int main (int argc, char **argv)
{
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 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;
int beams_bath;
int beams_amp;
int pixels_ss;
void *mbio_ptr = NULL;
/* mbrollbias control variables */
int iformat;
int jformat;
char ifile[MB_PATH_MAXLINE];
char jfile[MB_PATH_MAXLINE];
int xdim, ydim;
/* mbio read values */
int rpings;
int kind;
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];
/* grid variables */
double deglontokm, deglattokm;
double mtodeglon, mtodeglat;
double dx, dy;
int *icount = NULL;
int *jcount = NULL;
struct bathptr *idata = NULL;
struct bathptr *jdata = NULL;
struct bath *zone = NULL;
int ndatafile;
double iaa, ibb, icc, ihh;
double jaa, jbb, jcc, jhh;
double hx, hy, dd;
double isine, icosine, jsine, jcosine;
double roll_bias;
/* matrix parameters */
int nmatrix = 3;
double matrix[3][3];
double vector[3];
double xx[3];
/* output stream for basic stuff (stdout if verbose <= 1,
stderr if verbose > 1) */
FILE *outfp;
/* other variables */
int i, j, k;
int ii, jj, kk;
int ib, ix, iy, indx;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set default input and output */
strcpy (ifile, "\0");
strcpy (jfile, "\0");
/* initialize some values */
pings = 1;
iformat = format;
jformat = format;
btime_i[0] = 1962;
btime_i[1] = 2;
btime_i[2] = 21;
btime_i[3] = 10;
btime_i[4] = 30;
btime_i[5] = 0;
btime_i[6] = 0;
etime_i[0] = 2062;
etime_i[1] = 2;
etime_i[2] = 21;
etime_i[3] = 10;
etime_i[4] = 30;
etime_i[5] = 0;
etime_i[6] = 0;
speedmin = 0.0;
timegap = 1000000000.0;
bounds[0] = 0.0;
bounds[1] = 0.0;
bounds[2] = 0.0;
bounds[3] = 0.0;
xdim = 5;
ydim = 5;
/* process argument list */
while ((c = getopt(argc, argv, "VvHhL:l:R:r:F:f:I:i:J:j:D:d:")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'R':
case 'r':
mb_get_bounds(optarg, bounds);
flag++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d/%d", &iformat,&jformat);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", ifile);
flag++;
break;
case 'J':
case 'j':
sscanf (optarg,"%s", jfile);
flag++;
break;
case 'D':
case 'd':
sscanf (optarg,"%d/%d", &xdim, &ydim);
flag++;
break;
case '?':
errflg++;
}
/* set output stream */
if (verbose <= 1)
outfp = stdout;
else
outfp = stderr;
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(outfp,"usage: %s\n", usage_message);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(outfp,"\nProgram %s\n",program_name);
fprintf(outfp,"Version %s\n",rcs_id);
fprintf(outfp,"MB-system Version %s\n",MB_VERSION);
}
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(outfp,"\ndbg2 Program <%s>\n",program_name);
fprintf(outfp,"dbg2 Version %s\n",rcs_id);
fprintf(outfp,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(outfp,"dbg2 Control Parameters:\n");
fprintf(outfp,"dbg2 verbose: %d\n",verbose);
fprintf(outfp,"dbg2 help: %d\n",help);
fprintf(outfp,"dbg2 pings: %d\n",pings);
fprintf(outfp,"dbg2 lonflip: %d\n",lonflip);
fprintf(outfp,"dbg2 btime_i[0]: %d\n",btime_i[0]);
fprintf(outfp,"dbg2 btime_i[1]: %d\n",btime_i[1]);
fprintf(outfp,"dbg2 btime_i[2]: %d\n",btime_i[2]);
fprintf(outfp,"dbg2 btime_i[3]: %d\n",btime_i[3]);
fprintf(outfp,"dbg2 btime_i[4]: %d\n",btime_i[4]);
fprintf(outfp,"dbg2 btime_i[5]: %d\n",btime_i[5]);
fprintf(outfp,"dbg2 btime_i[6]: %d\n",btime_i[6]);
fprintf(outfp,"dbg2 etime_i[0]: %d\n",etime_i[0]);
fprintf(outfp,"dbg2 etime_i[1]: %d\n",etime_i[1]);
fprintf(outfp,"dbg2 etime_i[2]: %d\n",etime_i[2]);
fprintf(outfp,"dbg2 etime_i[3]: %d\n",etime_i[3]);
fprintf(outfp,"dbg2 etime_i[4]: %d\n",etime_i[4]);
fprintf(outfp,"dbg2 etime_i[5]: %d\n",etime_i[5]);
fprintf(outfp,"dbg2 etime_i[6]: %d\n",etime_i[6]);
fprintf(outfp,"dbg2 speedmin: %f\n",speedmin);
fprintf(outfp,"dbg2 timegap: %f\n",timegap);
fprintf(outfp,"dbg2 input file 1: %s\n",ifile);
fprintf(outfp,"dbg2 input file 2: %s\n",jfile);
fprintf(outfp,"dbg2 file 1 format: %d\n",iformat);
fprintf(outfp,"dbg2 file 2 format: %d\n",jformat);
fprintf(outfp,"dbg2 grid x dimension: %d\n",xdim);
fprintf(outfp,"dbg2 grid y dimension: %d\n",ydim);
fprintf(outfp,"dbg2 grid bounds[0]: %f\n",bounds[0]);
fprintf(outfp,"dbg2 grid bounds[1]: %f\n",bounds[1]);
fprintf(outfp,"dbg2 grid bounds[2]: %f\n",bounds[2]);
fprintf(outfp,"dbg2 grid bounds[3]: %f\n",bounds[3]);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(outfp,"\n%s\n",help_message);
fprintf(outfp,"\nusage: %s\n", usage_message);
exit(error);
}
/* get format if required */
if (format == 0)
mb_get_format(verbose,ifile,NULL,&format,&error);
/* if bounds not specified then quit */
if (bounds[0] >= bounds[1] || bounds[2] >= bounds[3]
|| bounds[2] <= -90.0 || bounds[3] >= 90.0)
{
fprintf(outfp,"\nGrid bounds not properly specified:\n\t%f %f %f %f\n",bounds[0],bounds[1],bounds[2],bounds[3]);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_PARAMETER;
exit(error);
}
/* calculate grid properties and other values */
mb_coor_scale(verbose,0.5*(bounds[2]+bounds[3]),&mtodeglon,&mtodeglat);
deglontokm = 0.001/mtodeglon;
deglattokm = 0.001/mtodeglat;
dx = (bounds[1] - bounds[0])/(xdim);
dy = (bounds[3] - bounds[2])/(ydim);
/* output info */
if (verbose >= 0)
{
fprintf(outfp,"\nMBROLLBIAS Parameters:\n");
fprintf(outfp,"Input file 1: %s\n",ifile);
fprintf(outfp,"Input file 2: %s\n",jfile);
fprintf(outfp,"Region grid bounds:\n");
fprintf(outfp," Longitude: %9.4f %9.4f\n",bounds[0],bounds[1]);
fprintf(outfp," Latitude: %9.4f %9.4f\n",bounds[2],bounds[3]);
fprintf(outfp,"Region grid dimensions: %d %d\n",xdim,ydim);
fprintf(outfp,"Longitude interval: %f degrees or %f km\n",
dx,dx*deglontokm);
fprintf(outfp,"Latitude interval: %f degrees or %f km\n",
dy,dy*deglattokm);
fprintf(outfp,"Longitude flipping: %d\n",lonflip);
fprintf(outfp,"\n");
}
/* allocate memory for counting arrays */
status = mb_mallocd(verbose,__FILE__,__LINE__,xdim*ydim*sizeof(int),(void **)&icount,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,xdim*ydim*sizeof(int),(void **)&jcount,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* initialize arrays */
for (i=0;i<xdim*ydim;i++)
{
icount[i] = 0;
jcount[i] = 0;
}
/* count data in first swath file */
/* initialize the first swath file */
ndatafile = 0;
if ((status = mb_read_init(
verbose,ifile,iformat,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_ptr,&btime_d,&etime_d,
&beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(outfp,"\nMultibeam File <%s> not initialized for reading\n",ifile);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for reading data arrays */
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(char),(void **)&beamflag,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bath,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_amp*sizeof(double),(void **)&,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&ss,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslat,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* loop over reading */
while (error <= MB_ERROR_NO_ERROR)
{
status = mb_read(verbose,mbio_ptr,&kind,
&rpings,time_i,&time_d,
&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&beams_bath,&beams_amp,&pixels_ss,
beamflag,bath,amp,bathlon,bathlat,
ss,sslon,sslat,
comment,&error);
/* time gaps are not a problem here */
if (error == MB_ERROR_TIME_GAP)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* 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 beams_bath: %d\n",beams_bath);
fprintf(stderr,"dbg2 beams_amp: %d\n",beams_amp);
fprintf(stderr,"dbg2 pixels_ss: %d\n",pixels_ss);
fprintf(stderr,"dbg2 error: %d\n",error);
fprintf(stderr,"dbg2 status: %d\n",status);
}
if (error == MB_ERROR_NO_ERROR)
{
for (ib=0;ib<beams_bath;ib++)
if (mb_beam_ok(beamflag[ib]))
{
ix = (bathlon[ib] - bounds[0])/dx;
iy = (bathlat[ib] - bounds[2])/dy;
if (ix >= 0 && ix < xdim
&& iy >= 0 && iy < ydim)
{
indx = ix + iy*xdim;
icount[indx]++;
ndatafile++;
}
}
}
}
status = mb_close(verbose,&mbio_ptr,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&beamflag,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bath,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ss,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslat,&error);
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
if (verbose >= 2)
fprintf(outfp,"\n");
fprintf(outfp,"%d depth points counted in %s\n",
ndatafile,ifile);
/* count data in second swath file */
/* initialize the second swath file */
ndatafile = 0;
if ((status = mb_read_init(
verbose,jfile,jformat,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_ptr,&btime_d,&etime_d,
&beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(outfp,"\nMultibeam File <%s> not initialized for reading\n",jfile);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for reading data arrays */
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(char),(void **)&beamflag,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bath,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_amp*sizeof(double),(void **)&,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&ss,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslat,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* loop over reading */
while (error <= MB_ERROR_NO_ERROR)
{
status = mb_read(verbose,mbio_ptr,&kind,
&rpings,time_i,&time_d,
&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&beams_bath,&beams_amp,&pixels_ss,
beamflag,bath,amp,bathlon,bathlat,
ss,sslon,sslat,
comment,&error);
/* time gaps are not a problem here */
if (error == MB_ERROR_TIME_GAP)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* 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 beams_bath: %d\n",beams_bath);
fprintf(stderr,"dbg2 beams_amp: %d\n",beams_amp);
fprintf(stderr,"dbg2 pixels_ss: %d\n",pixels_ss);
fprintf(stderr,"dbg2 error: %d\n",error);
fprintf(stderr,"dbg2 status: %d\n",status);
}
if (error == MB_ERROR_NO_ERROR)
{
for (ib=0;ib<beams_bath;ib++)
if (mb_beam_ok(beamflag[ib]))
{
ix = (bathlon[ib] - bounds[0])/dx;
iy = (bathlat[ib] - bounds[2])/dy;
if (ix >= 0 && ix < xdim
&& iy >= 0 && iy < ydim)
{
indx = ix + iy*xdim;
jcount[indx]++;
ndatafile++;
}
}
}
}
status = mb_close(verbose,&mbio_ptr,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&beamflag,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bath,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ss,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslat,&error);
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
if (verbose >= 2)
fprintf(outfp,"\n");
fprintf(outfp,"%d depth points counted in %s\n",
ndatafile,jfile);
/* allocate space for data */
status = mb_mallocd(verbose,__FILE__,__LINE__,xdim*ydim*sizeof(struct bathptr),
(void **)&idata,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,xdim*ydim*sizeof(struct bathptr),
(void **)&jdata,&error);
for (i=0;i<xdim;i++)
for (j=0;j<ydim;j++)
{
k = i*ydim + j;
idata[k].ptr = NULL;
jdata[k].ptr = NULL;
if (icount[k] > 0)
{
status = mb_mallocd(verbose,__FILE__,__LINE__,
icount[k]*sizeof(struct bath),
(void **)&(idata[k].ptr),&error);
icount[k] = 0;
}
if (jcount[k] > 0)
{
status = mb_mallocd(verbose,__FILE__,__LINE__,
jcount[k]*sizeof(struct bath),
(void **)&(jdata[k].ptr),&error);
jcount[k] = 0;
}
}
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(outfp,"Try using ping averaging to reduce the number of data.\n");
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* read data in first swath file */
/* initialize the first swath file */
ndatafile = 0;
if ((status = mb_read_init(
verbose,ifile,iformat,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_ptr,&btime_d,&etime_d,
&beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(outfp,"\nMultibeam File <%s> not initialized for reading\n",ifile);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for reading data arrays */
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&beamflag,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bath,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_amp*sizeof(double),(void **)&,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&ss,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslat,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* loop over reading */
while (error <= MB_ERROR_NO_ERROR)
{
status = mb_read(verbose,mbio_ptr,&kind,
&rpings,time_i,&time_d,
&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&beams_bath,&beams_amp,&pixels_ss,
beamflag,bath,amp,bathlon,bathlat,
ss,sslon,sslat,
comment,&error);
/* time gaps are not a problem here */
if (error == MB_ERROR_TIME_GAP)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* 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 beams_bath: %d\n",beams_bath);
fprintf(stderr,"dbg2 beams_amp: %d\n",beams_amp);
fprintf(stderr,"dbg2 pixels_ss: %d\n",pixels_ss);
fprintf(stderr,"dbg2 error: %d\n",error);
fprintf(stderr,"dbg2 status: %d\n",status);
}
if (error == MB_ERROR_NO_ERROR)
{
for (ib=0;ib<beams_bath;ib++)
if (mb_beam_ok(beamflag[ib]))
{
ix = (bathlon[ib] - bounds[0])/dx;
iy = (bathlat[ib] - bounds[2])/dy;
if (ix >= 0 && ix < xdim
&& iy >= 0 && iy < ydim)
{
indx = ix + iy*xdim;
zone = idata[indx].ptr;
zone[icount[indx]].x =
deglontokm*
(bathlon[ib] - bounds[0]);
zone[icount[indx]].y =
deglattokm*
(bathlat[ib] - bounds[2]);
zone[icount[indx]].d = 0.001*bath[ib];
zone[icount[indx]].h = heading;
icount[indx]++;
ndatafile++;
}
}
}
}
status = mb_close(verbose,&mbio_ptr,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&beamflag,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bath,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ss,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslat,&error);
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
if (verbose >= 2)
fprintf(outfp,"\n");
