/*--------------------------------------------------------------------*/
int mbr_mgd77dat_rd_data(int verbose, void *mbio_ptr, int *error) {
char *function_name = "mbr_mgd77dat_rd_data";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbf_mgd77dat_struct *data;
int *header_read;
char line[MBF_MGD77DAT_DATA_LEN] = "";
size_t read_len;
size_t skip;
int shift;
int neg_unit;
int itmp;
double dtmp;
int i, j;
/* 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 mbio_ptr: %p\n", (void *)mbio_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
/* get pointer to raw data structure */
data = (struct mbf_mgd77dat_struct *)mb_io_ptr->raw_data;
header_read = (int *)&mb_io_ptr->save1;
/* initialize everything to zeros */
mbr_zero_mgd77dat(verbose, mb_io_ptr->raw_data, error);
/* set file position */
mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp);
mb_io_ptr->file_pos = mb_io_ptr->file_bytes;
/* read next record */
if ((read_len = fread(line, 1, MBF_MGD77DAT_DATA_LEN, mb_io_ptr->mbfp)) == MBF_MGD77DAT_DATA_LEN) {
mb_io_ptr->file_bytes += read_len;
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else {
mb_io_ptr->file_bytes += read_len;
status = MB_FAILURE;
*error = MB_ERROR_EOF;
}
/*fprintf(stderr,"_RAWLINE:");
for (i=0;i<MBF_MGD77DAT_DATA_LEN;i++)
fprintf(stderr,"%c",line[i]);
fprintf(stderr,"\n");*/
/* handle "pseudo-mgd77" in which each record is
* followed by a cr or lf or both */
skip = 0;
if (line[0] == '\r' || line[0] == '\n')
skip++;
if (line[1] == '\r' || line[1] == '\n')
skip++;
if (skip > 0) {
for (j = 0; j < MBF_MGD77DAT_DATA_LEN - skip; j++) {
line[j] = line[j + skip];
}
if ((read_len = fread(&line[MBF_MGD77DAT_DATA_LEN - skip], 1, skip, mb_io_ptr->mbfp)) == skip) {
mb_io_ptr->file_bytes += read_len;
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else {
mb_io_ptr->file_bytes += read_len;
status = MB_FAILURE;
*error = MB_ERROR_EOF;
}
/*fprintf(stderr,"---SKIPPED %zu BYTES---\n",skip);*/
}
/*fprintf(stderr,"+FIXLINE:");
for (i=0;i<MBF_MGD77DAT_DATA_LEN;i++)
fprintf(stderr,"%c",line[i]);
fprintf(stderr,"\n");*/
mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp);
/* handle the data */
if (status == MB_SUCCESS && *header_read > 0 && *header_read < MBF_MGD77DAT_HEADER_NUM) {
data->kind = MB_DATA_HEADER;
(*header_read)++;
for (i = 0; i < MBF_MGD77DAT_DATA_LEN; i++)
data->comment[i] = line[i];
}
else if (status == MB_SUCCESS && (line[0] == '1' || line[0] == '4')) {
data->kind = MB_DATA_HEADER;
(*header_read) = 1;
for (i = 0; i < MBF_MGD77DAT_DATA_LEN; i++)
data->comment[i] = line[i];
}
else if (status == MB_SUCCESS && line[0] == '#') {
data->kind = MB_DATA_COMMENT;
strncpy(data->comment, &line[1], MBF_MGD77DAT_DATA_LEN - 1);
}
else if (status == MB_SUCCESS && line[0] == '3') {
data->kind = MB_DATA_DATA;
/* get survey id */
shift = 1;
for (i = 0; i < 8; i++)
data->survey_id[i] = line[i + shift];
/* get time */
shift += 8;
mb_get_int(&data->timezone, &line[shift], 5);
shift += 5;
data->timezone = data->timezone / 100;
mb_get_int(&itmp, &line[shift], 2);
shift += 2;
mb_fix_y2k(verbose, itmp, &data->time_i[0]);
mb_get_int(&data->time_i[1], &line[shift], 2);
shift += 2;
mb_get_int(&data->time_i[2], &line[shift], 2);
shift += 2;
mb_get_int(&data->time_i[3], &line[shift], 2);
shift += 2;
mb_get_int(&itmp, &line[shift], 5);
shift += 5;
data->time_i[4] = 0.001 * itmp;
dtmp = (itmp - 1000 * data->time_i[4]) * 0.06;
data->time_i[5] = (int)dtmp;
data->time_i[6] = 1000000 * (dtmp - data->time_i[5]);
mb_get_time(verbose, data->time_i, &data->time_d);
/* get nav */
neg_unit = 8;
if (line[shift] == '-') {
shift += 1;
