlat; latmax = navlat; beginnav = MB_YES; } if (beginsdp == MB_NO && sonardepth > 0.0) { sdpmin = sonardepth; sdpmax = sonardepth; beginsdp = MB_YES; } if (beginalt == MB_NO && altitude > 0.0) { altmin = altitude; altmax = altitude; beginalt = MB_YES; } if (beginbath == MB_NO && beams_bath > 0) for (i=0;i 0) for (i=0;i 0) for (i=0;i MB_SIDESCAN_NULL) { ssmin = ss[i]; ssmax = ss[i]; beginss = MB_YES; } /* get mins and maxs */ if (good_nav == MB_YES && beginnav == MB_YES) { lonmin = MIN(lonmin, navlon); lonmax = MAX(lonmax, navlon); latmin = MIN(latmin, navlat); latmax = MAX(latmax, navlat); } if (beginsdp == MB_YES) { sdpmin = MIN(sdpmin, sonardepth); sdpmax = MAX(sdpmax, sonardepth); } if (beginalt == MB_YES) { altmin = MIN(altmin, altitude); altmax = MAX(altmax, altitude); } for (i=0;i MB_SIDESCAN_NULL) { if (good_nav == MB_YES && beginnav == MB_YES) { lonmin = MIN(lonmin, sslon[i]); lonmax = MAX(lonmax, sslon[i]); latmin = MIN(latmin, sslat[i]); latmax = MAX(latmax, sslat[i]); } ssmin = MIN(ssmin, ss[i]); ssmax = MAX(ssmax, ss[i]); ngsbeams++; } else if (ss[i] == 0.0) nzsbeams++; else nfsbeams++; } /* reset time of last ping */ time_d_last = time_d; } /* update coverage mask */ if (pass == 1 && coverage_mask == MB_YES && (error == MB_ERROR_NO_ERROR || error == MB_ERROR_TIME_GAP)) { ix = (int)((navlon - lonmin) / mask_dx); iy = (int)((navlat - latmin) / mask_dy); if (ix >= 0 && ix < mask_nx && iy >= 0 && iy < mask_ny) { mask[ix+iy*mask_nx] = MB_YES; } for (i=0;i= 0 && ix < mask_nx && iy >= 0 && iy < mask_ny) { mask[ix+iy*mask_nx] = MB_YES; } } } for (i=0;i MB_SIDESCAN_NULL) { ix = (int)((sslon[i] - lonmin) / mask_dx); iy = (int)((sslat[i] - latmin) / mask_dy); if (ix >= 0 && ix < mask_nx && iy >= 0 && iy < mask_ny) { mask[ix+iy*mask_nx] = MB_YES; } } } } /* look for problems */ if (pass == 0 && (error == MB_ERROR_NO_ERROR || error == MB_ERROR_TIME_GAP)) { if (navlon == 0.0 || navlat == 0.0) mb_notice_log_problem(verbose, mbio_ptr, MB_PROBLEM_ZERO_NAV); else if (beginnav == MB_YES && speed_apparent >= speed_threshold) mb_notice_log_problem(verbose, mbio_ptr, MB_PROBLEM_TOO_FAST); for (i=0;i 11000.0) mb_notice_log_problem(verbose, mbio_ptr, MB_PROBLEM_TOO_DEEP); } } } } /* print debug statements */ if (verbose >= 2) { fprintf(stream,"\ndbg2 Reading loop finished in program <%s>\n", program_name); fprintf(stream,"dbg2 status: %d\n",status); fprintf(stream,"dbg2 error: %d\n",error); fprintf(stream,"dbg2 nread: %d\n",nread); fprintf(stream,"dbg2 pings_read: %d\n",pings_read); } /* process the pings */ if (pass == 0 && pings_read > 2 && nread == pings_read && (error == MB_ERROR_NO_ERROR || error == MB_ERROR_TIME_GAP)) { /* do the bathymetry */ for (i=0;ibath; beamflag = datacur->beamflag; if (mb_beam_ok(beamflag[i])) { nbath++; sumx = sumx + j; sumxx = sumxx + j*j; sumy = sumy + bath[i]; sumxy = sumxy + j*bath[i]; } } if (nbath == pings_read) { delta = nbath*sumxx - sumx*sumx; a = (sumxx*sumy - sumx*sumxy)/delta; b = (nbath*sumxy - sumx*sumy)/delta; for (j=0;jbath; beamflag = datacur->beamflag; if (mb_beam_ok(beamflag[i])) { dev = bath[i] - a - b*j; variance = variance + dev*dev; } } bathmean[i] = bathmean[i] + sumy; bathvar[i] = bathvar[i] + variance; nbathvar[i] = nbathvar[i] + nbath; } } /* do the amplitude */ for (i=0;iamp; beamflag = datacur->beamflag; if (mb_beam_ok(beamflag[i])) { namp++; mean = mean + amp[i]; } } if (namp == pings_read) { mean = mean/namp; for (j=0;jamp; if (mb_beam_ok(beamflag[i])) { dev = amp[i] - mean; variance = variance + dev*dev; } } ampmean[i] = ampmean[i] + namp*mean; ampvar[i] = ampvar[i] + variance; nampvar[i] = nampvar[i] + namp; } } /* do the sidescan */ for (i=0;iss; if (ss[i] > MB_SIDESCAN_NULL) { nss++; mean = mean + ss[i]; } } if (nss == pings_read) { mean = mean/nss; for (j=0;jss; if (ss[i] > MB_SIDESCAN_NULL) { dev = ss[i] - mean; variance = variance + dev*dev; } } ssmean[i] = ssmean[i] + nss*mean; ssvar[i] = ssvar[i] + variance; nssvar[i] = nssvar[i] + nss; } } } /* print debug statements */ if (verbose >= 2) { fprintf(stream,"\ndbg2 Processing loop finished in program <%s>\n", program_name); fprintf(stream,"dbg2 status: %d\n",status); fprintf(stream,"dbg2 error: %d\n",error); fprintf(stream,"dbg2 nread: %d\n",nread); fprintf(stream,"dbg2 pings_read: %d\n",pings_read); } } /* look for problems */ timtotfile = (timendfile - timbegfile)/3600.0; if (timtotfile > 0.0) spdavgfile = distotfile/timtotfile; if (irecfile <= 0) mb_notice_log_problem(verbose, mbio_ptr, MB_PROBLEM_NO_DATA); else if (timtotfile > 0.0 && spdavgfile >= speed_threshold) mb_notice_log_problem(verbose, mbio_ptr, MB_PROBLEM_AVG_TOO_FAST); /* get notices if desired */ if (print_notices == MB_YES && pass == 0) { status = mb_notice_get_list(verbose, mbio_ptr, notice_list); for (i=0;i 2) { /* allocate total statistics arrays if needed */ if (nbathtot_alloc < beams_bath_max) { status = mb_reallocd(verbose,__FILE__,__LINE__,beams_bath_max*sizeof(double), (void **)&bathmeantot,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,beams_bath_max*sizeof(double), (void **)&bathvartot,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,beams_bath_max*sizeof(int), (void **)&nbathvartot,&error); nbathtot_alloc = beams_bath_max; if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stream,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stream,"\nProgram <%s> Terminated\n", program_name); exit(error); } else { for (i=nbathtot_alloc;i Terminated\n", program_name); exit(error); } else { for (i=namptot_alloc;i Terminated\n", program_name); exit(error); } else { for (i=nsstot_alloc;i 0 || coverage_mask == MB_NO) done = MB_YES; pass++; /* end loop over reading passes */ } /* calculate final variances */ if (pings_read > 2) { for (i=0;i 0) { bathmeantot[i] = bathmeantot[i]/nbathvartot[i]; bathvartot[i] = bathvartot[i]/nbathvartot[i]; } for (i=0;i 0) { ampmeantot[i] = ampmeantot[i]/nampvartot[i]; ampvartot[i] = ampvartot[i]/nampvartot[i]; } for (i=0;i 0) { ssmeantot[i] = ssmeantot[i]/nssvartot[i]; ssvartot[i] = ssvartot[i]/nssvartot[i]; } } /* calculate percentages of data */ if (ntdbeams > 0) { ngd_percent = 100.0*ngdbeams/ntdbeams; nzd_percent = 100.0*nzdbeams/ntdbeams; nfd_percent = 100.0*nfdbeams/ntdbeams; } else { ngd_percent = 0.0; nzd_percent = 0.0; nfd_percent = 0.0; } if (ntabeams > 0) { nga_percent = 100.0*ngabeams/ntabeams; nza_percent = 100.0*nzabeams/ntabeams; nfa_percent = 100.0*nfabeams/ntabeams; } else { nga_percent = 0.0; nza_percent = 0.0; nfa_percent = 0.0; } if (ntsbeams > 0) { ngs_percent = 100.0*ngsbeams/ntsbeams; nzs_percent = 100.0*nzsbeams/ntsbeams; nfs_percent = 100.0*nfsbeams/ntsbeams; } else { ngs_percent = 0.0; nzs_percent = 0.0; nfs_percent = 0.0; } /* now print out the results */ timtot = (timend - timbeg)/3600.0; if (timtot > 0.0) spdavg = distot/timtot; mb_get_jtime(verbose,timbeg_i,timbeg_j); mb_get_jtime(verbose,timend_i,timend_j); switch (output_format) { case FREE_TEXT: fprintf(output,"\nData Totals:\n"); fprintf(output,"Number of Records: %8d\n",irec); isbtmrec = notice_list_tot[MB_DATA_SUBBOTTOM_MCS] + notice_list_tot[MB_DATA_SUBBOTTOM_CNTRBEAM] + notice_list_tot[MB_DATA_SUBBOTTOM_SUBBOTTOM]; if (isbtmrec > 0) fprintf(output,"Number of Subbottom Records: %8d\n",isbtmrec); if (notice_list_tot[MB_DATA_SIDESCAN2] > 0) fprintf(output,"Number of Secondary Sidescan Records: %8d\n",notice_list_tot[MB_DATA_SIDESCAN2]); if (notice_list_tot[MB_DATA_SIDESCAN3] > 0) fprintf(output,"Number of Tertiary Sidescan Records: %8d\n",notice_list_tot[MB_DATA_SIDESCAN3]); if (notice_list_tot[MB_DATA_WATER_COLUMN] > 0) fprintf(output,"Number of Water Column Records: %8d\n",notice_list_tot[MB_DATA_WATER_COLUMN]); fprintf(output,"Bathymetry Data (%d beams):\n",beams_bath_max); fprintf(output," Number of Beams: %8d\n", ntdbeams); fprintf(output," Number of Good Beams: %8d %5.2f%%\n", ngdbeams, ngd_percent); fprintf(output," Number of Zero Beams: %8d %5.2f%%\n", nzdbeams, nzd_percent); fprintf(output," Number of Flagged Beams: %8d %5.2f%%\n", nfdbeams, nfd_percent); fprintf(output,"Amplitude Data (%d beams):\n",beams_amp_max); fprintf(output," Number of Beams: %8d\n", ntabeams); fprintf(output," Number of Good Beams: %8d %5.2f%%\n", ngabeams, nga_percent); fprintf(output," Number of Zero Beams: %8d %5.2f%%\n", nzabeams, nza_percent); fprintf(output," Number of Flagged Beams: %8d %5.2f%%\n", nfabeams, nfa_percent); fprintf(output,"Sidescan Data (%d pixels):\n",pixels_ss_max); fprintf(output," Number of Pixels: %8d\n", ntsbeams); fprintf(output," Number of Good Pixels: %8d %5.2f%%\n", ngsbeams, ngs_percent); fprintf(output," Number of Zero Pixels: %8d %5.2f%%\n", nzsbeams, nzs_percent); fprintf(output," Number of Flagged Pixels:%8d %5.2f%%\n", nfsbeams, nfs_percent); fprintf(output,"\nNavigation Totals:\n"); fprintf(output,"Total Time: %10.4f hours\n",timtot); fprintf(output,"Total Track Length: %10.4f km\n",distot); fprintf(output,"Average Speed: %10.4f km/hr (%7.4f knots)\n", spdavg,spdavg/1.85); fprintf(output,"\nStart of Data:\n"); fprintf(output,"Time: %2.2d %2.2d %4.4d %2.2d:%2.2d:%2.2d.%6.6d JD%d (%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d)\n", timbeg_i[1],timbeg_i[2],timbeg_i[0],timbeg_i[3], timbeg_i[4],timbeg_i[5],timbeg_i[6],timbeg_j[1], timbeg_i[0],timbeg_i[1],timbeg_i[2],timbeg_i[3],timbeg_i[4],timbeg_i[5],timbeg_i[6]); if (bathy_in_feet == MB_NO) fprintf(output,"Lon: %15.9f Lat: %15.9f Depth: %10.4f meters\n", lonbeg,latbeg,bathbeg); else fprintf(output,"Lon: %15.9f Lat: %15.9f Depth: %10.4f feet\n", lonbeg,latbeg,bathy_scale*bathbeg); fprintf(output,"Speed: %7.4f km/hr (%7.4f knots) Heading:%9.4f degrees\n", spdbeg,spdbeg/1.85,hdgbeg); fprintf(output,"Sonar Depth:%10.4f m Sonar Altitude:%10.4f m\n", sdpbeg,altbeg); fprintf(output,"\nEnd of Data:\n"); fprintf(output,"Time: %2.2d %2.2d %4.4d %2.2d:%2.2d:%2.2d.%6.6d JD%d (%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d)\n", timend_i[1],timend_i[2],timend_i[0],timend_i[3], timend_i[4],timend_i[5],timend_i[6],timend_j[1], timend_i[0],timend_i[1],timend_i[2],timend_i[3],timend_i[4],timend_i[5],timend_i[6]); if (bathy_in_feet == MB_NO) fprintf(output,"Lon: %15.9f Lat: %15.9f Depth: %10.4f meters\n", lonend,latend,bathend); else fprintf(output,"Lon: %15.9f Lat: %15.9f Depth: %10.4f feet\n", lonend,latend,bathy_scale*bathend); fprintf(output,"Speed: %7.4f km/hr (%7.4f knots) Heading:%9.4f degrees\n", spdend,spdend/1.85,hdgend); fprintf(output,"Sonar Depth:%10.4f m Sonar Altitude:%10.4f m\n", sdpend,altend); fprintf(output,"\nLimits:\n"); fprintf(output,"Minimum Longitude: %15.9f Maximum Longitude: %15.9f\n",lonmin,lonmax); fprintf(output,"Minimum Latitude: %15.9f Maximum Latitude: %15.9f\n",latmin,latmax); fprintf(output,"Minimum Sonar Depth: %10.4f Maximum Sonar Depth: %10.4f\n",sdpmin,sdpmax); fprintf(output,"Minimum Altitude: %10.4f Maximum Altitude: %10.4f\n",altmin,altmax); if (ngdbeams > 0 || verbose >= 1) fprintf(output,"Minimum Depth: %10.4f Maximum Depth: %10.4f\n", bathy_scale*bathmin,bathy_scale*bathmax); if (ngabeams > 0 || verbose >= 1) fprintf(output,"Minimum Amplitude: %10.4f Maximum Amplitude: %10.4f\n", ampmin,ampmax); if (ngsbeams > 0 || verbose >= 1) fprintf(output,"Minimum Sidescan: %10.4f Maximum Sidescan: %10.4f\n", ssmin,ssmax); break; case JSON: fprintf(output,"\"data_totals\": {\n"); fprintf(output,"\"number_of_records\":\"%d\"",irec); isbtmrec = notice_list_tot[MB_DATA_SUBBOTTOM_MCS] + notice_list_tot[MB_DATA_SUBBOTTOM_CNTRBEAM] + notice_list_tot[MB_DATA_SUBBOTTOM_SUBBOTTOM]; if (isbtmrec > 0) fprintf(output,",\n\"number_of_subbottom_records\":\"%d\"\n",isbtmrec); if (notice_list_tot[MB_DATA_SIDESCAN2] > 0) fprintf(output,",\n\"number_of_secondary_sidescan_records\": \"%d\"",notice_list_tot[MB_DATA_SIDESCAN2]); if (notice_list_tot[MB_DATA_SIDESCAN3] > 0) fprintf(output,",\n\"number_of_tertiary_sidescan_records\": \"%d\"",notice_list_tot[MB_DATA_SIDESCAN3]); if (notice_list_tot[MB_DATA_WATER_COLUMN] > 0) fprintf(output,",\n\"number_of_water_column_records\": \"%d\"",notice_list_tot[MB_DATA_WATER_COLUMN]); fprintf(output,"\n},\n"); fprintf(output,"\"bathymetry_data\": {\n\"max_beams_per_ping\": \"%d\",\n",beams_bath_max); fprintf(output,"\"number_beams\": \"%d\",\n", ntdbeams); fprintf(output,"\"number_good_beams\": \"%d\",\n\"percent_good_beams\": \"%5.2f\",\n", ngdbeams, ngd_percent); fprintf(output,"\"number_zero_beams\": \"%d\",\n\"percent_zero_beams\": \"%5.2f\",\n", nzdbeams, nzd_percent); fprintf(output,"\"number_flagged_beams\": \"%d\",\n\"percent_flagged_beams\": \"%5.2f\"\n", nfdbeams, nfd_percent); fprintf(output,"},\n"); fprintf(output,"\"amplitude_data\": {\n\"max_beams_per_ping\": \"%d\",\n",beams_amp_max); fprintf(output,"\"number_beams\": \"%d\",\n", ntabeams); fprintf(output,"\"number_good_beams\": \"%d\",\n\"percent_good_beams\": \" %5.2f\",\n", ngabeams, nga_percent); fprintf(output,"\"number_zero_beams\": \"%d\",\n\"percent_zero_beams\": \"%5.2f\",\n", nzabeams, nza_percent); fprintf(output,"\"number_flagged_beams\": \"%d\",\n\"percent_flagged_beams\": \"%5.2f\"\n", nfabeams, nfa_percent); fprintf(output,"},\n"); fprintf(output,"\"sidescan_data\": {\n\"max_pixels_per_ping\": \"%d\",\n",pixels_ss_max); fprintf(output,"\"number_of_pixels\": \"%d\",\n", ntsbeams); fprintf(output,"\"number_good_pixels\": \"%d\",\n\"percent_good_pixels\": \"%5.2f\",\n", ngsbeams, ngs_percent); fprintf(output,"\"number_zero_pixels\": \"%d\",\n\"percent_good_pixels\": \"%5.2f\",\n", nzsbeams, nzs_percent); fprintf(output,"\"number_flagged_pixels\": \"%d\",\n\"percent_flagged_pixels\": \"%5.2f\"\n", nfsbeams, nfs_percent); fprintf(output,"},\n"); fprintf(output,"\"navigation_totals\": {\n"); fprintf(output,"\"total_time_hours\": \"%.4f\",\n",timtot); fprintf(output,"\"total_track_length_km\": \"%.4f\",\n",distot); fprintf(output,"\"average_speed_km_per_hr\": \"%.4f\",\n\"average_speed_knots\": \"%.4f\"\n", spdavg,spdavg/1.85); fprintf(output,"},\n"); fprintf(output,"\"start_of_data\": {\n"); fprintf(output,"\"time\": \"%2.2d %2.2d %4.4d %2.2d:%2.2d:%2.2d.