fprintf(outfp,"%d depth points read from %s\n",
ndatafile,ifile);
/* read data in second swath file */
/* initialize the second swath file */
ndatafile = 0;
if ((status = mb_read_init(
verbose,jfile,jformat,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_ptr,&btime_d,&etime_d,
&beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(outfp,"\nMultibeam File <%s> not initialized for reading\n",jfile);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for reading data arrays */
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(char),(void **)&beamflag,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bath,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bathlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_amp*sizeof(double),(void **)&,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&ss,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&sslat,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* loop over reading */
while (error <= MB_ERROR_NO_ERROR)
{
status = mb_read(verbose,mbio_ptr,&kind,
&rpings,time_i,&time_d,
&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&beams_bath,&beams_amp,&pixels_ss,
beamflag,bath,amp,bathlon,bathlat,
ss,sslon,sslat,
comment,&error);
/* time gaps are not a problem here */
if (error == MB_ERROR_TIME_GAP)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* 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 beams_bath: %d\n",beams_bath);
fprintf(stderr,"dbg2 beams_amp: %d\n",beams_amp);
fprintf(stderr,"dbg2 pixels_ss: %d\n",pixels_ss);
fprintf(stderr,"dbg2 error: %d\n",error);
fprintf(stderr,"dbg2 status: %d\n",status);
}
if (error == MB_ERROR_NO_ERROR)
{
for (ib=0;ib<beams_bath;ib++)
if (mb_beam_ok(beamflag[ib]))
{
ix = (bathlon[ib] - bounds[0])/dx;
iy = (bathlat[ib] - bounds[2])/dy;
if (ix >= 0 && ix < xdim
&& iy >= 0 && iy < ydim)
{
indx = ix + iy*xdim;
zone = jdata[indx].ptr;
zone[jcount[indx]].x =
deglontokm*
(bathlon[ib] - bounds[0]);
zone[jcount[indx]].y =
deglattokm*
(bathlat[ib] - bounds[2]);
zone[jcount[indx]].d = 0.001*bath[ib];
zone[jcount[indx]].h = heading;
jcount[indx]++;
ndatafile++;
}
}
}
}
status = mb_close(verbose,&mbio_ptr,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&beamflag,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bath,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ss,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&sslat,&error);
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
if (verbose >= 2)
fprintf(outfp,"\n");
fprintf(outfp,"%d depth points read from %s\n",
ndatafile,jfile);
/* loop over regions */
for (i=0;i<xdim;i++)
for (j=0;j<ydim;j++)
{
/* set index */
indx = i + j*xdim;
/* print out id info */
fprintf(outfp,"\nRegion %d (%d %d) bounds:\n",j+i*ydim,i,j);
fprintf(outfp," Longitude: %9.4f %9.4f\n",
bounds[0]+dx*i,bounds[0]+dx*(i+1));
fprintf(outfp," Latitude: %9.4f %9.4f\n",
bounds[2]+dy*j,bounds[2]+dy*(j+1));
/* get the best fitting planes */
if (icount[indx] >= MINIMUM_NUMBER_DATA
&& jcount[indx] >= MINIMUM_NUMBER_DATA)
{
/* use data from first data file */
zone = idata[indx].ptr;
/* zero the arrays */
ihh = 0.0;
hx = 0.0;
hy = 0.0;
for (ii=0;ii<nmatrix;ii++)
{
vector[ii] = 0.0;
for (jj=0;jj<nmatrix;jj++)
matrix[ii][jj] = 0.0;
}
/* construct normal equations */
for (kk=0;kk<icount[indx];kk++)
{
ihh += zone[kk].h;
hx += sin(DTR * zone[kk].h);
hy += cos(DTR * zone[kk].h);
xx[0] = 1.0;
xx[1] = zone[kk].x;
xx[2] = zone[kk].y;
for (ii=0;ii<nmatrix;ii++)
{
vector[ii] += zone[kk].d * xx[ii];
for (jj=0;jj<nmatrix;jj++)
{
matrix[ii][jj] += xx[ii] * xx[jj];
}
}
}
/* solve the normal equations */
gauss((double *)matrix,vector,nmatrix,nmatrix,1.0e-08,&error,1);
/* get the solution */
iaa = vector[0];
ibb = vector[1];
icc = vector[2];
hx = hx/icount[indx];
hy = hy/icount[indx];
dd = sqrt(hx * hx + hy * hy);
if (dd > 0.0)
ihh = RTD * atan2((hx/dd), (hy/dd));
else
ihh = ihh/icount[indx];
if (ihh > 360.0)
ihh = ihh - 360.0;
else if (ihh < 0.0)
ihh = ihh + 360.0;
/* use data from second data file */
zone = jdata[indx].ptr;
/* zero the arrays */
jhh = 0.0;
hx = 0.0;
hy = 0.0;
for (ii=0;ii<nmatrix;ii++)
{
vector[ii] = 0.0;
for (jj=0;jj<nmatrix;jj++)
matrix[ii][jj] = 0.0;
}
/* construct normal equations */
for (kk=0;kk<jcount[indx];kk++)
{
jhh += zone[kk].h;
hx += sin(DTR * zone[kk].h);
hy += cos(DTR * zone[kk].h);
xx[0] = 1.0;
xx[1] = zone[kk].x;
xx[2] = zone[kk].y;
for (ii=0;ii<nmatrix;ii++)
{
vector[ii] += zone[kk].d * xx[ii];
for (jj=0;jj<nmatrix;jj++)
{
matrix[ii][jj] += xx[ii] * xx[jj];
}
}
}
/* solve the normal equations */
gauss((double *)matrix,vector,nmatrix,nmatrix,1.0e-08,&error,1);
if (error != 0)
{
fprintf(outfp,"matrix inversion error: %d\n",error);
}
/* get the solution */
jaa = vector[0];
jbb = vector[1];
jcc = vector[2];
hx = hx/jcount[indx];
hy = hy/jcount[indx];
dd = sqrt(hx * hx + hy * hy);
if (dd > 0.0)
jhh = RTD * atan2((hx/dd), (hy/dd));
else
jhh = jhh/jcount[indx];
if (jhh > 360.0)
jhh = jhh - 360.0;
else if (jhh < 0.0)
jhh = jhh + 360.0;
/* report results */
fprintf(outfp,"First data file: %s\n",ifile);
fprintf(outfp," Number of data: %d\n",
icount[indx]);
fprintf(outfp," Mean heading: %f\n",ihh);
fprintf(outfp," Plane fit: %f %f %f\n",
iaa,ibb,icc);
fprintf(outfp,"Second data file: %s\n",jfile);
fprintf(outfp," Number of data: %d\n",
jcount[indx]);
fprintf(outfp," Mean heading: %f\n",jhh);
fprintf(outfp," Plane fit: %f %f %f\n",
jaa,jbb,jcc);
/* calculate roll bias */
if (fabs(ihh - jhh) > 90.0)
{
isine = sin(DTR*ihh);
icosine = cos(DTR*ihh);
jsine = sin(DTR*jhh);
jcosine = cos(DTR*jhh);
if (fabs(jcosine-icosine) > 1.0)
{
roll_bias = -(ibb - jbb)
/(jcosine - icosine);
}
else
{
roll_bias = -(icc - jcc)
/(isine - jsine);
}
fprintf(outfp,"Roll bias: %f (%f degrees)\n",
roll_bias,atan(roll_bias)/DTR);
fprintf(outfp,"Roll bias is positive to starboard, negative to port.\n");
fprintf(outfp,"A postive roll bias means the vertical reference used by \n the swath system is biased to starboard, \n giving rise to shallow bathymetry to port and \n deep bathymetry to starboard.\n");
}
else
fprintf(outfp,"Track headings too similar to calculate roll bias!\n");
}
else
fprintf(outfp,"Not enough data to proceed!\n");
}
/* deallocate space for data */
for (i=0;i<xdim;i++)
for (j=0;j<ydim;j++)
{
k = i*ydim + j;
if (icount[k] > 0)
{
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&idata[k].ptr,&error);
}
if (jcount[k] > 0)
{
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&jdata[k].ptr,&error);
}
}
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&idata,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&jdata,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&icount,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&jcount,&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);
}
int main (int argc, char **argv)
{
char program_name[] = "mbnavlist";
char help_message[] = "mbnavlist prints the specified contents of navigation records\nin a swath sonar data file to stdout. The form of the \noutput is quite flexible; mbnavlist is tailored to produce \nascii files in spreadsheet style with data columns separated by tabs.";
char usage_message[] = "mbnavlist [-Byr/mo/da/hr/mn/sc -Ddecimate -Eyr/mo/da/hr/mn/sc \n-Fformat -Gdelimiter -H -Ifile -Kkind -Llonflip \n-Ooptions -Rw/e/s/n -Sspeed \n-Ttimegap -V -Zsegment]";
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;
int pings;
int decimate;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double btime_d;
double etime_d;
double speedmin;
double timegap;
char file[MB_PATH_MAXLINE];
int beams_bath;
int beams_amp;
int pixels_ss;
/* data record source types */
int nav_source;
int heading_source;
int vru_source;
int svp_source;
int aux_nav_channel = -1;
int data_kind = -1;
/* output format list controls */
char list[MAX_OPTIONS];
int n_list;
double distance_total;
int nread;
int time_j[5];
int invert_next_value = MB_NO;
int signflip_next_value = MB_NO;
int first = MB_YES;
int ascii = MB_YES;
int segment = MB_NO;
char segment_tag[MB_PATH_MAXLINE];
char delimiter[MB_PATH_MAXLINE];
/* MBIO read values */
void *mbio_ptr = NULL;
void *store_ptr;
int kind;
int time_i[7];
double time_d;
double navlon;
double navlat;
double speed;
double heading;
double distance;
double altitude;
double sonardepth;
double draft;
double roll;
double pitch;
double heave;
char *beamflag = NULL;
double *bath = NULL;
double *bathacrosstrack = NULL;
double *bathalongtrack = NULL;
double *amp = NULL;
double *ss = NULL;
double *ssacrosstrack = NULL;
double *ssalongtrack = NULL;
char comment[MB_COMMENT_MAXLINE];
int atime_i[7 * MB_ASYNCH_SAVE_MAX];
double atime_d[MB_ASYNCH_SAVE_MAX];
double anavlon[MB_ASYNCH_SAVE_MAX];
double anavlat[MB_ASYNCH_SAVE_MAX];
double aspeed[MB_ASYNCH_SAVE_MAX];
double aheading[MB_ASYNCH_SAVE_MAX];
double adraft[MB_ASYNCH_SAVE_MAX];
double aroll[MB_ASYNCH_SAVE_MAX];
double apitch[MB_ASYNCH_SAVE_MAX];
double aheave[MB_ASYNCH_SAVE_MAX];
/* additional time variables */
int first_m = MB_YES;
double time_d_ref;
int first_u = MB_YES;
time_t time_u;
time_t time_u_ref;
/* course calculation variables */
double dlon, dlat, minutes;
int degrees;
char hemi;
double headingx, headingy, mtodeglon, mtodeglat;
double course, course_old;
double time_d_old;
double time_interval;
double speed_made_good, speed_made_good_old;
double navlon_old, navlat_old;
double dx, dy;
double b;
int read_data;
int inav, n;
int nnav;
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");
/* set up the default list controls
(lon, lat, along-track distance, center beam depth) */
list[0]='t';
list[1]='M';
list[2]='X';
list[3]='Y';
list[4]='H';
list[5]='s';
n_list = 6;
sprintf(delimiter, "\t");
decimate = 1;
/* process argument list */
while ((c = getopt(argc, argv, "AaB:b:D:d:E:e:F:f:G:g:I:i:K:k:L:l:N:n:O:o:R:r:S:s:T:t:Z:z:VvHh")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'A':
case 'a':
ascii = MB_NO;
flag++;
break;
case 'B':
case 'b':
sscanf (optarg,"%d/%d/%d/%d/%d/%d",
&btime_i[0],&btime_i[1],&btime_i[2],
&btime_i[3],&btime_i[4],&btime_i[5]);
btime_i[6] = 0;
flag++;
break;
case 'D':
case 'd':
sscanf (optarg,"%d", &decimate);
flag++;
break;
case 'E':
case 'e':
sscanf (optarg,"%d/%d/%d/%d/%d/%d",
&etime_i[0],&etime_i[1],&etime_i[2],
&etime_i[3],&etime_i[4],&etime_i[5]);
etime_i[6] = 0;
flag++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
flag++;
break;
case 'G':
case 'g':
sscanf (optarg,"%s", delimiter);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", read_file);
flag++;
break;
case 'K':
case 'k':
sscanf (optarg,"%d", &data_kind);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg,"%d", &aux_nav_channel);
flag++;
break;
case 'O':
case 'o':
for(j=0,n_list=0;j<(int)strlen(optarg);j++,n_list++)
if (n_list<MAX_OPTIONS)
list[n_list] = optarg[j];
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 'Z':
case 'z':
segment = MB_YES;
sscanf (optarg,"%s", segment_tag);
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,"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 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 decimate: %d\n",decimate);
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 aux_nav_channel:%d\n",aux_nav_channel);
fprintf(stderr,"dbg2 data_kind: %d\n",data_kind);
fprintf(stderr,"dbg2 ascii: %d\n",ascii);
fprintf(stderr,"dbg2 segment: %d\n",segment);
fprintf(stderr,"dbg2 segment_tag: %s\n",segment_tag);
fprintf(stderr,"dbg2 delimiter: %s\n",delimiter);
fprintf(stderr,"dbg2 file: %s\n",file);
fprintf(stderr,"dbg2 n_list: %d\n",n_list);
for (i=0;i<n_list;i++)
fprintf(stderr,"dbg2 list[%d]: %c\n",
i,list[i]);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(stderr,"\n%s\n",help_message);
fprintf(stderr,"\nusage: %s\n", usage_message);
exit(error);
}
/* get format if required */
if (format == 0)
mb_get_format(verbose,read_file,NULL,&format,&error);
/* determine whether to read one file or a list of files */
if (format < 0)
read_datalist = MB_YES;
/* open file list */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_open(verbose,&datalist,
read_file,look_processed,&error)) != MB_SUCCESS)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open data list file: %s\n",
read_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
/* else copy single filename to be read */
else
{
strcpy(file, read_file);
read_data = MB_YES;
}
/* loop over all files to be read */
while (read_data == MB_YES)
{
/* check format and get data sources */
if ((status = mb_format_source(verbose, &format,
&nav_source, &heading_source,
&vru_source, &svp_source,
&error)) == MB_FAILURE)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nMBIO Error returned from function <mb_format_source>:\n%s\n",message);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* set auxilliary nav source if requested
- note this is superceded by data_kind if the -K option is used */
if (aux_nav_channel > 0)
{
if (aux_nav_channel == 1)
nav_source = MB_DATA_NAV1;
else if (aux_nav_channel == 2)
nav_source = MB_DATA_NAV2;
else if (aux_nav_channel == 3)
nav_source = MB_DATA_NAV3;
}
/* initialize reading the swath file */
if ((status = mb_read_init(
verbose,file,format,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_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 <mb_read_init>:\n%s\n",message);
fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for data arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(char), (void **)&beamflag, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bath, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE,