neg_unit = 7;
}
mb_get_int(&itmp, &line[shift], neg_unit);
shift += neg_unit;
data->latitude = 0.00001 * itmp;
if (neg_unit == 7)
data->latitude = -data->latitude;
neg_unit = 9;
if (line[shift] == '-') {
shift += 1;
neg_unit = 8;
}
mb_get_int(&itmp, &line[shift], neg_unit);
shift += neg_unit;
data->longitude = 0.00001 * itmp;
if (neg_unit == 8)
data->longitude = -data->longitude;
mb_get_int(&data->nav_type, &line[shift], 1);
shift += 1;
/* get bath */
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->tt = 0.0001 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->bath = 0.1 * itmp;
mb_get_int(&data->bath_corr, &line[shift], 2);
shift += 2;
mb_get_int(&data->bath_type, &line[shift], 1);
shift += 1;
if (data->bath > 0.0 && data->bath < 99999.9) {
data->flag = MB_FLAG_NONE;
}
else {
data->flag = MB_FLAG_NULL;
}
/* get magnetics */
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_tot_1 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_tot_2 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_res = 0.1 * itmp;
mb_get_int(&data->mag_res_sensor, &line[shift], 1);
shift += 1;
mb_get_int(&itmp, &line[shift], 5);
shift += 5;
data->mag_diurnal = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_altitude = itmp;
/* get gravity */
mb_get_int(&itmp, &line[shift], 7);
shift += 7;
data->gravity = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->eotvos = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 5);
shift += 5;
data->free_air = 0.1 * itmp;
mb_get_int(&data->seismic_line, &line[shift], 5);
shift += 5;
mb_get_int(&data->seismic_shot, &line[shift], 6);
shift += 6;
/* get nav quality */
mb_get_int(&data->nav_quality, &line[shift], 1);
shift += 1;
}
else if (status == MB_SUCCESS && line[0] == '5') {
data->kind = MB_DATA_DATA;
/* get survey id */
shift = 1;
for (i = 0; i < 8; i++)
data->survey_id[i] = line[i + shift];
/* get time */
shift += 8;
mb_get_int(&data->timezone, &line[shift], 3);
shift += 3;
mb_get_int(&data->time_i[0], &line[shift], 4);
shift += 4;
mb_get_int(&data->time_i[1], &line[shift], 2);
shift += 2;
mb_get_int(&data->time_i[2], &line[shift], 2);
shift += 2;
mb_get_int(&data->time_i[3], &line[shift], 2);
shift += 2;
mb_get_int(&itmp, &line[shift], 5);
shift += 5;
data->time_i[4] = 0.001 * itmp;
dtmp = (itmp - 1000 * data->time_i[4]) * 0.06;
data->time_i[5] = (int)dtmp;
data->time_i[6] = 1000000 * (dtmp - data->time_i[5]);
mb_get_time(verbose, data->time_i, &data->time_d);
/* get nav */
neg_unit = 8;
if (line[shift] == '-') {
shift += 1;
neg_unit = 7;
}
mb_get_int(&itmp, &line[shift], neg_unit);
shift += neg_unit;
data->latitude = 0.00001 * itmp;
if (neg_unit == 7)
data->latitude = -data->latitude;
neg_unit = 9;
if (line[shift] == '-') {
shift += 1;
neg_unit = 8;
}
mb_get_int(&itmp, &line[shift], neg_unit);
shift += neg_unit;
data->longitude = 0.00001 * itmp;
if (neg_unit == 8)
data->longitude = -data->longitude;
mb_get_int(&data->nav_type, &line[shift], 1);
shift += 1;
/* get bath */
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->tt = 0.0001 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->bath = 0.1 * itmp;
mb_get_int(&data->bath_corr, &line[shift], 2);
shift += 2;
mb_get_int(&data->bath_type, &line[shift], 1);
shift += 1;
if (data->bath > 0.0 && data->bath < 99999.9) {
data->flag = MB_FLAG_NONE;
}
else {
data->flag = MB_FLAG_NULL;
}
/* get magnetics */
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_tot_1 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_tot_2 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_res = 0.1 * itmp;
mb_get_int(&data->mag_res_sensor, &line[shift], 1);