%6.6d JD%d\",\n", timbeg_i[1],timbeg_i[2],timbeg_i[0],timbeg_i[3], timbeg_i[4],timbeg_i[5],timbeg_i[6],timbeg_j[1]); fprintf(output,"\"time_iso\": \"%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d\",\n", timbeg_i[0],timbeg_i[1],timbeg_i[2],timbeg_i[3],timbeg_i[4],timbeg_i[5],timbeg_i[6]); if (bathy_in_feet == MB_NO) fprintf(output,"\"longitude\": \"%.9f\",\n\"latitude\": \"%.9f\",\n\"depth_meters\": \"%.4f\",\n", lonbeg,latbeg,bathbeg); else fprintf(output,"\"longitude\": \"%.9f\",\n\"latitude\": \"%.9f\",\n\"depth_feet\": \"%.4f\",\n", lonbeg,latbeg,bathy_scale*bathbeg); fprintf(output,"\"speed_km_per_hour\": \"%.4f\",\n\"speed_knots\": \"%.4f\",\n\"heading_degrees\": \"%.4f\",\n", spdbeg,spdbeg/1.85,hdgbeg); fprintf(output,"\"sonar_depth_meters\": \"%.4f\",\n\"sonar_altitude_meters\": \"%.4f\"\n", sdpbeg,altbeg); fprintf(output,"},\n"); fprintf(output,"\"end_of_data\": {\n"); fprintf(output,"\"time\": \"%2.2d %2.2d %4.4d %2.2d:%2.2d:%2.2d.%6.6d JD%d\",\n", timend_i[1],timend_i[2],timend_i[0],timend_i[3], timend_i[4],timend_i[5],timend_i[6],timend_j[1]); fprintf(output,"\"time_iso\": \"%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d\",\n", timend_i[0],timend_i[1],timend_i[2],timend_i[3],timend_i[4],timend_i[5],timend_i[6]); if (bathy_in_feet == MB_NO) fprintf(output,"\"longitude\": \"%.9f\",\n\"latitude\": \"%.9f\",\n\"depth_meters\": \"%.4f\",\n", lonend,latend,bathend); else fprintf(output,"\"longitude\": \"%.9f\",\n\"latitude\": \"%.9f\",\n\"depth_feet\": \"%.4f\",\n", lonend,latend,bathy_scale*bathend); fprintf(output,"\"speed_km_per_hour\": \"%.4f\",\n\"speed_knots\": \"%.4f\",\n\"heading_degrees\": \"%.4f\",\n", spdend,spdend/1.85,hdgend); fprintf(output,"\"sonar_depth_meters\": \"%.4f\",\n\"sonar_altitude_meters\": \"%.4f\"\n", sdpend,altend); fprintf(output,"},\n"); fprintf(output,"\"limits\": {\n"); fprintf(output,"\"minimum_longitude\": \"%.9f\",\n\"maximum_longitude\": \"%.9f\",\n",lonmin,lonmax); fprintf(output,"\"minimum_latitude\": \"%.9f\",\n\"maximum_latitude\": \"%.9f\",\n",latmin,latmax); fprintf(output,"\"minimum_sonar_depth\": \"%.4f\",\n\"maximum_sonar_depth\": \"%.4f\",\n",sdpmin,sdpmax); fprintf(output,"\"minimum_altitude\": \"%.4f\",\n\"maximum_altitude\": \"%.4f\"",altmin,altmax); if (ngdbeams > 0 || verbose >= 1) fprintf(output,",\n\"minimum_depth\": \"%.4f\",\n\"maximum_depth\": \"%.4f\"", bathy_scale*bathmin,bathy_scale*bathmax); if (ngabeams > 0 || verbose >= 1) fprintf(output,",\n\"minimum_amplitude\": \"%.4f\",\n\"maximum_amplitude\": \"%.4f\"", ampmin,ampmax); if (ngsbeams > 0 || verbose >= 1) fprintf(output,",\n\"minimum_sidescan\": \"%.4f\",\n\"maximum_sidescan\": \"%.4f\"", ssmin,ssmax); fprintf(output,"\n}"); break; case XML: fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",irec); isbtmrec = notice_list_tot[MB_DATA_SUBBOTTOM_MCS] + notice_list_tot[MB_DATA_SUBBOTTOM_CNTRBEAM] + notice_list_tot[MB_DATA_SUBBOTTOM_SUBBOTTOM]; if (isbtmrec > 0) fprintf(output,"\t\t%d\n",isbtmrec); if (notice_list_tot[MB_DATA_SIDESCAN2] > 0) fprintf(output,"\t\t%d\n",notice_list_tot[MB_DATA_SIDESCAN2]); if (notice_list_tot[MB_DATA_SIDESCAN3] > 0) fprintf(output,"\t\t%d\n",notice_list_tot[MB_DATA_SIDESCAN3]); if (notice_list_tot[MB_DATA_WATER_COLUMN] > 