sizeof(double), (void **)&, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathalongtrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ss, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ssacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_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);
}
/* output separator for GMT style segment file output */
if (segment == MB_YES && ascii == MB_YES)
{
printf("%s\n", segment_tag);
}
/* read and print data */
distance_total = 0.0;
nread = 0;
nnav = 0;
first = MB_YES;
while (error <= MB_ERROR_NO_ERROR)
{
/* read a ping of data */
status = mb_get_all(verbose,mbio_ptr,&store_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);
/* time gaps are not a problem here */
if (error == MB_ERROR_TIME_GAP)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* check for appropriate navigation record */
/* if the -K option is used look for a particular
sort of data record */
if (error <= MB_ERROR_NO_ERROR
&& data_kind > 0)
{
if (error <= MB_ERROR_NO_ERROR
&& kind == data_kind)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
else
{
error = MB_ERROR_IGNORE;
status = MB_FAILURE;
}
}
else if (error <= MB_ERROR_NO_ERROR
&& kind != nav_source)
{
error = MB_ERROR_IGNORE;
status = MB_FAILURE;
}
else if (error <= MB_ERROR_NO_ERROR
&& kind == nav_source)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* extract additional nav info */
if (error == MB_ERROR_NO_ERROR)
status = mb_extract_nnav(verbose,mbio_ptr,store_ptr,
MB_ASYNCH_SAVE_MAX, &kind, &n,
atime_i,atime_d,anavlon,anavlat,
aspeed,aheading,adraft,
aroll,apitch,aheave,&error);
/* increment counter */
if (error == MB_ERROR_NO_ERROR)
nread++;
/* print debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Nsv data 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);
fprintf(stderr,"dbg2 n: %d\n",n);
}
/* loop over the n navigation points, outputting each one */
/* calculate course made good and distance */
if (error == MB_ERROR_NO_ERROR && n > 0)
{
for (inav=0;inav<n;inav++)
{
/* get data */
for (j=0;j<7;j++)
time_i[j] = atime_i[inav * 7 + j];
time_d = atime_d[inav];
navlon = anavlon[inav];
navlat = anavlat[inav];
speed = aspeed[inav];
heading = aheading[inav];
draft = adraft[inav];
roll = aroll[inav];
pitch = apitch[inav];
heave = aheave[inav];
/*fprintf(stdout, "kind:%d error:%d %d of %d: time:%4d/%2d/%2d %2.2d:%2.2d:%2.2d.%6.6d\n",
kind, error, i, n,
time_i[0], time_i[1], time_i[2],
time_i[3], time_i[4], time_i[5], time_i[6]);*/
/* calculate course made good and distance */
mb_coor_scale(verbose,navlat, &mtodeglon, &mtodeglat);
headingx = sin(DTR * heading);
headingy = cos(DTR * heading);
if (first == MB_YES)
{
time_interval = 0.0;
course = heading;
speed_made_good = 0.0;
course_old = heading;
speed_made_good_old = speed;
distance = 0.0;
}
else
{
time_interval = time_d - time_d_old;
dx = (navlon - navlon_old)/mtodeglon;
dy = (navlat - navlat_old)/mtodeglat;
distance = sqrt(dx*dx + dy*dy);
if (distance > 0.0)
course = RTD*atan2(dx/distance,dy/distance);
else
course = course_old;
if (course < 0.0)
course = course + 360.0;
if (time_interval > 0.0)
speed_made_good = 3.6*distance/time_interval;
else
speed_made_good
= speed_made_good_old;
}
distance_total += 0.001 * distance;
/* reset old values */
navlon_old = navlon;
navlat_old = navlat;
course_old = course;
speed_made_good_old = speed_made_good;
time_d_old = time_d;
/* now loop over list of output parameters */
if (nnav % decimate == 0)
for (i=0; i<n_list; i++)
{
switch (list[i])
{
case '/': /* Inverts next simple value */
invert_next_value = MB_YES;
break;
case '-': /* Flip sign on next simple value */
signflip_next_value = MB_YES;
break;
case 'c': /* Sonar transducer depth (m) */
printsimplevalue(verbose, sonardepth, 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'H': /* heading */
printsimplevalue(verbose, heading, 6, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'h': /* course */
printsimplevalue(verbose, course, 6, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'J': /* time string */
mb_get_jtime(verbose,time_i,time_j);
if (ascii == MB_YES)
{
printf("%.4d %.3d %.2d %.2d %.2d.%6.6d",
time_j[0],time_j[1],
time_i[3],time_i[4],
time_i[5],time_i[6]);
}
else
{
b = time_j[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[4];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[5];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[6];
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'j': /* time string */
mb_get_jtime(verbose,time_i,time_j);
if (ascii == MB_YES)
{
printf("%.4d %.3d %.4d %.2d.%6.6d",
time_j[0],time_j[1],
time_j[2],time_j[3],time_j[4]);
}
else
{
b = time_j[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[2];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[4];
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'L': /* along-track distance (km) */
printsimplevalue(verbose, distance_total, 7, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'l': /* along-track distance (m) */
printsimplevalue(verbose, 1000.0 * distance_total, 7, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'M': /* Decimal unix seconds since
1/1/70 00:00:00 */
printsimplevalue(verbose, time_d, 0, 6, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'm': /* time in decimal seconds since
first record */
if (first_m == MB_YES)
{
time_d_ref = time_d;
first_m = MB_NO;
}
b = time_d - time_d_ref;
printsimplevalue(verbose, b, 0, 6, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'P': /* pitch */
printsimplevalue(verbose, pitch, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'p': /* draft */
printsimplevalue(verbose, draft, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'R': /* roll */
printsimplevalue(verbose, roll, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'r': /* heave */
printsimplevalue(verbose, heave, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'S': /* speed */
printsimplevalue(verbose, speed, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 's': /* speed made good */
printsimplevalue(verbose, speed_made_good, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'T': /* yyyy/mm/dd/hh/mm/ss time string */
if (ascii == MB_YES)
printf("%.4d/%.2d/%.2d/%.2d/%.2d/%.2d.%.6d",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],time_i[5],
time_i[6]);
else
{
b = time_i[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[2];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[4];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[5] + 1e-6 * time_i[6];
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 't': /* yyyy mm dd hh mm ss time string */
if (ascii == MB_YES)
printf("%.4d %.2d %.2d %.2d %.2d %.2d.%.6d",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],time_i[5],
time_i[6]);
else
{
b = time_i[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[2];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[4];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[5] + 1e-6 * time_i[6];
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'U': /* unix time in seconds since 1/1/70 00:00:00 */
time_u = (int) time_d;
if (ascii == MB_YES)
printf("%ld",time_u);
else
{
b = time_u;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'u': /* time in seconds since first record */
time_u = (int) time_d;
if (first_u == MB_YES)
{
time_u_ref = time_u;
first_u = MB_NO;
}
if (ascii == MB_YES)
printf("%ld",time_u - time_u_ref);
else
{
b = time_u - time_u_ref;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'V': /* time in seconds since last ping */
case 'v':
if (ascii == MB_YES)
{
if ( fabs(time_interval) > 100. )
printf("%g",time_interval);
else
printf("%7.3f",time_interval);
}
else
{
fwrite(&time_interval, sizeof(double), 1, stdout);
}
break;
case 'X': /* longitude decimal degrees */
dlon = navlon;
printsimplevalue(verbose, dlon, 14, 9, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'x': /* longitude degress + decimal minutes */
dlon = navlon;
if (dlon < 0.0)
{
hemi = 'W';
dlon = -dlon;
}
else
hemi = 'E';
degrees = (int) dlon;
minutes = 60.0*(dlon - degrees);
if (ascii == MB_YES)
{
printf("%3d %9.6f%c",
degrees, minutes, hemi);
}
else
{
b = degrees;
if (hemi == 'W') b = -b;
fwrite(&b, sizeof(double), 1, stdout);
b = minutes;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'Y': /* latitude decimal degrees */
dlat = navlat;
printsimplevalue(verbose, dlat, 14, 9, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'y': /* latitude degrees + decimal minutes */
dlat = navlat;
if (dlat < 0.0)
{
hemi = 'S';
dlat = -dlat;
}
else
hemi = 'N';
degrees = (int) dlat;
minutes = 60.0*(dlat - degrees);
if (ascii == MB_YES)
{
printf("%3d %9.6f%c",
degrees, minutes, hemi);
}
else
{
b = degrees;
if (hemi == 'S') b = -b;
fwrite(&b, sizeof(double), 1, stdout);
b = minutes;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
default:
if (ascii == MB_YES)
printf("<Invalid Option: %c>",
list[i]);
break;
}
if (ascii == MB_YES)
{
if (i<(n_list-1)) printf ("%s", delimiter);
else printf ("\n");
}
}
nnav++;
first = MB_NO;
}
}
}
/* close the swath file */
status = mb_close(verbose,&mbio_ptr,&error);
/* figure out whether and what to read next */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
else
{
read_data = MB_NO;
}
/* end loop over files in list */
}
if (read_datalist == MB_YES)
mb_datalist_close(verbose,&datalist,&error);
/* 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);
}
/*--------------------------------------------------------------------*/
int mb_get(int verbose, void *mbio_ptr, int *kind, int *pings,
int time_i[7], double *time_d,
double *navlon, double *navlat,
double *speed, double *heading,
double *distance, double *altitude, double *sonardepth,
int *nbath, int *namp, int *nss,
char *beamflag, double *bath, double *amp,
double *bathacrosstrack, double *bathalongtrack,
double *ss, double *ssacrosstrack, double *ssalongtrack,
char *comment, int *error)
{
char *function_name = "mb_get";
int status;
struct mb_io_struct *mb_io_ptr;
char *store_ptr;
int i;
int done;
int reset_last;
double mtodeglon, mtodeglat;
double dx, dy;
double delta_time;
double headingx, headingy;
double denom;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Input arguments:\n");
fprintf(stderr,"dbg2 verbose: %d\n",verbose);
fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
store_ptr = (char *) mb_io_ptr->store_data;
/* initialize binning values */
mb_io_ptr->pings_read = 0;
mb_io_ptr->pings_binned = 0;
mb_io_ptr->time_d = 0.0;
mb_io_ptr->lon = 0.0;
mb_io_ptr->lat = 0.0;
mb_io_ptr->speed = 0.0;
mb_io_ptr->heading = 0.0;
headingx = 0.0;
headingy = 0.0;
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
{
mb_io_ptr->beamflag[i] = MB_FLAG_NULL;
mb_io_ptr->bath[i] = 0.0;
mb_io_ptr->bath_acrosstrack[i] = 0.0;
mb_io_ptr->bath_alongtrack[i] = 0.0;
mb_io_ptr->bath_num[i] = 0;
}
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
{
mb_io_ptr->amp[i] = 0.0;
mb_io_ptr->amp_num[i] = 0;
}
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
{
mb_io_ptr->ss[i] = 0.0;
mb_io_ptr->ss_acrosstrack[i] = 0.0;
mb_io_ptr->ss_alongtrack[i] = 0.0;
mb_io_ptr->ss_num[i] = 0;
}
/* read the data */
done = MB_NO;
while (done == MB_NO)
{
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg2 About to read ping in function <%s>\n",
function_name);
fprintf(stderr,"dbg2 need_new_ping: %d\n",
mb_io_ptr->need_new_ping);
fprintf(stderr,"dbg2 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg2 pings_read: %d\n",
mb_io_ptr->pings_read);
fprintf(stderr,"dbg2 status: %d\n",status);
fprintf(stderr,"dbg2 error: %d\n",*error);
}
/* get next ping */
if (mb_io_ptr->need_new_ping)
{
status = mb_read_ping(verbose,mbio_ptr,store_ptr,
&mb_io_ptr->new_kind,error);
/* log errors */
if (*error < MB_ERROR_NO_ERROR)
mb_notice_log_error(verbose, mbio_ptr, *error);
/* if io arrays have been reallocated, update the
pointers of arrays passed into this function,
as these pointers may have changed */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
if (mb_io_ptr->bath_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &beamflag, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bath, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathacrosstrack, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathalongtrack, error);
mb_io_ptr->bath_arrays_reallocated = MB_NO;
}
if (mb_io_ptr->amp_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &, error);
mb_io_ptr->amp_arrays_reallocated = MB_NO;
}
if (mb_io_ptr->ss_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ss, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssacrosstrack, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssalongtrack, error);
mb_io_ptr->ss_arrays_reallocated = MB_NO;
}
}
/* if survey data read into storage array */
if (status == MB_SUCCESS
&& (mb_io_ptr->new_kind == MB_DATA_DATA
|| mb_io_ptr->new_kind == MB_DATA_COMMENT))
{
status = mb_extract(verbose,
mbio_ptr, store_ptr,
&mb_io_ptr->new_kind,
mb_io_ptr->new_time_i,
&mb_io_ptr->new_time_d,
&mb_io_ptr->new_lon,
&mb_io_ptr->new_lat,
&mb_io_ptr->new_speed,
&mb_io_ptr->new_heading,
&mb_io_ptr->new_beams_bath,
&mb_io_ptr->new_beams_amp,
&mb_io_ptr->new_pixels_ss,
mb_io_ptr->new_beamflag,
mb_io_ptr->new_bath,
mb_io_ptr->new_amp,
mb_io_ptr->new_bath_acrosstrack,
mb_io_ptr->new_bath_alongtrack,
mb_io_ptr->new_ss,
mb_io_ptr->new_ss_acrosstrack,
mb_io_ptr->new_ss_alongtrack,
mb_io_ptr->new_comment,
error);
}
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
status = mb_extract_altitude(verbose,
mbio_ptr, store_ptr,
&mb_io_ptr->new_kind,
sonardepth,
altitude,
error);
}
/* set errors if not survey data */
if (status == MB_SUCCESS)
{
mb_io_ptr->need_new_ping = MB_NO;
if (mb_io_ptr->new_kind == MB_DATA_DATA)
mb_io_ptr->ping_count++;
else if (mb_io_ptr->new_kind == MB_DATA_COMMENT)
{
mb_io_ptr->comment_count++;
status = MB_FAILURE;