shift += 1;
mb_get_int(&itmp, &line[shift], 5);
shift += 5;
data->mag_diurnal = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->mag_altitude = itmp;
/* get gravity */
mb_get_int(&itmp, &line[shift], 7);
shift += 7;
data->gravity = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6);
shift += 6;
data->eotvos = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 5);
shift += 5;
data->free_air = 0.1 * itmp;
mb_get_int(&data->seismic_line, &line[shift], 5);
shift += 5;
mb_get_int(&data->seismic_shot, &line[shift], 6);
shift += 6;
/* get nav quality */
mb_get_int(&data->nav_quality, &line[shift], 1);
/* shift += 1; */
}
/* 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 error: %d\n", *error);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
return (status);
}
/*--------------------------------------------------------------------*/
int mbr_rt_em12darw(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
char *function_name = "mbr_rt_em12darw";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbf_em12darw_struct *data;
struct mbsys_simrad_struct *store;
struct mbsys_simrad_survey_struct *ping;
char line[MBF_EM12DARW_RECORD_LENGTH];
int index;
char *datacomment;
int time_j[5];
int time_i[7];
int kind;
int i;
/* 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 mbio_ptr: %p\n", (void *)mbio_ptr);
fprintf(stderr, "dbg2 store_ptr: %p\n", (void *)store_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
/* get pointer to raw data structure */
data = (struct mbf_em12darw_struct *)mb_io_ptr->raw_data;
datacomment = (char *)&line[80];
store = (struct mbsys_simrad_struct *)store_ptr;
/* set file position */
mb_io_ptr->file_pos = mb_io_ptr->file_bytes;
/* read next record from file */
if ((status = fread(line, 1, MBF_EM12DARW_RECORD_LENGTH, mb_io_ptr->mbfp)) == MBF_EM12DARW_RECORD_LENGTH) {
mb_io_ptr->file_bytes += status;
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else {
mb_io_ptr->file_bytes += status;
status = MB_FAILURE;
*error = MB_ERROR_EOF;
}
/* get data type */
kind = MB_DATA_NONE;
if (status == MB_SUCCESS) {
mb_get_binary_short(MB_NO, &line[0], &(data->func));
}
/* deal with comment */
if (status == MB_SUCCESS && data->func == 100) {
kind = MB_DATA_COMMENT;
strncpy(store->comment, datacomment, MBSYS_SIMRAD_COMMENT_LENGTH);
}
/* deal with data */
else if (status == MB_SUCCESS && data->func == 150) {
kind = MB_DATA_DATA;
index = 2;
mb_get_binary_short(MB_NO, &line[index], &(data->year));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->jday));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->minute));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->secs));
index += 8;
mb_get_binary_double(MB_NO, &line[index], &(data->latitude));
index += 8;
mb_get_binary_double(MB_NO, &line[index], &(data->longitude));
index += 8;
mb_get_binary_short(MB_NO, &line[index], &(data->corflag));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->utm_merd));
index += 4;
mb_get_binary_short(MB_NO, &line[index], &(data->utm_zone));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->posq));
index += 2;
mb_get_binary_int(MB_NO, &line[index], &(data->pingno));
index += 4;
mb_get_binary_short(MB_NO, &line[index], &(data->mode));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->depthl));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->speed));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->gyro));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->roll));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->pitch));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->heave));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->sndval));