0) fprintf(output,"\t\t%d\n",notice_list_tot[MB_DATA_WATER_COLUMN]); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",beams_bath_max); fprintf(output,"\t\t%d\n",ntdbeams); fprintf(output,"\t\t%d\n",ngdbeams); fprintf(output,"\t\t%.2f\n",ngd_percent); fprintf(output,"\t\t%d\n",nzdbeams); fprintf(output,"\t\t%.2f\n",nzd_percent); fprintf(output,"\t\t%d\n",nfdbeams); fprintf(output,"\t\t%.2f\n",nfd_percent); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",beams_bath_max); fprintf(output,"\t\t%d\n",ntabeams); fprintf(output,"\t\t%d\n",ngabeams); fprintf(output,"\t\t%.2f\n",nga_percent); fprintf(output,"\t\t%d\n",nzabeams); fprintf(output,"\t\t%.2f\n",nza_percent); fprintf(output,"\t\t%d\n",nfabeams); fprintf(output,"\t\t%.2f\n",nfa_percent); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",pixels_ss_max); fprintf(output,"\t\t%d\n",ntsbeams); fprintf(output,"\t\t%d\n",ngsbeams); fprintf(output,"\t\t%.2f\n",ngs_percent); fprintf(output,"\t\t%d\n",nzsbeams); fprintf(output,"\t\t%.2f\n",nzs_percent); fprintf(output,"\t\t%d\n",nfsbeams); fprintf(output,"\t\t%.2f\n",nfs_percent); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t%.4f\n",timtot); fprintf(output,"\t\t%.4f\n",distot); fprintf(output,"\t\t%.4f\n",spdavg); fprintf(output,"\t\t%.4f\n",spdavg/1.85); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t\n", timbeg_i[1],timbeg_i[2],timbeg_i[0],timbeg_i[3], timbeg_i[4],timbeg_i[5],timbeg_i[6],timbeg_j[1]); fprintf(output,"\t\t%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d\n", timbeg_i[0],timbeg_i[1],timbeg_i[2],timbeg_i[3],timbeg_i[4],timbeg_i[5],timbeg_i[6]); if (bathy_in_feet == MB_NO) { fprintf(output,"\t\t%.9f\n",lonbeg); fprintf(output,"\t\t%.9f\n",latbeg); fprintf(output,"\t\t%.4f\n",bathbeg); } else { fprintf(output,"\t\t%.9f\n",lonbeg); fprintf(output,"\t\t%.9f\n",latbeg); fprintf(output,"\t\t%.4f\n",bathy_scale*bathbeg); } fprintf(output,"\t\t%.4f\n",spdbeg); fprintf(output,"\t\t%.4f\n",spdbeg/1.85); fprintf(output,"\t\t%.4f\n",hdgbeg); fprintf(output,"\t\t%.4f\n",sdpbeg); fprintf(output,"\t\t%.4f\n",altbeg); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t\n", timend_i[1],timend_i[2],timend_i[0],timend_i[3], timend_i[4],timend_i[5],timend_i[6],timend_j[1]); fprintf(output,"\t\t%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d\n", timend_i[0],timend_i[1],timend_i[2],timend_i[3],timend_i[4],timend_i[5],timend_i[6]); if (bathy_in_feet == MB_NO) { fprintf(output,"\t\t%.9f\n",lonend); fprintf(output,"\t\t%.9f\n",latend); fprintf(output,"\t\t%.4f\n",bathend); } else { fprintf(output,"\t\t%.9f\n",lonend); fprintf(output,"\t\t%.9f\n",latend); fprintf(output,"\t\t%.4f\n",bathy_scale*bathend); } fprintf(output,"\t\t%.4f\n",spdend); fprintf(output,"\t\t%.4f\n",spdend/1.85); fprintf(output,"\t\t%.4f\n",hdgend); fprintf(output,"\t\t%.4f\n",sdpend); fprintf(output,"\t\t%.4f\n",altend); fprintf(output,"\t\n"); fprintf(output,"\t\n"); fprintf(output,"\t\t%.9f\n",lonmin); fprintf(output,"\t\t%.9f\n",lonmax); fprintf(output,"\t\t%.9f\n",latmin); fprintf(output,"\t\t%.9f\n",latmax); fprintf(output,"\t\t%.4f\n",sdpmin); fprintf(output,"\t\t%.4f\n",sdpmax); fprintf(output,"\t\t%.4f\n",altmin); fprintf(output,"\t\t%.4f\n",altmax); if (ngdbeams > 0 || verbose >= 1) fprintf(output,"\t\t%.4f\n",bathy_scale*bathmin); fprintf(output,"\t\t%.4f\n",bathy_scale*bathmax); if (ngabeams > 0 || verbose >= 1) fprintf(output,"\t\t%.4f\n",ampmin); fprintf(output,"\t\t%.4f\n",ampmax); if (ngsbeams > 0 || verbose >= 1) fprintf(output,"\t\t%.4f\n",ssmin); fprintf(output,"\t\t%.4f\n",ssmax); fprintf(output,"\t\n"); break; case '?': break; } if (pings_read > 2 && beams_bath_max > 0 && (ngdbeams > 0 || verbose >= 1)) { switch (output_format) { case FREE_TEXT: fprintf(output,"\nBeam Bathymetry Variances:\n"); fprintf(output,"Pings Averaged: %d\n",pings_read); fprintf(output," Beam N Mean Variance