*error = MB_ERROR_COMMENT;
mb_io_ptr->new_error = *error;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else if (mb_io_ptr->new_kind == MB_DATA_SUBBOTTOM_MCS
|| mb_io_ptr->new_kind == MB_DATA_SUBBOTTOM_CNTRBEAM
|| mb_io_ptr->new_kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
{
status = MB_FAILURE;
*error = MB_ERROR_SUBBOTTOM;
mb_io_ptr->new_error = *error;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OTHER;
mb_io_ptr->new_error = *error;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
}
else
{
*error = mb_io_ptr->new_error;
if (*error == MB_ERROR_NO_ERROR)
status = MB_SUCCESS;
else
status = MB_FAILURE;
}
/* if not a fatal error, increment ping counter */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
mb_io_ptr->pings_read++;
/* if first ping read set "old" navigation values */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->ping_count == 1)
{
mb_io_ptr->old_time_d = mb_io_ptr->new_time_d;
mb_io_ptr->old_lon = mb_io_ptr->new_lon;
mb_io_ptr->old_lat = mb_io_ptr->new_lat;
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg2 New ping read in function <%s>\n",
function_name);
fprintf(stderr,"dbg2 need_new_ping: %d\n",
mb_io_ptr->need_new_ping);
fprintf(stderr,"dbg2 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg2 comment_count: %d\n",
mb_io_ptr->comment_count);
fprintf(stderr,"dbg2 pings_read: %d\n",
mb_io_ptr->pings_read);
fprintf(stderr,"dbg2 status: %d\n",
status);
fprintf(stderr,"dbg2 error: %d\n",
*error);
fprintf(stderr,"dbg2 new_error: %d\n",
mb_io_ptr->new_error);
}
/* check for out of location or time bounds */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
if (mb_io_ptr->new_lon < mb_io_ptr->bounds[0]
|| mb_io_ptr->new_lon > mb_io_ptr->bounds[1]
|| mb_io_ptr->new_lat < mb_io_ptr->bounds[2]
|| mb_io_ptr->new_lat > mb_io_ptr->bounds[3])
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_BOUNDS;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else if (mb_io_ptr->etime_d > mb_io_ptr->btime_d
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& (mb_io_ptr->new_time_d > mb_io_ptr->etime_d
|| mb_io_ptr->new_time_d < mb_io_ptr->btime_d))
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_TIME;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else if (mb_io_ptr->etime_d < mb_io_ptr->btime_d
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& (mb_io_ptr->new_time_d > mb_io_ptr->etime_d
&& mb_io_ptr->new_time_d < mb_io_ptr->btime_d))
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_TIME;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* check for time gap */
if (status == MB_SUCCESS
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->ping_count > 1)
{
if ((mb_io_ptr->new_time_d - mb_io_ptr->last_time_d)
> 60*mb_io_ptr->timegap)
{
status = MB_FAILURE;
*error = MB_ERROR_TIME_GAP;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* log errors */
if (*error < MB_ERROR_NO_ERROR)
mb_notice_log_error(verbose, mbio_ptr, *error);
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 New ping checked by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 New ping values:\n");
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 comment_count: %d\n",
mb_io_ptr->comment_count);
fprintf(stderr,"dbg4 pings_avg: %d\n",
mb_io_ptr->pings_avg);
fprintf(stderr,"dbg4 pings_read: %d\n",
mb_io_ptr->pings_read);
fprintf(stderr,"dbg4 error: %d\n",
mb_io_ptr->new_error);
fprintf(stderr,"dbg4 status: %d\n",
status);
}
if (verbose >= 4
&& mb_io_ptr->new_kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg4 comment: \ndbg4 %s\n",
mb_io_ptr->new_comment);
}
else if (verbose >= 4
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& *error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
fprintf(stderr,"dbg4 time_i[0]: %d\n",
mb_io_ptr->new_time_i[0]);
fprintf(stderr,"dbg4 time_i[1]: %d\n",
mb_io_ptr->new_time_i[1]);
fprintf(stderr,"dbg4 time_i[2]: %d\n",
mb_io_ptr->new_time_i[2]);
fprintf(stderr,"dbg4 time_i[3]: %d\n",
mb_io_ptr->new_time_i[3]);
fprintf(stderr,"dbg4 time_i[4]: %d\n",
mb_io_ptr->new_time_i[4]);
fprintf(stderr,"dbg4 time_i[5]: %d\n",
mb_io_ptr->new_time_i[5]);
fprintf(stderr,"dbg4 time_i[6]: %d\n",
mb_io_ptr->new_time_i[6]);
fprintf(stderr,"dbg4 time_d: %f\n",
mb_io_ptr->new_time_d);
fprintf(stderr,"dbg4 longitude: %f\n",
mb_io_ptr->new_lon);
fprintf(stderr,"dbg4 latitude: %f\n",
mb_io_ptr->new_lat);
fprintf(stderr,"dbg4 speed: %f\n",
mb_io_ptr->new_speed);
fprintf(stderr,"dbg4 heading: %f\n",
mb_io_ptr->new_heading);
fprintf(stderr,"dbg4 beams_bath: %d\n",
mb_io_ptr->new_beams_bath);
if (mb_io_ptr->new_beams_bath > 0)
{
fprintf(stderr,"dbg4 beam flag bath crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
fprintf(stderr,"dbg4 %4d %3d %f %f %f\n",
i,mb_io_ptr->new_beamflag[i],
mb_io_ptr->new_bath[i],
mb_io_ptr->new_bath_acrosstrack[i],
mb_io_ptr->new_bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 beams_amp: %d\n",
mb_io_ptr->new_beams_amp);
if (mb_io_ptr->new_beams_amp > 0)
{
fprintf(stderr,"dbg4 beam amp crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
fprintf(stderr,"dbg4 %4d %f %f %f\n",
i,mb_io_ptr->new_amp[i],
mb_io_ptr->new_bath_acrosstrack[i],
mb_io_ptr->new_bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 pixels_ss: %d\n",
mb_io_ptr->new_pixels_ss);
if (mb_io_ptr->new_pixels_ss > 0)
{
fprintf(stderr,"dbg4 pixel sidescan crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->new_pixels_ss;i++)
fprintf(stderr,"dbg4 %4d %f %f %f\n",
i,mb_io_ptr->new_ss[i],
mb_io_ptr->new_ss_acrosstrack[i],mb_io_ptr->new_ss_alongtrack[i]);
}
}
/* now bin the data if appropriate */
if (mb_io_ptr->new_kind == MB_DATA_DATA &&
/* if data is ok */
(status == MB_SUCCESS
/* or if nonfatal error and only one ping read,
bin the ping */
|| (*error < MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT
&& mb_io_ptr->pings_read == 1))
)
{
/* bin the values */
mb_io_ptr->pings_binned++;
mb_io_ptr->time_d = mb_io_ptr->time_d
+ mb_io_ptr->new_time_d;
mb_io_ptr->lon = mb_io_ptr->lon
+ mb_io_ptr->new_lon;
mb_io_ptr->lat = mb_io_ptr->lat
+ mb_io_ptr->new_lat;
mb_io_ptr->speed = mb_io_ptr->speed
+ mb_io_ptr->new_speed;
mb_io_ptr->heading = mb_io_ptr->heading
+ mb_io_ptr->new_heading;
headingx = headingx + sin(DTR*mb_io_ptr->new_heading);
headingy = headingy + cos(DTR*mb_io_ptr->new_heading);
if (mb_io_ptr->pings == 1)
{
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
{
mb_io_ptr->beamflag[i] = mb_io_ptr->new_beamflag[i];
mb_io_ptr->bath[i] = mb_io_ptr->new_bath[i];
mb_io_ptr->bath_acrosstrack[i] = mb_io_ptr->new_bath_acrosstrack[i];
mb_io_ptr->bath_alongtrack[i] = mb_io_ptr->new_bath_alongtrack[i];
mb_io_ptr->bath_num[i] = 1;
}
for (i=0;i<mb_io_ptr->new_beams_amp;i++)
{
mb_io_ptr->amp[i] = mb_io_ptr->new_amp[i];
mb_io_ptr->amp_num[i] = 1;
}
for (i=0;i<mb_io_ptr->new_pixels_ss;i++)
{
mb_io_ptr->ss[i] = mb_io_ptr->new_ss[i];
mb_io_ptr->ss_acrosstrack[i] = mb_io_ptr->new_ss_acrosstrack[i];
mb_io_ptr->ss_alongtrack[i] = mb_io_ptr->new_ss_alongtrack[i];
mb_io_ptr->ss_num[i] = 1;
}
}
else
{
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
{
if (!mb_beam_check_flag(mb_io_ptr->new_beamflag[i]))
{
mb_io_ptr->beamflag[i] = MB_FLAG_NONE;
mb_io_ptr->bath[i] = mb_io_ptr->bath[i]
+ mb_io_ptr->new_bath[i];
mb_io_ptr->bath_acrosstrack[i] = mb_io_ptr->bath_acrosstrack[i]
+ mb_io_ptr->new_bath_acrosstrack[i];
mb_io_ptr->bath_alongtrack[i] = mb_io_ptr->bath_alongtrack[i]
+ mb_io_ptr->new_bath_alongtrack[i];
mb_io_ptr->bath_num[i]++;
}
}
for (i=0;i<mb_io_ptr->new_beams_amp;i++)
{
if (!mb_beam_check_flag(mb_io_ptr->new_beamflag[i]))
{
mb_io_ptr->amp[i] = mb_io_ptr->amp[i]
+ mb_io_ptr->new_amp[i];
mb_io_ptr->amp_num[i]++;
}
}
for (i=0;i<mb_io_ptr->new_pixels_ss;i++)
{
if (mb_io_ptr->new_ss[i] != 0.0)
{
mb_io_ptr->ss[i] = mb_io_ptr->ss[i]
+ mb_io_ptr->new_ss[i];
mb_io_ptr->ss_acrosstrack[i] = mb_io_ptr->ss_acrosstrack[i]
+ mb_io_ptr->new_ss_acrosstrack[i];
mb_io_ptr->ss_alongtrack[i] = mb_io_ptr->ss_alongtrack[i]
+ mb_io_ptr->new_ss_alongtrack[i];
mb_io_ptr->ss_num[i]++;
}
}
}
}
/* print debug statements */
if (verbose >= 4
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& (status == MB_SUCCESS
|| (*error < MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT
&& mb_io_ptr->pings_read == 1)))
{
fprintf(stderr,"\ndbg4 New ping binned by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Current binned ping values:\n");
fprintf(stderr,"dbg4 pings_binned: %d\n",
mb_io_ptr->pings_binned);
fprintf(stderr,"dbg4 time_d: %f\n",
mb_io_ptr->time_d);
fprintf(stderr,"dbg4 longitude: %f\n",
mb_io_ptr->lon);
fprintf(stderr,"dbg4 latitude: %f\n",
mb_io_ptr->lat);
fprintf(stderr,"dbg4 speed: %f\n",
mb_io_ptr->speed);
fprintf(stderr,"dbg4 heading: %f\n",
mb_io_ptr->heading);
fprintf(stderr,"dbg4 beams_bath: %d\n",
mb_io_ptr->beams_bath_max);
if (mb_io_ptr->beams_bath_max > 0)
{
fprintf(stderr,"dbg4 beam nbath bath crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
fprintf(stderr,"dbg4 %4d %4d %f %f %f\n",
i,mb_io_ptr->bath_num[i],mb_io_ptr->bath[i],
mb_io_ptr->bath_acrosstrack[i],
mb_io_ptr->bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 beams_amp: %d\n",
mb_io_ptr->beams_amp_max);
if (mb_io_ptr->beams_amp_max > 0)
{
fprintf(stderr,"dbg4 beam namp amp crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
fprintf(stderr,"dbg4 %4d %4d %f %f %f\n",
i,mb_io_ptr->amp_num[i],mb_io_ptr->amp[i],
mb_io_ptr->bath_acrosstrack[i],
mb_io_ptr->bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 pixels_ss: %d\n",
mb_io_ptr->pixels_ss_max);
if (mb_io_ptr->pixels_ss_max > 0)
{
fprintf(stderr,"dbg4 pixel nss sidescan crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
fprintf(stderr,"dbg4 %4d %4d %f %f %f\n",
i,mb_io_ptr->ss_num[i],mb_io_ptr->ss[i],
mb_io_ptr->ss_acrosstrack[i],
mb_io_ptr->ss_alongtrack[i]);
}
}
/* if data is ok but more pings needed keep reading */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->pings_binned < mb_io_ptr->pings_avg)
{
done = MB_NO;
mb_io_ptr->need_new_ping = MB_YES;
reset_last = MB_YES;
}
/* if data is ok and enough pings binned then done */
else if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->pings_binned >= mb_io_ptr->pings_avg)
{
done = MB_YES;
mb_io_ptr->need_new_ping = MB_YES;
reset_last = MB_YES;
}
/* if data gap and only one ping read and more
pings needed set error save flag and keep reading */
else if (*error == MB_ERROR_TIME_GAP
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->pings_read == 1
&& mb_io_ptr->pings_avg > 1)
{
done = MB_NO;
mb_io_ptr->need_new_ping = MB_YES;
mb_io_ptr->error_save = *error;
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
reset_last = MB_YES;
}
/* if other kind of data and need more pings
then keep reading */
else if ((*error == MB_ERROR_OTHER
|| *error == MB_ERROR_UNINTELLIGIBLE)
&& mb_io_ptr->pings_binned < mb_io_ptr->pings_avg)
{
done = MB_NO;
mb_io_ptr->need_new_ping = MB_YES;
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
reset_last = MB_NO;
}
/* if error and only one ping read then done */
else if (*error != MB_ERROR_NO_ERROR
&& mb_io_ptr->pings_read <= 1)
{
done = MB_YES;
mb_io_ptr->need_new_ping = MB_YES;
if (*error == MB_ERROR_TIME_GAP
|| *error == MB_ERROR_OUT_BOUNDS)
reset_last = MB_YES;
else
reset_last = MB_NO;
}
/* if error and more than one ping read,
then done but save the ping */
else if (*error != MB_ERROR_NO_ERROR)
{
done = MB_YES;
mb_io_ptr->need_new_ping = MB_NO;
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
reset_last = MB_NO;
}
/* if needed reset "last" pings */
if (reset_last == MB_YES)
{
mb_io_ptr->last_time_d = mb_io_ptr->new_time_d;
mb_io_ptr->last_lon = mb_io_ptr->new_lon;
mb_io_ptr->last_lat = mb_io_ptr->new_lat;
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 End of reading loop in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Current status values:\n");
fprintf(stderr,"dbg4 done: %d\n",done);
fprintf(stderr,"dbg4 need_new_ping: %d\n",
mb_io_ptr->need_new_ping);
fprintf(stderr,"dbg4 pings_binned: %d\n",
mb_io_ptr->pings_binned);
fprintf(stderr,"dbg4 error: %d\n",*error); fprintf(stderr,"dbg4 status: %d\n",status);
}
}
/* set output number of pings */
*pings = mb_io_ptr->pings_binned;
/* set data kind */
if (mb_io_ptr->pings_binned > 0)
*kind = MB_DATA_DATA;
else if (*error == MB_ERROR_COMMENT)
*kind = MB_DATA_COMMENT;
else
*kind = mb_io_ptr->new_kind;
/* get output time */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
if (mb_io_ptr->pings_binned == 1)
{
for (i=0;i<7;i++)
time_i[i] = mb_io_ptr->new_time_i[i];
*time_d = mb_io_ptr->new_time_d;
}
else if (mb_io_ptr->pings_binned > 1)
{
*time_d = mb_io_ptr->time_d/mb_io_ptr->pings_binned;
mb_get_date(verbose,*time_d,time_i);
}
else
{
*error = MB_ERROR_NO_PINGS_BINNED;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* get other output values */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
/* get navigation values */
*navlon = mb_io_ptr->lon/mb_io_ptr->pings_binned;
*navlat = mb_io_ptr->lat/mb_io_ptr->pings_binned;
headingx = headingx/mb_io_ptr->pings_binned;
headingy = headingy/mb_io_ptr->pings_binned;
denom = sqrt(headingx*headingx + headingy*headingy);
if (denom > 0.0)
{
headingx = headingx/denom;
headingy = headingy/denom;
*heading = RTD*atan2(headingx,headingy);
}
else
*heading = mb_io_ptr->heading/mb_io_ptr->pings_binned;
if (*heading < 0.0)
*heading = *heading + 360.0;
/* get coordinate scaling */
mb_coor_scale(verbose,*navlat,&mtodeglon,&mtodeglat);
/* get distance value */
if (mb_io_ptr->old_time_d > 0.0)
{
dx = (*navlon - mb_io_ptr->old_lon)/mtodeglon;
dy = (*navlat - mb_io_ptr->old_lat)/mtodeglat;
*distance = 0.001*sqrt(dx*dx + dy*dy); /* km */
}
else
*distance = 0.0;
/* get speed value */
