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 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); }