index += 4;
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->depth[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->distacr[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->distalo[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->range[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->refl[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->beamq[i]));
index += 2;
}
/* print debug statements */
if (verbose >= 4) {
fprintf(stderr, "\ndbg4 Data read by MBIO function <%s>\n", function_name);
fprintf(stderr, "dbg4 Read values:\n");
fprintf(stderr, "dbg4 kind: %d\n", kind);
fprintf(stderr, "dbg4 error: %d\n", *error);
fprintf(stderr, "dbg4 year: %d\n", data->year);
fprintf(stderr, "dbg4 jday: %d\n", data->jday);
fprintf(stderr, "dbg4 minute: %d\n", data->minute);
fprintf(stderr, "dbg4 secs: %d\n", data->secs);
fprintf(stderr, "dbg4 latitude: %f\n", data->latitude);
fprintf(stderr, "dbg4 longitude: %f\n", data->longitude);
fprintf(stderr, "dbg4 corflag: %d\n", data->corflag);
fprintf(stderr, "dbg4 utm_merd: %f\n", data->utm_merd);
fprintf(stderr, "dbg4 utm_zone: %d\n", data->utm_zone);
fprintf(stderr, "dbg4 posq: %d\n", data->posq);
fprintf(stderr, "dbg4 pingno: %d\n", data->pingno);
fprintf(stderr, "dbg4 mode: %d\n", data->mode);
fprintf(stderr, "dbg4 depthl: %f\n", data->depthl);
fprintf(stderr, "dbg4 speed: %f\n", data->speed);
fprintf(stderr, "dbg4 gyro: %f\n", data->gyro);
fprintf(stderr, "dbg4 roll: %f\n", data->roll);
fprintf(stderr, "dbg4 pitch: %f\n", data->pitch);
fprintf(stderr, "dbg4 heave: %f\n", data->heave);
fprintf(stderr, "dbg4 sndval: %f\n", data->sndval);
for (i = 0; i < MBF_EM12DARW_BEAMS; i++)
fprintf(stderr, "dbg4 beam:%d depth:%d distacr:%d distalo:%d range:%d refl:%d beamq:%d\n", i,
data->depth[i], data->distacr[i], data->distalo[i], data->range[i], data->refl[i], data->beamq[i]);
}
}
/* else unintelligible */
else if (status == MB_SUCCESS) {
kind = MB_DATA_NONE;
status = MB_FAILURE;
*error = MB_ERROR_UNINTELLIGIBLE;
}
/* set kind and error in mb_io_ptr */
mb_io_ptr->new_kind = kind;
mb_io_ptr->new_error = *error;
/* translate values to em12 data storage structure */
if (status == MB_SUCCESS && store != NULL) {
/* type of data record */
store->kind = kind;
store->sonar = MBSYS_SIMRAD_EM12S;
/* time */
mb_fix_y2k(verbose, (int)data->year, &time_j[0]);
time_j[1] = data->jday;
time_j[2] = data->minute;
time_j[3] = data->secs / 100;
time_j[4] = 0.0001 * (100 * time_j[3] - data->secs);
mb_get_itime(verbose, time_j, time_i);
store->year = data->year;
store->month = time_i[1];
store->day = time_i[2];
store->hour = time_i[3];
store->minute = time_i[4];
store->second = time_i[5];
store->centisecond = 0.0001 * time_i[6];
store->pos_year = store->year;
store->pos_month = store->month;
store->pos_day = store->day;
store->pos_hour = store->hour;
store->pos_minute = store->minute;
store->pos_second = store->second;
store->pos_centisecond = store->centisecond;
/* navigation */
if (data->corflag == 0) {
store->pos_latitude = data->latitude;
store->pos_longitude = data->longitude;
store->utm_northing = 0.0;
store->utm_easting = 0.0;
}
else {
store->pos_latitude = 0.0;
store->pos_longitude = 0.0;
store->utm_northing = data->latitude;
store->utm_easting = data->longitude;
}
store->utm_zone = data->utm_zone;
store->utm_zone_lon = data->utm_merd;
store->utm_system = data->corflag;
store->pos_quality = data->posq;
store->speed = data->speed;
store->line_heading = 10 * data->gyro;
/* allocate secondary data structure for
survey data if needed */