if (mb_io_ptr->speed > 0.0)
{
*speed = mb_io_ptr->speed/mb_io_ptr->pings_binned;
delta_time = 0.0;
}
else if (mb_io_ptr->old_time_d > 0.0)
{
delta_time = 0.000277778*
(*time_d - mb_io_ptr->old_time_d); /* hours */
if (delta_time > 0.0)
*speed = *distance/delta_time; /* km/hr */
else
*speed = 0.0;
}
else
*speed = 0.0;
/* check for less than minimum speed */
if (*error == MB_ERROR_NO_ERROR
|| *error == MB_ERROR_TIME_GAP)
{
if (mb_io_ptr->ping_count > 1
&& *time_d > MB_TIME_D_UNKNOWN
&& *speed < mb_io_ptr->speedmin)
{
status = MB_FAILURE;
*error = MB_ERROR_SPEED_TOO_SMALL;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 Distance and Speed Calculated in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Speed and Distance Related Values:\n");
fprintf(stderr,"dbg4 binned speed: %f\n",
mb_io_ptr->speed);
fprintf(stderr,"dbg4 pings_binned: %d\n",
mb_io_ptr->pings_binned);
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 time: %f\n",
*time_d);
fprintf(stderr,"dbg4 lon: %f\n",
*navlon);
fprintf(stderr,"dbg4 lat: %f\n",
*navlat);
fprintf(stderr,"dbg4 old time: %f\n",
mb_io_ptr->old_time_d);
fprintf(stderr,"dbg4 old lon: %f\n",
mb_io_ptr->old_lon);
fprintf(stderr,"dbg4 old lat: %f\n",
mb_io_ptr->old_lat);
fprintf(stderr,"dbg4 distance: %f\n",
*distance);
fprintf(stderr,"dbg4 altitude: %f\n",
*altitude);
fprintf(stderr,"dbg4 sonardepth: %f\n",
*sonardepth);
fprintf(stderr,"dbg4 delta_time: %f\n",
delta_time);
fprintf(stderr,"dbg4 speed: %f\n",
*speed);
fprintf(stderr,"dbg4 error: %d\n",*error);
fprintf(stderr,"dbg4 status: %d\n",status);
}
/* get swath data */
*nbath = 0;
*namp = 0;
*nss = 0;
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
{
beamflag[i] = mb_io_ptr->beamflag[i];
if (mb_io_ptr->bath_num[i] > 0)
{
bath[i] = (mb_io_ptr->bath[i])
/(mb_io_ptr->bath_num[i]);
bathacrosstrack[i] = (mb_io_ptr->bath_acrosstrack[i])
/(mb_io_ptr->bath_num[i]);
bathalongtrack[i] = (mb_io_ptr->bath_alongtrack[i])
/(mb_io_ptr->bath_num[i]);
*nbath = i + 1;
}
else
{
beamflag[i] = MB_FLAG_NULL;
bath[i] = 0.0;
bathacrosstrack[i] = 0.0;
bathalongtrack[i] = 0.0;
}
}
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
{
if (mb_io_ptr->amp_num[i] > 0)
{
amp[i] = (mb_io_ptr->amp[i])
/(mb_io_ptr->amp_num[i]);
*namp = i + 1;
}
else
{
amp[i] = 0.0;
}
}
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
{
if (mb_io_ptr->ss_num[i] > 0)
{
ss[i] = mb_io_ptr->ss[i]
/mb_io_ptr->ss_num[i];
ssacrosstrack[i] = mb_io_ptr->ss_acrosstrack[i]
/mb_io_ptr->ss_num[i];
ssalongtrack[i] = mb_io_ptr->ss_alongtrack[i]
/mb_io_ptr->ss_num[i];
*nss = i + 1;
}
else
{
ss[i] = 0.0;
ssacrosstrack[i] = 0.0;
ssalongtrack[i] = 0.0;
}
}
if (mb_io_ptr->variable_beams == MB_NO)
{
*nbath = mb_io_ptr->beams_bath_max;
*namp = mb_io_ptr->beams_amp_max;
*nss = mb_io_ptr->pixels_ss_max;
}
}
/* get output comment */
if (*error == MB_ERROR_COMMENT)
{
strcpy(comment,mb_io_ptr->new_comment);
}
/* reset "old" navigation values */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
mb_io_ptr->old_time_d = *time_d;
mb_io_ptr->old_lon = *navlon;
mb_io_ptr->old_lat = *navlat;
}
/* get saved error flag if needed */
if (*error == MB_ERROR_NO_ERROR
&& mb_io_ptr->error_save != MB_ERROR_NO_ERROR)
{
*error = mb_io_ptr->error_save;
status = MB_FAILURE;
mb_io_ptr->error_save = MB_ERROR_NO_ERROR;
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Return values:\n");
fprintf(stderr,"dbg2 kind: %d\n",*kind);
}
if (verbose >= 2 && *kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 pings: %d\n",*pings);
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 navlon: %f\n",*navlon);
fprintf(stderr,"dbg2 navlat: %f\n",*navlat);
fprintf(stderr,"dbg2 speed: %f\n",*speed);
fprintf(stderr,"dbg2 heading: %f\n",*heading);
fprintf(stderr,"dbg2 distance: %f\n",*distance);
fprintf(stderr,"dbg2 altitude: %f\n",*altitude);
fprintf(stderr,"dbg2 sonardepth: %f\n",*sonardepth);
fprintf(stderr,"dbg2 nbath: %d\n",*nbath);
if (verbose >= 3 && *nbath > 0)
{
fprintf(stderr,"dbg3 beam nbath flag bath crosstrack alongtrack\n");
for (i=0;i<*nbath;i++)
fprintf(stderr,"dbg3 %4d %4d %3d %f %f %f\n",
i,mb_io_ptr->bath_num[i],beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
}
fprintf(stderr,"dbg2 namp: %d\n",*namp);
if (verbose >= 3 && *namp > 0)
{
fprintf(stderr,"dbg3 beam namp amp crosstrack alongtrack\n");
for (i=0;i<*namp;i++)
fprintf(stderr,"dbg3 %4d %4d %f %f %f\n",
i,mb_io_ptr->amp_num[i],amp[i],
bathacrosstrack[i],bathalongtrack[i]);
}
fprintf(stderr,"dbg2 nss: %d\n",*nss);
if (verbose >= 3 && *nss > 0)
{
fprintf(stderr,"dbg3 pixel nss sidescan crosstrack alongtrack\n");
for (i=0;i<*nss;i++)
fprintf(stderr,"dbg3 %4d %4d %f %f %f\n",
i,mb_io_ptr->ss_num[i],ss[i],
ssacrosstrack[i],ssalongtrack[i]);
}
}
else if (verbose >= 2 && *kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: %s\n",comment);
}
if (verbose >= 2)
{
fprintf(stderr,"dbg2 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
/*--------------------------------------------------------------------*/
int mb_topogrid_getangletable(int verbose, void *topogrid_ptr,
int nangle, double angle_min, double angle_max,
double navlon, double navlat, double heading,
double altitude, double sonardepth, double pitch,
double *table_angle, double *table_xtrack,
double *table_ltrack, double *table_altitude,
double *table_range, int *error)
{
char *function_name = "mb_topogrid_getangletable";
int status = MB_SUCCESS;
struct mb_topogrid_struct *topogrid;
double mtodeglon, mtodeglat;
double dangle;
double rr, xx, zz;
double alpha, beta, theta, phi;
double vx, vy, vz;
double lon, lat, topo;
int nset, first, last;
int i;
/* get pointer to topogrid structure */
topogrid = (struct mb_topogrid_struct *) topogrid_ptr;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
fprintf(stderr,"dbg2 Input arguments:\n");
fprintf(stderr,"dbg2 verbose: %d\n", verbose);
fprintf(stderr,"dbg2 nangle: %d\n", nangle);
fprintf(stderr,"dbg2 angle_min: %f\n", angle_min);
fprintf(stderr,"dbg2 angle_max: %f\n", angle_max);
fprintf(stderr,"dbg2 navlon: %f\n", navlon);
fprintf(stderr,"dbg2 navlat: %f\n", navlat);
fprintf(stderr,"dbg2 heading: %f\n", heading);
fprintf(stderr,"dbg2 altitude: %f\n", altitude);
fprintf(stderr,"dbg2 sonardepth: %f\n", sonardepth);
fprintf(stderr,"dbg2 pitch: %f\n", pitch);
fprintf(stderr,"dbg2 topogrid: %p\n", topogrid);
fprintf(stderr,"dbg2 topogrid->projection_mode: %d\n", topogrid->projection_mode);
fprintf(stderr,"dbg2 topogrid->projection_id: %s\n", topogrid->projection_id);
fprintf(stderr,"dbg2 topogrid->nodatavalue: %f\n", topogrid->nodatavalue);
fprintf(stderr,"dbg2 topogrid->nxy: %d\n", topogrid->nxy);
fprintf(stderr,"dbg2 topogrid->nx: %d\n", topogrid->nx);
fprintf(stderr,"dbg2 topogrid->ny: %d\n", topogrid->ny);
fprintf(stderr,"dbg2 topogrid->min: %f\n", topogrid->min);
fprintf(stderr,"dbg2 topogrid->max: %f\n", topogrid->max);
fprintf(stderr,"dbg2 topogrid->xmin: %f\n", topogrid->xmin);
fprintf(stderr,"dbg2 topogrid->xmax: %f\n", topogrid->xmax);
fprintf(stderr,"dbg2 topogrid->ymin: %f\n", topogrid->ymin);
fprintf(stderr,"dbg2 topogrid->ymax: %f\n", topogrid->ymax);
fprintf(stderr,"dbg2 topogrid->dx: %f\n", topogrid->dx);
fprintf(stderr,"dbg2 topogrid->dy %f\n", topogrid->dy);
fprintf(stderr,"dbg2 topogrid->data: %p\n", topogrid->data);
}
/* loop over all of the angles */
mb_coor_scale(verbose,navlat, &mtodeglon, &mtodeglat);
dangle = (angle_max - angle_min) / (nangle - 1);
alpha = pitch;
nset = 0;
for (i=0;i<nangle;i++)
{
/* get angles in takeoff coordinates */
table_angle[i] = angle_min + dangle * i;
beta = 90.0 - table_angle[i];
mb_rollpitch_to_takeoff(
verbose,
alpha, beta,
&theta, &phi,
error);
/* calculate unit vector relative to the vehicle */
vz = cos(DTR * theta);
vx = sin(DTR * theta) * cos(DTR * phi);
vy = sin(DTR * theta) * sin(DTR * phi);
/* rotate unit vector by vehicle heading */
vx = vx * cos(DTR * heading) + vy * sin(DTR * heading);
vy = -vx * sin(DTR * heading) + vy * cos(DTR * heading);
/* find the range where this vector intersects the grid */
status = mb_topogrid_intersect(verbose, topogrid_ptr,
navlon, navlat, altitude, sonardepth,
mtodeglon, mtodeglat, vx, vy, vz,
&lon, &lat, &topo, &rr, error);
/* get the position from successful intersection with the grid */
if (status == MB_SUCCESS)
{
zz = rr * cos(DTR * theta);
xx = rr * sin(DTR * theta);
table_xtrack[i] = xx * cos(DTR * phi);
table_ltrack[i] = xx * sin(DTR * phi);
table_altitude[i] = zz;
table_range[i] = rr;
nset++;
}
/* zero table values for the moment */
else
{
table_range[i] = 0.0;
}
}
/* now deal with any unset table entries */
if (nset < nangle)
{
/* find first and last table entries set if possible */
if (nset > 0)
{
first = nangle;
last = -1;
for (i=0;i<nangle;i++)
{
if (table_range[i] > 0.0)
{
first = MIN(i,first);
last = MAX(i,last);
}
}
/* apply flat bottom calculation to unset entries */
for (i=0;i<nangle;i++)
{
if (table_range[i] <= 0.0)
{
/* get angles in takeoff coordinates */
table_angle[i] = angle_min + dangle * i;
beta = 90.0 - table_angle[i];
mb_rollpitch_to_takeoff(
verbose,
alpha, beta,
&theta, &phi,
error);
if (nset == 0)
{
table_altitude[i] = altitude;
}
else if (i < first)
{
table_altitude[i] = table_altitude[first];
}
else if (i > last)
{
table_altitude[i] = table_altitude[last];
}
else
{
table_altitude[i] = 0.5 * (table_altitude[first] + table_altitude[last]);
}
table_range[i] = table_altitude[first] / cos(DTR * theta);
xx = table_range[i] * sin(DTR * theta);
table_xtrack[i] = xx * cos(DTR * phi);
table_ltrack[i] = xx * sin(DTR * phi);
nset++;
}
}
}
}
/* reset error condition */
if (nset >= nangle)
{
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MB7K2SS function <%s> completed\n",
function_name);
fprintf(stderr,"dbg2 Return values:\n");
fprintf(stderr,"dbg2 Lookup tables:\n");
for (i=0;i<nangle;i++)
fprintf(stderr,"dbg2 %d %f %f %f %f %f\n",
i, table_angle[i], table_xtrack[i], table_ltrack[i], table_altitude[i], table_range[i]);
fprintf(stderr,"dbg2 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
int main (int argc, char **argv)
{
char program_name[] = "mbctdlist";
char help_message[] = "mbctdlist lists all CTD records within swath data files\nThe -O option specifies how the values are output\nin an mblist-likefashion.\n";
char usage_message[] = "mbctdlist [-A -Ddecimate -Fformat -Gdelimeter -H -Ifile -Llonflip -Ooutput_format -V -Zsegment]";
extern char *optarg;
int errflg = 0;
int c;
int help = 0;
int flag = 0;
/* MBIO status variables */
int status = MB_SUCCESS;
int interp_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;
int pings;
int decimate;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double btime_d;
double etime_d;
double speedmin;
double timegap;
char file[MB_PATH_MAXLINE];
int beams_bath;
int beams_amp;
int pixels_ss;
/* output format list controls */
char list[MAX_OPTIONS];
int n_list;
double distance_total = 0.0;
int time_j[5];
int mblist_next_value = MB_NO;
int invert_next_value = MB_NO;
int signflip_next_value = MB_NO;
int first = MB_YES;
int ascii = MB_YES;
int segment = MB_NO;
char segment_tag[MB_PATH_MAXLINE];
char delimiter[MB_PATH_MAXLINE];
/* MBIO read values */
void *mbio_ptr = NULL;
void *store_ptr;
int kind;
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 *bathacrosstrack = NULL;
double *bathalongtrack = NULL;
double *amp = NULL;
double *ss = NULL;
double *ssacrosstrack = NULL;
double *ssalongtrack = NULL;
char comment[MB_COMMENT_MAXLINE];
/* navigation, heading, attitude data */
int survey_count = 0;
int survey_count_tot = 0;
int nnav = 0;
int nnav_alloc = 0;
double *nav_time_d = NULL;
double *nav_lon = NULL;
double *nav_lat = NULL;
double *nav_sonardepth = NULL;
double *nav_heading = NULL;
double *nav_speed = NULL;
double *nav_altitude = NULL;
/* CTD values */
int ctd_count = 0;
int ctd_count_tot = 0;
int nctd;
double ctd_time_d[MB_CTD_MAX];
double ctd_conductivity[MB_CTD_MAX];
double ctd_temperature[MB_CTD_MAX];
double ctd_depth[MB_CTD_MAX];
double ctd_salinity[MB_CTD_MAX];
double ctd_soundspeed[MB_CTD_MAX];
int nsensor;
double sensor_time_d[MB_CTD_MAX];
double sensor1[MB_CTD_MAX];
double sensor2[MB_CTD_MAX];
double sensor3[MB_CTD_MAX];
double sensor4[MB_CTD_MAX];
double sensor5[MB_CTD_MAX];
double sensor6[MB_CTD_MAX];
double sensor7[MB_CTD_MAX];
double sensor8[MB_CTD_MAX];
double conductivity;
double temperature;
double potentialtemperature;
double depth;
double salinity;
double soundspeed;
/* additional time variables */
int first_m = MB_YES;
double time_d_ref;
int first_u = MB_YES;
time_t time_u;
time_t time_u_ref;
double seconds;
/* course calculation variables */
double dlon, dlat, minutes;
int degrees;
char hemi;
double headingx, headingy, mtodeglon, mtodeglat;
double course, course_old;
double time_d_old;
double time_interval;
double speed_made_good, speed_made_good_old;
double navlon_old, navlat_old;
double dx, dy;
double b;
int read_data;
int ictd;
int i, j;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
pings = 1;
bounds[0] = -360.0;
bounds[1] = 360.0;
bounds[2] = -90.0;
bounds[3] = 90.0;
ctd_count = 0;
ctd_count_tot = 0;
/* set default input to datalist.mb-1 */
strcpy (read_file, "datalist.mb-1");
/* set up the default list controls
(Time, lon, lat, conductivity, temperature, depth, salinity, sound speed) */
list[0]='T';
list[1]='X';
list[2]='Y';
list[3]='H';
list[4]='C';
list[5]='c';
list[6]='^';
list[7]='c';
list[8]='S';
list[9]='s';
n_list = 10;
sprintf(delimiter, "\t");
decimate = 1;
/* process argument list */
while ((c = getopt(argc, argv, "AaDdF:f:G:g:I:i:L:l:O:o:Z:z:VvHh")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'A':
case 'a':
ascii = MB_NO;
flag++;
break;
case 'D':
case 'd':