Sigma\n"); fprintf(output," ---- - ---- -------- -----\n"); for (i=0;i0) fprintf(output,",\n"); sigma=bathy_scale*sqrt(bathvartot[i]); if (isnan(sigma)) sigma=0; fprintf(output,"{\"row\":\"%d,%d,%.2f,%.2f,%.2f\"}", i,nbathvartot[i],bathy_scale*bathmeantot[i], bathy_scale*bathy_scale*bathvartot[i], sigma); } fprintf(output,"]}"); break; case XML: fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",pings_read); fprintf(output,"\t\tpixel,N,mean,variance,sigma\n"); fprintf(output,"\t\t\n"); for (i=0;i0) sigma=bathy_scale*sqrt(bathvartot[i]); if(isnan(sigma)) sigma=0; fprintf(output,"\t\t\t%d,%d,%.2f,%.2f,%.2f\n", i,nbathvartot[i],bathy_scale*bathmeantot[i], bathy_scale*bathy_scale*bathvartot[i], sigma); } fprintf(output,"\t\t\n"); fprintf(output,"\t\n"); break; case '?': break; } } if (pings_read > 2 && beams_amp_max > 0 && (ngabeams > 0 || verbose >= 1)) { switch (output_format) { case FREE_TEXT: fprintf(output,"\nBeam Amplitude Variances:\n"); fprintf(output,"Pings Averaged: %d\n",pings_read); fprintf(output," Beam N Mean Variance Sigma\n"); fprintf(output," ---- - ---- -------- -----\n"); for (i=0;i0) fprintf(output,",\n"); sigma=sqrt(ampvartot[i]); if (isnan(sigma)) sigma=0; fprintf(output,"{\"row\" : \"%d,%d,%.2f,%.2f,%.2f\"}", i,nampvartot[i],ampmeantot[i], ampvartot[i],sigma); } fprintf(output,"\n]}"); break; case XML: fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",pings_read); fprintf(output,"\t\tpixel,N,mean,variance,sigma\n"); fprintf(output,"\t\t\n"); for (i=0;i0) sigma=sqrt(ampvartot[i]); if(isnan(sigma)) sigma=0; fprintf(output,"\t\t\t%d,%d,%.2f,%.2f,%.2f\n", i,nampvartot[i],ampmeantot[i], ampvartot[i],sigma); } fprintf(output,"\t\t\n"); fprintf(output,"\t\n"); break; case '?': break; } } if (pings_read > 2 && pixels_ss_max > 0 && (ngsbeams > 0 || verbose >= 1)) { switch (output_format) { case FREE_TEXT: fprintf(output,"\nPixel Sidescan Variances:\n"); fprintf(output,"Pings Averaged: %d\n",pings_read); fprintf(output," Beam N Mean Variance Sigma\n"); fprintf(output," ---- - ---- -------- -----\n"); for (i=0;i0) fprintf(output,",\n"); sigma=sqrt(ssvartot[i]); if(isnan(sigma)) sigma=0; fprintf(output,"{\"row\":\"%d,%d,%.2f,%.2f,%.2f\"}", i,nssvartot[i],ssmeantot[i], ssvartot[i],sigma); } fprintf(output,"\n]\n}"); break; case XML: fprintf(output,"\t\n"); fprintf(output,"\t\t%d\n",pings_read); fprintf(output,"\t\tpixel,N,mean,variance,sigma\n"); fprintf(output,"\t\t\n"); for (i=0;i0) sigma=sqrt(ssvartot[i]); if(isnan(sigma)) sigma=0; fprintf(output,"\t\t\t%d,%d,%.2f,%.2f,%.2f\n", i,nssvartot[i],ssmeantot[i], ssvartot[i],sigma); } fprintf(output,"\t\t\n"); fprintf(output,"\t\n"); break; case '?': break; } } if (print_notices == MB_YES) { switch (output_format) { case FREE_TEXT: fprintf(output,"\nData Record Type Notices:\n"); for (i=0;i<=MB_DATA_KINDS;i++) { if (notice_list_tot[i] > 0) { mb_notice_message(verbose, i, ¬ice_msg); fprintf(output, "DN: %d %s\n", notice_list_tot[i], notice_msg); } } fprintf(output,"\nNonfatal Error Notices:\n"); for (i=MB_DATA_KINDS+1;i<=MB_DATA_KINDS-(MB_ERROR_MIN);i++) { if (notice_list_tot[i] > 0) { mb_notice_message(verbose, i, ¬ice_msg); fprintf(output, "EN: %d %s\n", notice_list_tot[i], notice_msg); } } fprintf(output,"\nProblem Notices:\n"); for (i=MB_DATA_KINDS-(MB_ERROR_MIN)+1;i 0) { mb_notice_message(verbose, i, ¬ice_msg); fprintf(output, "PN: %d %s\n", notice_list_tot[i], notice_msg); } } break; case JSON: fprintf(output,",\n\"notices\": {\n"); notice_total=0; fprintf(output,"\"data_record_type_notices\": {\n"); for (i=0;i<=MB_DATA_KINDS;i++) { if (notice_list_tot[i] > 0) { mb_notice_message(verbose, i, ¬ice_msg); if(notice_total>0) fprintf(output,",\n"); fprintf(output, "\"notice\": {\n\"notice_number\": \"%d\",\n\"notice_message\":\"%s\"\n}", notice_list_tot[i], notice_msg); notice_total++; } } if (notice_total>0) fprintf(output,"\n"); fprintf(output,"}"); notice_total=0; fprintf(output,",\n\"nonfatal_error_notices\": {\n"); for (i=MB_DATA_KINDS+1;i<=MB_DATA_KINDS-(MB_ERROR_MIN);i++) { if (notice_list_tot[i] > 0) { mb_notice_message(verbose, i, ¬ice_msg); if(notice_total>0) fprintf(output,",\n"); fprintf(output, "\"notice\": {\n\"notice_number\": \"%d\",\n\"notice_message\":\"%s\"\n}", notice_list_tot[i], notice_msg); notice_total++; } } if (notice_total>0) fprintf(output,"\n"); fprintf(output,"}"); notice_total=0; fprintf(output,",\n\"problem_notices\": {\n"); for (i=MB_DATA_KINDS-(MB_ERROR_MIN)+1;i 0) { mb_notice_message(verbose, i, ¬ice_msg); if(notice_total>0) fprintf(output,",\n"); fprintf(output, "\"notice\": {\n\"notice_number\": \"%d\",\n\"notice_message\":\"%s\"\n}", notice_list_tot[i], notice_msg); notice_total++; } } if (notice_total>0) fprintf(output,"\n"); fprintf(output,"}\n"); fprintf(output,"}"); break; case XML: fprintf(output,"\t\n"); for (i=0;i<=MB_DATA_KINDS;i++) { if (notice_list_tot[i] > 0) { mb_notice_message(verbose, i, ¬ice_msg); fprintf(output, "\t\t%d\n",notice_list_tot[i]); fprintf(output, "\t\t%s\n", notice_msg); } } fprintf(output,"\t\n"); fprintf(output,"\t\n"); for (i=MB_DATA_KINDS+1;i<=MB_DATA_KINDS-(MB_ERROR_MIN);i++) { if (notice_list_tot[i] > 0) { mb_notice_message(verbose, i, ¬ice_msg); fprintf(output, "\t\t%d\n",notice_list_tot[i]); fprintf(output, "\t\t%s\n", notice_msg); } } fprintf(output,"\t\n"); fprintf(output,"\t\n"); for (i=MB_DATA_KINDS-(MB_ERROR_MIN)+1;i 0) { mb_notice_message(verbose, i, ¬ice_msg); fprintf(output, "\t\t%d\n",notice_list_tot[i]); fprintf(output, "\t\t%s\n", notice_msg); } } fprintf(output,"\t\n"); break; case '?': break; } } if (coverage_mask == MB_YES) { switch (output_format) { case FREE_TEXT: fprintf(output,"\nCoverage Mask:\nCM dimensions: %d %d\n", mask_nx, mask_ny); for (j=mask_ny-1;j>=0;j--) { fprintf(output, "CM: "); for (i=0;i=0;j--) { for (i=0;i0) fprintf(output,","); fprintf(output, "%1d", mask[k]); } fprintf(output,"\n"); } fprintf(output, "\"}"); break; case '?': break; } } /* close output file */ if (output_usefile == MB_YES && output != NULL) { fclose(output); } /* deallocate memory used for data arrays */ mb_freed(verbose,__FILE__,__LINE__,(void **)&bathmeantot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&bathvartot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nbathvartot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&meantot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&vartot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nampvartot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&ssmeantot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&ssvartot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nssvartot,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&mask,&error); /* set program status */ status = MB_SUCCESS; /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stream,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stream,"dbg2 Ending status:\n"); fprintf(stream,"dbg2 status: %d\n",status); } if (output_format == JSON) fprintf(output,"}\n"); /* end it all */ exit(error); } /*--------------------------------------------------------------------*/