sscanf (optarg,"%d", &decimate);
flag++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
flag++;
break;
case 'G':
case 'g':
sscanf (optarg,"%s", delimiter);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", read_file);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'O':
case 'o':
for(j=0,n_list=0;j<(int)strlen(optarg);j++,n_list++)
if (n_list<MAX_OPTIONS)
list[n_list] = optarg[j];
break;
case 'Z':
case 'z':
segment = MB_YES;
sscanf (optarg,"%s", segment_tag);
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 decimate: %d\n",decimate);
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 ascii: %d\n",ascii);
fprintf(stderr,"dbg2 segment: %d\n",segment);
fprintf(stderr,"dbg2 segment_tag: %s\n",segment_tag);
fprintf(stderr,"dbg2 delimiter: %s\n",delimiter);
fprintf(stderr,"dbg2 file: %s\n",file);
fprintf(stderr,"dbg2 n_list: %d\n",n_list);
for (i=0;i<n_list;i++)
fprintf(stderr,"dbg2 list[%d]: %c\n",
i,list[i]);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(stderr,"\n%s\n",help_message);
fprintf(stderr,"\nusage: %s\n", usage_message);
exit(error);
}
/* 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;
/**************************************************************************************/
/* section 1 - read all data and save nav etc for interpolation onto ctd data */
/* 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,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_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 <mb_read_init>:\n%s\n",message);
fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for data arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(char), (void **)&beamflag, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bath, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE,
sizeof(double), (void **)&, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathalongtrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ss, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ssacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_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);
}
/* output separator for GMT style segment file output */
if (segment == MB_YES && ascii == MB_YES)
{
printf("%s\n", segment_tag);
}
/* output info */
if (verbose >= 1)
{
fprintf(stderr, "\nSearching %s for survey records\n", file);
}
/* read and print data */
survey_count = 0;
first = MB_YES;
while (error <= MB_ERROR_NO_ERROR)
{
/* read a data record */
status = mb_get_all(verbose,mbio_ptr,&store_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);
/* 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);
}
/* if survey data save the nav etc */
if (error <= MB_ERROR_NO_ERROR
&& kind == MB_DATA_DATA)
{
/* allocate memory for navigation/attitude arrays if needed */
if (nnav + 1 >= nnav_alloc)
{
nnav_alloc += MBCTDLIST_ALLOC_CHUNK;
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_time_d,&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_lon,&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_lat,&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_speed,&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_sonardepth,&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_heading,&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,nnav_alloc*sizeof(double),(void **)&nav_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);
}
}
/* save the nav etc */
if (nnav == 0 || time_d > nav_time_d[nnav-1])
{
nav_time_d[nnav] = time_d;
nav_lon[nnav] = navlon;
nav_lat[nnav] = navlat;
nav_speed[nnav] = speed;
nav_sonardepth[nnav] = sonardepth;
nav_heading[nnav] = heading;
nav_altitude[nnav] = altitude;
nnav++;
}
survey_count++;
survey_count_tot++;
}
}
/* close the swath file */
status = mb_close(verbose,&mbio_ptr,&error);
/* output info */
if (verbose >= 1)
{
fprintf(stderr, "nav extracted from %d survey records\n", survey_count);
}
/* figure out whether and what to read next */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
else
{
read_data = MB_NO;
}
/* end loop over files in list */
}
if (read_datalist == MB_YES)
mb_datalist_close(verbose,&datalist,&error);
/* output info */
if (verbose >= 1)
{
fprintf(stderr, "\nTotal %d survey records\n", survey_count_tot);
}
/**************************************************************************************/
/* section 2 - read data and output ctd data with time interpolation of nav etc */
/* 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,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_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 <mb_read_init>:\n%s\n",message);
fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for data arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(char), (void **)&beamflag, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bath, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE,
sizeof(double), (void **)&, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathalongtrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ss, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ssacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_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);
}
/* output info */
if (verbose >= 1)
{
fprintf(stderr, "\nSearching %s for CTD records\n", file);
}
/* read and print data */
ctd_count = 0;
first = MB_YES;
while (error <= MB_ERROR_NO_ERROR)
{
/* read a data record */
status = mb_get_all(verbose,mbio_ptr,&store_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);
/* 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);
}
/* if ctd then extract data */
if (error <= MB_ERROR_NO_ERROR
&& (kind == MB_DATA_CTD || kind == MB_DATA_SSV))
{
/* extract ctd */
status = mb_ctd(verbose, mbio_ptr, store_ptr,
&kind, &nctd, ctd_time_d,
ctd_conductivity, ctd_temperature,
ctd_depth, ctd_salinity, ctd_soundspeed, &error);
/* extract ancilliary sensor data */
status = mb_ancilliarysensor(verbose, mbio_ptr, store_ptr,
&kind, &nsensor, sensor_time_d,
sensor1, sensor2, sensor3,
sensor4, sensor5, sensor6,
sensor7, sensor8,
&error);
/* loop over the nctd ctd points, outputting each one */
if (error == MB_ERROR_NO_ERROR && nctd > 0)
{
for (ictd=0;ictd<nctd;ictd++)
{
/* get data */
time_d = ctd_time_d[ictd];
mb_get_date(verbose, time_d, time_i);
conductivity = ctd_conductivity[ictd];
temperature = ctd_temperature[ictd];
depth = ctd_depth[ictd];
salinity = ctd_salinity[ictd];
soundspeed = ctd_soundspeed[ictd];
/* get navigation */
j = 0;
speed = 0.0;
interp_status = mb_linear_interp_longitude(verbose,
nav_time_d-1, nav_lon-1,
nnav, time_d, &navlon, &j,
&error);
if (interp_status == MB_SUCCESS)
interp_status = mb_linear_interp_latitude(verbose,
nav_time_d-1, nav_lat-1,
nnav, time_d, &navlat, &j,
&error);
if (interp_status == MB_SUCCESS)
interp_status = mb_linear_interp_heading(verbose,
nav_time_d-1, nav_heading-1,
nnav, time_d, &heading, &j,
&error);
if (interp_status == MB_SUCCESS)
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_sonardepth-1,
nnav, time_d, &sonardepth, &j,
&error);
if (interp_status == MB_SUCCESS)
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_altitude-1,
nnav, time_d, &altitude, &j,
&error);
if (interp_status == MB_SUCCESS)
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_speed-1,
nnav, time_d, &speed, &j,
&error);
/* only output if interpolation of nav etc has worked */
if (interp_status == MB_YES)
{
/* calculate course made good and distance */
mb_coor_scale(verbose,navlat, &mtodeglon, &mtodeglat);
headingx = sin(DTR * heading);
headingy = cos(DTR * heading);
if (first == MB_YES)
{
time_interval = 0.0;
course = heading;
speed_made_good = 0.0;
course_old = heading;
speed_made_good_old = speed;
distance = 0.0;
}
else
{
time_interval = time_d - time_d_old;
dx = (navlon - navlon_old)/mtodeglon;
dy = (navlat - navlat_old)/mtodeglat;
distance = sqrt(dx*dx + dy*dy);
if (distance > 0.0)
course = RTD*atan2(dx/distance,dy/distance);
else
course = course_old;
if (course < 0.0)
course = course + 360.0;
if (time_interval > 0.0)
speed_made_good = 3.6*distance/time_interval;
else
speed_made_good
= speed_made_good_old;
}
distance_total += 0.001 * distance;
/* reset old values */
navlon_old = navlon;
navlat_old = navlat;
course_old = course;
speed_made_good_old = speed_made_good;
time_d_old = time_d;
/* now loop over list of output parameters */
ctd_count++;
ctd_count_tot++;
if (nctd % decimate == 0)
for (i=0; i<n_list; i++)
{
switch (list[i])
{
case '/': /* Inverts next simple value */
invert_next_value = MB_YES;
break;
case '-': /* Flip sign on next simple value */
signflip_next_value = MB_YES;
break;
case '^': /* use mblist definitions of CcSsTt */
mblist_next_value = MB_YES;
break;
case '1': /* Sensor 1 - volts */
printsimplevalue(verbose, sensor1[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '2': /* Sensor 2 - volts */
printsimplevalue(verbose, sensor2[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '3': /* Sensor 3 - volts */
printsimplevalue(verbose, sensor3[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '4': /* Sensor 4 - volts */
printsimplevalue(verbose, sensor4[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '5': /* Sensor 5 - volts */
printsimplevalue(verbose, sensor5[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '6': /* Sensor 6 - volts */
printsimplevalue(verbose, sensor6[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '7': /* Sensor 7 - volts */
printsimplevalue(verbose, sensor7[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case '8': /* Sensor 8 - volts */
printsimplevalue(verbose, sensor8[ictd], 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'C': /* Conductivity or Sonar altitude (m) */
if (mblist_next_value == MB_NO)
printsimplevalue(verbose, conductivity, 0, 5, ascii,
&invert_next_value,
&signflip_next_value, &error);
else
{
printsimplevalue(verbose, altitude, 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
mblist_next_value = MB_NO;
}
break;
case 'c': /* Temperature or sonar transducer depth (m) */
if (mblist_next_value == MB_NO)
printsimplevalue(verbose, temperature, 0, 5, ascii,
&invert_next_value,
&signflip_next_value, &error);
else
{
printsimplevalue(verbose, sonardepth, 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
mblist_next_value = MB_NO;
}
break;
case 'H': /* heading */
printsimplevalue(verbose, heading, 6, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'h': /* course */
printsimplevalue(verbose, course, 6, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'J': /* time string */
mb_get_jtime(verbose,time_i,time_j);
seconds = time_i[5] + 0.000001 * time_i[6];
if (ascii == MB_YES)
{
printf("%.4d %.3d %.2d %.2d %9.6f",
time_j[0],time_j[1],
time_i[3],time_i[4],
seconds);
}
else
{
b = time_j[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[4];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[5];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[6];
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'j': /* time string */
mb_get_jtime(verbose,time_i,time_j);
seconds = time_i[5] + 0.000001 * time_i[6];
if (ascii == MB_YES)
{
printf("%.4d %.3d %.4d %9.6f",
time_j[0],time_j[1],
time_j[2],seconds);
}
else
{
b = time_j[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[2];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_j[4];
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'L': /* along-track distance (km) */
printsimplevalue(verbose, distance_total, 7, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'l': /* along-track distance (m) */
printsimplevalue(verbose, 1000.0 * distance_total, 7, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'M': /* Decimal unix seconds since
1/1/70 00:00:00 */
printsimplevalue(verbose, time_d, 0, 6, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'm': /* time in decimal seconds since
first record */
if (first_m == MB_YES)
{
time_d_ref = time_d;
first_m = MB_NO;
}
b = time_d - time_d_ref;
printsimplevalue(verbose, b, 0, 6, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'P': /* potential temperature (degrees) */
/* approximation taken from http://mason.gmu.edu/~bklinger/seawater.pdf
on 4/25/2012 - to be replaced by a better calculation at some point */
potentialtemperature = temperature
- 0.04 * (1.0 + 0.185 * temperature + 0.35 * (salinity - 35.0)) * (sonardepth / 1000.0)
- 0.0075 * (1.0 - temperature / 30.0) * (sonardepth * sonardepth / 1000000.0);
printsimplevalue(verbose, potentialtemperature, 0, 5, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'S': /* salinity or speed */
if (mblist_next_value == MB_NO)
printsimplevalue(verbose, salinity, 0, 5, ascii,
&invert_next_value,
&signflip_next_value, &error);
else
{
printsimplevalue(verbose, speed, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
mblist_next_value = MB_NO;
}
break;
case 's': /* speed made good */
if (mblist_next_value == MB_NO)
printsimplevalue(verbose, soundspeed, 0, 3, ascii,
&invert_next_value,
&signflip_next_value, &error);
else
{
printsimplevalue(verbose, speed_made_good, 5, 2, ascii,
&invert_next_value,
&signflip_next_value, &error);
mblist_next_value = MB_NO;
}
break;
case 'T': /* yyyy/mm/dd/hh/mm/ss time string */
seconds = time_i[5] + 1e-6 * time_i[6];
if (ascii == MB_YES)
printf("%.4d/%.2d/%.2d/%.2d/%.2d/%9.6f",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],seconds);
else
{
b = time_i[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[2];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[4];
fwrite(&b, sizeof(double), 1, stdout);
b = seconds;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 't': /* yyyy mm dd hh mm ss time string */
seconds = time_i[5] + 1e-6 * time_i[6];
if (ascii == MB_YES)
printf("%.4d %.2d %.2d %.2d %.2d %9.6f",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],seconds);
else
{
b = time_i[0];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[1];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[2];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[3];
fwrite(&b, sizeof(double), 1, stdout);
b = time_i[4];
fwrite(&b, sizeof(double), 1, stdout);
b = seconds;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'U': /* unix time in seconds since 1/1/70 00:00:00 */
time_u = (int) time_d;
if (ascii == MB_YES)
printf("%ld",time_u);
else
{
b = time_u;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'u': /* time in seconds since first record */
time_u = (int) time_d;
if (first_u == MB_YES)
{
time_u_ref = time_u;
first_u = MB_NO;
}
if (ascii == MB_YES)
printf("%ld",time_u - time_u_ref);
else
{
b = time_u - time_u_ref;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'V': /* time in seconds since last value */
case 'v':
if (ascii == MB_YES)
{
if ( fabs(time_interval) > 100. )
printf("%g",time_interval);
else
printf("%7.3f",time_interval);
}
else
{
fwrite(&time_interval, sizeof(double), 1, stdout);
}
break;
case 'X': /* longitude decimal degrees */
dlon = navlon;
printsimplevalue(verbose, dlon, 11, 6, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'x': /* longitude degress + decimal minutes */
dlon = navlon;
if (dlon < 0.0)
{
hemi = 'W';
dlon = -dlon;
}
else
hemi = 'E';
degrees = (int) dlon;
minutes = 60.0*(dlon - degrees);
if (ascii == MB_YES)
{
printf("%3d %8.5f%c",
degrees, minutes, hemi);
}
else
{
b = degrees;
if (hemi == 'W') b = -b;
fwrite(&b, sizeof(double), 1, stdout);
b = minutes;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
case 'Y': /* latitude decimal degrees */
dlat = navlat;
printsimplevalue(verbose, dlat, 11, 6, ascii,
&invert_next_value,
&signflip_next_value, &error);
break;
case 'y': /* latitude degrees + decimal minutes */
dlat = navlat;
if (dlat < 0.0)
{
hemi = 'S';
dlat = -dlat;
}
else
hemi = 'N';
degrees = (int) dlat;
minutes = 60.0*(dlat - degrees);
if (ascii == MB_YES)
{
printf("%3d %8.5f%c",
degrees, minutes, hemi);
}
else
{
b = degrees;
if (hemi == 'S') b = -b;
fwrite(&b, sizeof(double), 1, stdout);
b = minutes;
fwrite(&b, sizeof(double), 1, stdout);
}
break;
default:
if (ascii == MB_YES)
printf("<Invalid Option: %c>",
list[i]);
break;
}
if (ascii == MB_YES)
{
if (i<(n_list-1)) printf ("%s", delimiter);
else printf ("\n");
}
}
first = MB_NO;
}
}
}
}
/* else if survey data ignore */
else if (error <= MB_ERROR_NO_ERROR
&& kind == MB_DATA_DATA)
{
}
}
/* close the swath file */
status = mb_close(verbose,&mbio_ptr,&error);
/* output info */
if (verbose >= 1)
{
fprintf(stderr, "%d CTD records\n", ctd_count);
}
/* figure out whether and what to read next */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
else
{
read_data = MB_NO;
}
/* end loop over files in list */
}
if (read_datalist == MB_YES)
mb_datalist_close(verbose,&datalist,&error);
/* output info */
if (verbose >= 1)
{
fprintf(stderr, "\nTotal %d CTD records\n", ctd_count_tot);
}
/* deallocate navigation arrays */
if (nnav > 0)
{
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_time_d,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_lon,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_lat,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_speed,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_sonardepth,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_heading,&error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_altitude,&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);
}
int main (int argc, char **argv)
{
char program_name[] = "MBroutetime";
char help_message[] = "MBroutetime outputs a list of the times when a survey hit the waypoints\nof a planned survey route. This (lon lat time_d) list can then be used by mbextractsegy\nor mb7k2ss to extract subbottom (or sidescan) data into files corresponding\nto the lines between waypoints.";
char usage_message[] = "mbroutetime -Rroutefile [-Fformat -Ifile -Owaypointtimefile -Urangethreshold -H -V]";
extern char *optarg;
int errflg = 0;
int c;
int help = 0;
int flag = 0;
/* MBIO status variables */
int status = MB_SUCCESS;
int verbose = 0;
int error = MB_ERROR_NO_ERROR;
char *message;
/* MBIO read control parameters */
int read_datalist = MB_NO;
char read_file[MB_PATH_MAXLINE];
char output_file[MB_PATH_MAXLINE];
int output_file_set = MB_NO;
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 beams_bath;
int beams_amp;
int pixels_ss;
/* MBIO read values */
void *mbio_ptr = NULL;
void *store_ptr = NULL;
int kind;
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 *bathacrosstrack = NULL;
double *bathalongtrack = NULL;
double *amp = NULL;
double *ss = NULL;
double *ssacrosstrack = NULL;
double *ssalongtrack = NULL;
char comment[MB_COMMENT_MAXLINE];
/* route and auto-line data */
char route_file[MB_PATH_MAXLINE];
int rawroutefile = MB_NO;
int nroutepoint = 0;
int nroutepointfound = 0;
int nroutepointalloc = 0;
double lon;
double lat;
double topo;
int waypoint;
double *routelon = NULL;
double *routelat = NULL;
double *routeheading = NULL;
int *routewaypoint = NULL;
double *routetime_d = NULL;
double range;
double rangethreshold = 25.0;
double rangelast;
int activewaypoint = 0;
double mtodeglon, mtodeglat;
double lastlon;
double lastlat;
double lastheading;
double lasttime_d;
double dx, dy;
FILE *fp = NULL;
char *result;
int nget;
int point_ok;
int read_data;
int nread;
int i;
/* 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, "F:f:I:i:O:o:R:r:U:u:VvHh")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", read_file);
flag++;
break;
case 'O':
case 'o':
sscanf (optarg,"%s", output_file);
output_file_set = MB_YES;
flag++;
break;
case 'R':
case 'r':
sscanf (optarg,"%s", route_file);
flag++;
break;
case 'U':
case 'u':
sscanf (optarg,"%lf", &rangethreshold);
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 route_file: %s\n",route_file);
fprintf(stderr,"dbg2 output_file_set: %d\n",output_file_set);
fprintf(stderr,"dbg2 output_file: %s\n",output_file);
fprintf(stderr,"dbg2 rangethreshold: %f\n",rangethreshold);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(stderr,"\n%s\n",help_message);
fprintf(stderr,"\nusage: %s\n", usage_message);
exit(error);
}
/* read route file */
if ((fp = fopen(route_file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
fprintf(stderr,"\nUnable to open route file <%s> for reading\n",route_file);
exit(status);
}
rawroutefile = MB_NO;
while ((result = fgets(comment,MB_PATH_MAXLINE,fp)) == comment)
{
if (comment[0] == '#')
{
if (strncmp(comment,"## Route File Version", 21) == 0)
{
rawroutefile = MB_NO;
}
}
else
{
nget = sscanf(comment,"%lf %lf %lf %d %lf",
&lon, &lat, &topo, &waypoint, &heading);
if (comment[0] == '#')
{
fprintf(stderr,"buffer:%s",comment);
if (strncmp(comment,"## Route File Version", 21) == 0)
{
rawroutefile = MB_NO;
}
}
if ((rawroutefile == MB_YES && nget >= 2)
|| (rawroutefile == MB_NO && nget >= 3 && waypoint > MBES_ROUTE_WAYPOINT_TRANSIT))
point_ok = MB_YES;
else
point_ok = MB_NO;
/* if good data check for need to allocate more space */
if (point_ok == MB_YES
&& nroutepoint + 2 > nroutepointalloc)
{
nroutepointalloc += MBES_ALLOC_NUM;
status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double),
(void **)&routelon, &error);
status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double),
(void **)&routelat, &error);
status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double),
(void **)&routeheading, &error);
status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(int),
(void **)&routewaypoint, &error);
status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double),
(void **)&routetime_d, &error);
if (status != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",
message);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
}
/* add good point to route */
if (point_ok == MB_YES && nroutepointalloc > nroutepoint)
{
routelon[nroutepoint] = lon;
routelat[nroutepoint] = lat;
routeheading[nroutepoint] = heading;
routewaypoint[nroutepoint] = waypoint;
routetime_d[nroutepoint] = 0.0;
nroutepoint++;
}
}
}
/* close the file */
fclose(fp);
fp = NULL;
/* Check that there are valid waypoints in memory */
if (nroutepoint < 1)
{
error = MB_ERROR_EOF;
status = MB_FAILURE;
fprintf(stderr,"\nNo line start or line end waypoints read from route file: <%s>\n",route_file);
fprintf(stderr,"\nProgram <%s> Terminated\n", program_name);
exit(error);
}
else if (nroutepoint < 2)
{
error = MB_ERROR_EOF;
status = MB_FAILURE;
fprintf(stderr,"\nOnly one line start or line end waypoint read from route file: <%s>\n",route_file);
fprintf(stderr,"\nProgram <%s> Terminated\n", program_name);
exit(error);
}
/* set starting values */
activewaypoint = 0;
mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat);
rangelast = 1000 * rangethreshold;
/* output status */
if (verbose > 0)
{
/* output info on file output */
fprintf(stderr,"Read %d waypoints from route file: %s\n",
nroutepoint, route_file);
}
/* get format if required */
if (format == 0)
mb_get_format(verbose,read_file,NULL,&format,&error);
/* determine whether to read one file or a list of files */
if (format < 0)
read_datalist = MB_YES;
/* open file list */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_open(verbose,&datalist,
read_file,look_processed,&error)) != MB_SUCCESS)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open data list file: %s\n",
read_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
/* else copy single filename to be read */
else
{
strcpy(file, read_file);
read_data = MB_YES;
}
/* loop over all files to be read */
while (read_data == MB_YES)
{
/* read fnv file if possible */
mb_get_fnv(verbose, file, &format, &error);
/* initialize reading the swath file */
if ((status = mb_read_init(
verbose,file,format,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_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 <mb_read_init>:\n%s\n",message);
fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for data arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(char), (void **)&beamflag, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bath, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE,
sizeof(double), (void **)&, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathalongtrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ss, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ssacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_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);
}
/* read and use data */
nread = 0;
while (error <= MB_ERROR_NO_ERROR && activewaypoint < nroutepoint)
{
/* reset error */
error = MB_ERROR_NO_ERROR;
/* read next data record */
status = mb_get_all(verbose,mbio_ptr,&store_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);
/* deal with nav and time from survey data only - not nav, sidescan, or subbottom */
if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_DATA)
{
/* increment counter */
nread++;
/* save last nav and heading */
if (navlon != 0.0)
lastlon = navlon;
if (navlat != 0.0)
lastlat = navlat;
if (heading != 0.0)
lastheading = heading;
if (time_d != 0.0)
lasttime_d = time_d;
/* check survey data position against waypoints */
if (navlon != 0.0 && navlat != 0.0)
{
dx = (navlon - routelon[activewaypoint]) / mtodeglon;
dy = (navlat - routelat[activewaypoint]) / mtodeglat;
range = sqrt(dx * dx + dy * dy);
if (verbose > 0)
fprintf(stderr,"> activewaypoint:%d time_d:%f range:%f lon: %f %f lat: %f %f\n",
activewaypoint, time_d, range, navlon,
routelon[activewaypoint], navlat, routelat[activewaypoint]);
if (range < rangethreshold
&& (activewaypoint == 0 || range > rangelast)
&& activewaypoint < nroutepoint)
{
fprintf(stderr,"Waypoint %d of %d found with range %f m\n",
activewaypoint, nroutepoint, range);
routetime_d[activewaypoint] = time_d;
activewaypoint++;
nroutepointfound++;
mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat);
rangelast = 1000 * rangethreshold;
}
else
rangelast = range;
}
}
/* 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);
}
}
/* close the swath file */
status = mb_close(verbose,&mbio_ptr,&error);
/* output read statistics */
fprintf(stderr,"%d records read from %s\n", nread, file);
/* figure out whether and what to read next */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
else
{
read_data = MB_NO;
}
/* end loop over files in list */
}
if (read_datalist == MB_YES)
mb_datalist_close(verbose,&datalist,&error);
/* if the last route point was not reached, add one last waypoint */
if (nroutepointfound < nroutepoint)
{
fprintf(stderr,"Waypoint %d of %d set at end of data with range %f m to next specified waypoint\n",
activewaypoint, nroutepoint, range);
routelon[nroutepointfound] = lastlon;
routelat[nroutepointfound] = lastlat;
routeheading[nroutepointfound] = lastheading;
routetime_d[nroutepointfound] = lasttime_d;
routewaypoint[nroutepointfound] = MBES_ROUTE_WAYPOINT_ENDLINE;
nroutepointfound++;
}
/* output time list for the route */
if (output_file_set == MB_NO)
{
sprintf(output_file, "%s_wpttime_d.txt", read_file);
}
if ((fp = fopen(output_file, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
fprintf(stderr,"\nUnable to open output waypoint time list file <%s> for writing\n",output_file);
exit(status);
}
for (i=0;i<nroutepointfound;i++)
{
fprintf(fp,"%3d %3d %11.6f %10.6f %10.6f %.6f\n", i, routewaypoint[i], routelon[i], routelat[i], routeheading[i], routetime_d[i]);
if (verbose > 0)
fprintf(stderr,"%3d %3d %11.6f %10.6f %10.6f %.6f\n", i, routewaypoint[i], routelon[i], routelat[i], routeheading[i], routetime_d[i]);
}
fclose(fp);
/* deallocate route arrays */
status = mb_freed(verbose,__FILE__,__LINE__, (void **)&routelon, &error);
status = mb_freed(verbose,__FILE__,__LINE__, (void **)&routelat, &error);
status = mb_freed(verbose,__FILE__,__LINE__, (void **)&routeheading, &error);
status = mb_freed(verbose,__FILE__,__LINE__, (void **)&routewaypoint, &error);
status = mb_freed(verbose,__FILE__,__LINE__, (void **)&routetime_d, &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);
}
/*--------------------------------------------------------------------*/
int mb_get_all(int verbose, void *mbio_ptr, void **store_ptr, int *kind,
int time_i[7], double *time_d,
double *navlon, double *navlat,
double *speed, double *heading,
double *distance, double *altitude, double *sonardepth,
int *nbath, int *namp, int *nss,
char *beamflag, double *bath, double *amp,
double *bathacrosstrack, double *bathalongtrack,
double *ss, double *ssacrosstrack, double *ssalongtrack,
char *comment, int *error)
{
char *function_name = "mb_get_all";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
int i;
double mtodeglon, mtodeglat;
double dx, dy;
double delta_time;
double roll, pitch, heave;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
fprintf(stderr,"dbg2 Input arguments:\n");
fprintf(stderr,"dbg2 verbose: %d\n",verbose);
fprintf(stderr,"dbg2 mb_ptr: %p\n",(void *)mbio_ptr);
}
/* get mbio and data structure descriptors */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
*store_ptr = mb_io_ptr->store_data;
/* reset status */
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg2 About to read ping in function <%s>\n",
function_name);
fprintf(stderr,"dbg2 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg2 status: %d\n",status);
fprintf(stderr,"dbg2 error: %d\n",*error);
}
/* get next ping */
status = mb_read_ping(verbose,mbio_ptr,*store_ptr,kind,error);
/* if io arrays have been reallocated, update the
pointers of arrays passed into this function,
as these pointers may have changed */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
if (mb_io_ptr->bath_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &beamflag, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bath, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathacrosstrack, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathalongtrack, error);
mb_io_ptr->bath_arrays_reallocated = MB_NO;
}
if (mb_io_ptr->amp_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &, error);
mb_io_ptr->amp_arrays_reallocated = MB_NO;
}
if (mb_io_ptr->ss_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ss, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssacrosstrack, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssalongtrack, error);
mb_io_ptr->ss_arrays_reallocated = MB_NO;
}
}
/* if survey data read into storage array */
if (status == MB_SUCCESS
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_SUBBOTTOM_MCS
|| *kind == MB_DATA_SUBBOTTOM_CNTRBEAM
|| *kind == MB_DATA_SUBBOTTOM_SUBBOTTOM
|| *kind == MB_DATA_SIDESCAN2
|| *kind == MB_DATA_SIDESCAN3
|| *kind == MB_DATA_WATER_COLUMN
|| *kind == MB_DATA_NAV
|| *kind == MB_DATA_NAV1
|| *kind == MB_DATA_NAV2
|| *kind == MB_DATA_NAV3
|| *kind == MB_DATA_COMMENT))
{
/* initialize return values */
*kind = MB_DATA_NONE;
for (i=0;i<7;i++)
time_i[i] = 0;
*time_d = 0.0;
*navlon = 0.0;
*navlat = 0.0;
*speed = 0.0;
*heading = 0.0;
*nbath = 0;
*namp = 0;
*nss = 0;
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
{
beamflag[i] = mb_beam_set_flag_null(beamflag[i]);
bath[i] = 0.0;
bathacrosstrack[i] = 0.0;
bathalongtrack[i] = 0.0;
}
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
{
amp[i] = 0.0;
}
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
{
ss[i] = 0.0;
ssacrosstrack[i] = 0.0;
ssalongtrack[i] = 0.0;
}
strcpy(comment,"\0");
/* get the data */
status = mb_extract(verbose,
mbio_ptr, *store_ptr, kind,
time_i, time_d,
navlon, navlat, speed, heading,
nbath, namp, nss,
beamflag, bath, amp, bathacrosstrack, bathalongtrack,
ss, ssacrosstrack, ssalongtrack,
comment, error);
if (status == MB_SUCCESS
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_CALIBRATE
|| *kind == MB_DATA_SUBBOTTOM_MCS
|| *kind == MB_DATA_SUBBOTTOM_CNTRBEAM
|| *kind == MB_DATA_SUBBOTTOM_SUBBOTTOM
|| *kind == MB_DATA_SIDESCAN2
|| *kind == MB_DATA_SIDESCAN3
|| *kind == MB_DATA_WATER_COLUMN))
{
status = mb_extract_altitude(verbose,
mbio_ptr, *store_ptr,
kind,
sonardepth,
altitude,
error);
}
if (status == MB_SUCCESS
&& (*kind == MB_DATA_NAV
|| *kind == MB_DATA_NAV1
|| *kind == MB_DATA_NAV2
|| *kind == MB_DATA_NAV3))
{
status = mb_extract_nav(verbose,
mbio_ptr, *store_ptr, kind,
time_i, time_d,
navlon, navlat, speed, heading,
sonardepth, &roll, &pitch, &heave,
error);
}
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg2 New ping read in function <%s>\n",
function_name);
fprintf(stderr,"dbg2 status: %d\n",
status);
fprintf(stderr,"dbg2 error: %d\n",
*error);
fprintf(stderr,"dbg2 kind: %d\n",
mb_io_ptr->new_kind);
}
/* increment counters */
if (status == MB_SUCCESS)
{
if (*kind == MB_DATA_DATA)
mb_io_ptr->ping_count++;
else if (*kind == MB_DATA_NAV)
mb_io_ptr->nav_count++;
else if (*kind == MB_DATA_COMMENT)
mb_io_ptr->comment_count++;
}
/* if first ping read set "old" navigation values */
if (status == MB_SUCCESS
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_NAV
|| *kind == MB_DATA_CALIBRATE)
&& mb_io_ptr->ping_count == 1)
{
mb_io_ptr->old_time_d = *time_d;
mb_io_ptr->old_lon = *navlon;
mb_io_ptr->old_lat = *navlat;
}
/* if first nav read set "old" navigation values */
if (status == MB_SUCCESS
&& (*kind == MB_DATA_NAV)
&& mb_io_ptr->nav_count == 1)
{
mb_io_ptr->old_ntime_d = *time_d;
mb_io_ptr->old_nlon = *navlon;
mb_io_ptr->old_nlat = *navlat;
}
/* calculate speed and distance for ping data */
if (status == MB_SUCCESS
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_CALIBRATE
|| *kind == MB_DATA_SUBBOTTOM_MCS
|| *kind == MB_DATA_SUBBOTTOM_CNTRBEAM
|| *kind == MB_DATA_SUBBOTTOM_SUBBOTTOM
|| *kind == MB_DATA_SIDESCAN2
|| *kind == MB_DATA_SIDESCAN3
|| *kind == MB_DATA_WATER_COLUMN))
{
/* get coordinate scaling */
mb_coor_scale(verbose,*navlat,&mtodeglon,&mtodeglat);
/* get distance value */
if (mb_io_ptr->old_time_d > 0.0)
{
dx = (*navlon - mb_io_ptr->old_lon)/mtodeglon;
dy = (*navlat - mb_io_ptr->old_lat)/mtodeglat;
*distance = 0.001*sqrt(dx*dx + dy*dy); /* km */
}
else
*distance = 0.0;
/* get speed value */
if (*speed <= 0.0 && mb_io_ptr->old_time_d > 0.0)
{
delta_time = 0.000277778*
(*time_d - mb_io_ptr->old_time_d); /* hours */
if (delta_time > 0.0)
*speed = *distance/delta_time; /* km/hr */
else
*speed = 0.0;
}
else if (*speed < 0.0)
*speed = 0.0;
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 Distance and Speed Calculated in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Speed and Distance Related Values:\n");
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 time: %f\n",
*time_d);
fprintf(stderr,"dbg4 lon: %f\n",
*navlon);
fprintf(stderr,"dbg4 lat: %f\n",
*navlat);
fprintf(stderr,"dbg4 old time: %f\n",
mb_io_ptr->old_time_d);
fprintf(stderr,"dbg4 old lon: %f\n",
mb_io_ptr->old_lon);
fprintf(stderr,"dbg4 old lat: %f\n",
mb_io_ptr->old_lat);
fprintf(stderr,"dbg4 distance: %f\n",
*distance);
fprintf(stderr,"dbg4 altitude: %f\n",
*altitude);
fprintf(stderr,"dbg4 sonardepth: %f\n",
*sonardepth);
fprintf(stderr,"dbg4 delta_time: %f\n",
delta_time);
fprintf(stderr,"dbg4 raw speed: %f\n",
mb_io_ptr->new_speed);
fprintf(stderr,"dbg4 speed: %f\n",
*speed);
fprintf(stderr,"dbg4 error: %d\n",*error);
fprintf(stderr,"dbg4 status: %d\n",status);
}
}
/* calculate speed and distance for nav data */
else if (status == MB_SUCCESS
&& (*kind == MB_DATA_NAV
|| *kind == MB_DATA_NAV
|| *kind == MB_DATA_NAV1
|| *kind == MB_DATA_NAV2
|| *kind == MB_DATA_NAV3))
{
/* get coordinate scaling */
mb_coor_scale(verbose,*navlat,&mtodeglon,&mtodeglat);
/* get distance value */
if (mb_io_ptr->old_ntime_d > 0.0)
{
dx = (*navlon - mb_io_ptr->old_nlon)/mtodeglon;
dy = (*navlat - mb_io_ptr->old_nlat)/mtodeglat;
*distance = 0.001*sqrt(dx*dx + dy*dy); /* km */
}
else
*distance = 0.0;
/* get speed value */
if (*speed <= 0.0 && mb_io_ptr->old_ntime_d > 0.0)
{
delta_time = 0.000277778*
(*time_d - mb_io_ptr->old_ntime_d); /* hours */
if (delta_time > 0.0)
*speed = *distance/delta_time; /* km/hr */
else
*speed = 0.0;
}
else if (*speed < 0.0)
*speed = 0.0;
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 Distance and Speed Calculated in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Speed and Distance Related Values:\n");
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 time: %f\n",
*time_d);
fprintf(stderr,"dbg4 lon: %f\n",
*navlon);
fprintf(stderr,"dbg4 lat: %f\n",
*navlat);
fprintf(stderr,"dbg4 old time: %f\n",
mb_io_ptr->old_ntime_d);
fprintf(stderr,"dbg4 old lon: %f\n",
mb_io_ptr->old_nlon);
fprintf(stderr,"dbg4 old lat: %f\n",
mb_io_ptr->old_lat);
fprintf(stderr,"dbg4 distance: %f\n",
*distance);
fprintf(stderr,"dbg4 altitude: %f\n",
*altitude);
fprintf(stderr,"dbg4 sonardepth: %f\n",
*sonardepth);
fprintf(stderr,"dbg4 delta_time: %f\n",
delta_time);
fprintf(stderr,"dbg4 raw speed: %f\n",
mb_io_ptr->new_speed);
fprintf(stderr,"dbg4 speed: %f\n",
*speed);
fprintf(stderr,"dbg4 error: %d\n",*error);
fprintf(stderr,"dbg4 status: %d\n",status);
}
}
/* else set nav values to zero */
else
{
*navlon = 0.0;
*navlat = 0.0;
*distance = 0.0;
*altitude = 0.0;
*sonardepth = 0.0;
*speed = 0.0;
}
/* check for out of location or time bounds */
if (status == MB_SUCCESS
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_NAV
|| *kind == MB_DATA_CALIBRATE))
{
if (*navlon < mb_io_ptr->bounds[0]
|| *navlon > mb_io_ptr->bounds[1]
|| *navlat < mb_io_ptr->bounds[2]
|| *navlat > mb_io_ptr->bounds[3])
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_BOUNDS;
}
else if (mb_io_ptr->etime_d > mb_io_ptr->btime_d
&& *time_d > MB_TIME_D_UNKNOWN
&& (*time_d > mb_io_ptr->etime_d
|| *time_d < mb_io_ptr->btime_d))
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_TIME;
}
else if (mb_io_ptr->etime_d < mb_io_ptr->btime_d
&& *time_d > MB_TIME_D_UNKNOWN
&& (*time_d > mb_io_ptr->etime_d
&& *time_d < mb_io_ptr->btime_d))
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_TIME;
}
}
/* check for time gap */
if (status == MB_SUCCESS
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_NAV
|| *kind == MB_DATA_CALIBRATE)
&& mb_io_ptr->ping_count > 1)
{
if ((*time_d - mb_io_ptr->old_ntime_d)
> 60*mb_io_ptr->timegap)
{
status = MB_FAILURE;
*error = MB_ERROR_TIME_GAP;
}
}
/* check for less than minimum speed */
if ((*error == MB_ERROR_NO_ERROR
|| *error == MB_ERROR_TIME_GAP)
&& (((*kind == MB_DATA_DATA
|| *kind == MB_DATA_CALIBRATE)
&& mb_io_ptr->ping_count > 1)
|| (*kind == MB_DATA_NAV
&& mb_io_ptr->nav_count > 1)))
{
if (*time_d > MB_TIME_D_UNKNOWN
&& *speed < mb_io_ptr->speedmin)
{
status = MB_FAILURE;
*error = MB_ERROR_SPEED_TOO_SMALL;
}
}
/* log errors */
if (*error < MB_ERROR_NO_ERROR)
mb_notice_log_error(verbose, mbio_ptr, *error);
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 New ping checked by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 New ping values:\n");
fprintf(stderr,"dbg4 kind: %d\n",
*kind);
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 nav_count: %d\n",
mb_io_ptr->nav_count);
fprintf(stderr,"dbg4 comment_count: %d\n",
mb_io_ptr->comment_count);
fprintf(stderr,"dbg4 error: %d\n",
mb_io_ptr->new_error);
fprintf(stderr,"dbg4 status: %d\n",
status);
}
/* reset "old" navigation values */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT
&& (*kind == MB_DATA_DATA
|| *kind == MB_DATA_CALIBRATE))
{
mb_io_ptr->old_time_d = *time_d;
mb_io_ptr->old_lon = *navlon;
mb_io_ptr->old_lat = *navlat;
}
/* reset "old" navigation values */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT
&& *kind == MB_DATA_NAV)
{
mb_io_ptr->old_ntime_d = *time_d;
mb_io_ptr->old_nlon = *navlon;
mb_io_ptr->old_nlat = *navlat;
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Return values:\n");
fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)*store_ptr);
fprintf(stderr,"dbg2 kind: %d\n",*kind);
}
if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
&& *kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: \ndbg2 %s\n",
comment);
}
else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
&& *kind != MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 time_d: %f\n",*time_d);
fprintf(stderr,"dbg2 longitude: %f\n",*navlon);
fprintf(stderr,"dbg2 latitude: %f\n",*navlat);
fprintf(stderr,"dbg2 speed: %f\n",*speed);
fprintf(stderr,"dbg2 heading: %f\n",*heading);
fprintf(stderr,"dbg2 distance: %f\n",*distance);
fprintf(stderr,"dbg2 altitude: %f\n",*altitude);
fprintf(stderr,"dbg2 sonardepth: %f\n",*sonardepth);
}
if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
&& *kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 nbath: %d\n",*nbath);
if (verbose >= 3 && *nbath > 0)
{
fprintf(stderr,"dbg3 beam flag bath crosstrack alongtrack\n");
for (i=0;i<*nbath;i++)
fprintf(stderr,"dbg3 %4d %3d %f %f %f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
}
fprintf(stderr,"dbg2 namp: %d\n",*namp);
if (verbose >= 3 && *namp > 0)
{
fprintf(stderr,"dbg3 beam amp crosstrack alongtrack\n");
for (i=0;i<*namp;i++)
fprintf(stderr,"dbg3 %4d %f %f %f\n",
i,amp[i],
bathacrosstrack[i],bathalongtrack[i]);
}
fprintf(stderr,"dbg2 nss: %d\n",*nss);
if (verbose >= 3 && *nss > 0)
{
fprintf(stderr,"dbg3 pixel sidescan crosstrack alongtrack\n");
for (i=0;i<*nss;i++)
fprintf(stderr,"dbg3 %4d %f %f %f\n",
i,ss[i],
ssacrosstrack[i],ssalongtrack[i]);
}
}
if (verbose >= 2)
{
fprintf(stderr,"dbg2 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