if (kind == MB_DATA_DATA && store->ping == NULL) {
status = mbsys_simrad_survey_alloc(verbose, mbio_ptr, store_ptr, error);
}
/* deal with putting survey data into
secondary data structure */
if (status == MB_SUCCESS && kind == MB_DATA_DATA) {
/* get data structure pointer */
ping = (struct mbsys_simrad_survey_struct *)store->ping;
/* copy data */
ping->longitude = data->longitude;
ping->latitude = data->latitude;
ping->swath_id = EM_SWATH_CENTER;
ping->ping_number = data->pingno;
ping->beams_bath = MBF_EM12DARW_BEAMS;
ping->bath_mode = 0;
ping->bath_res = data->mode;
ping->bath_quality = 0;
ping->keel_depth = data->depthl;
ping->heading = (int)10 * data->gyro;
ping->roll = (int)100 * data->roll;
ping->pitch = (int)100 * data->pitch;
ping->xducer_pitch = (int)100 * data->pitch;
ping->ping_heave = (int)100 * data->heave;
ping->sound_vel = (int)10 * data->sndval;
ping->pixels_ss = 0;
ping->ss_mode = 0;
for (i = 0; i < ping->beams_bath; i++) {
if (data->depth[i] > 0) {
ping->bath[i] = data->depth[i];
ping->beamflag[i] = MB_FLAG_NONE;
}
else if (data->depth[i] < 0) {
ping->bath[i] = -data->depth[i];
ping->beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
}
else {
ping->bath[i] = data->depth[i];
ping->beamflag[i] = MB_FLAG_NULL;
}
ping->bath_acrosstrack[i] = data->distacr[i];
ping->bath_alongtrack[i] = data->distalo[i];
ping->tt[i] = data->range[i];
ping->amp[i] = (mb_s_char)data->refl[i];
ping->quality[i] = (mb_u_char)data->beamq[i];
ping->heave[i] = (mb_s_char)0;
ping->beam_frequency[i] = 0;
ping->beam_samples[i] = 0;
ping->beam_center_sample[i] = 0;
}
}
else if (status == MB_SUCCESS && kind == MB_DATA_COMMENT) {
/* comment */
strncpy(store->comment, datacomment, MBSYS_SIMRAD_COMMENT_LENGTH);
}
}
/* 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 error: %d\n", *error);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
return (status);
}
/*--------------------------------------------------------------------*/
int mbsys_hs10_extract_nav(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 *draft,
double *roll, double *pitch, double *heave,
int *error)
{
char *function_name = "mbsys_hs10_extract_nav";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_hs10_struct *store;
/* 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);
fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_hs10_struct *) store_ptr;
/* get data kind */
*kind = store->kind;
/* extract data from structure */
if (*kind == MB_DATA_DATA)
{
/* get time */
mb_fix_y2k(verbose, store->year, &time_i[0]);
time_i[1] = store->month;
time_i[2] = store->day;
time_i[3] = store->hour;
time_i[4] = store->minute;
time_i[5] = store->tenth_second / 10;
time_i[6] = 100000 * (store->tenth_second - 10 * time_i[5]);
mb_get_time(verbose,time_i,time_d);
/* get navigation */
*navlon = ((double) store->londeg) + (store->lonmin / 60000.0);
if (store->EorW == 'W')
*navlon *= -1.0;
*navlat = ((double) store->latdeg) + (store->latmin / 60000.0);
if (store->NorS == 'S')
*navlat *= -1.0;
/* get heading */
*heading = (0.1 * (double) store->heading);
/* get speed */
*speed = 0.0;
/* get draft */
*draft = 0.0;
/* get roll pitch and heave */
*roll = 0.0;
*pitch = 0.0;
*heave = 0.0;
/* print debug statements */
if (verbose >= 5)
{
fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Extracted values:\n");
fprintf(stderr,"dbg4 kind: %d\n",
*kind);
fprintf(stderr,"dbg4 error: %d\n",
*error);
fprintf(stderr,"dbg4 time_i[0]: %d\n",
time_i[0]);
fprintf(stderr,"dbg4 time_i[1]: %d\n",
time_i[1]);
fprintf(stderr,"dbg4 time_i[2]: %d\n",
time_i[2]);
fprintf(stderr,"dbg4 time_i[3]: %d\n",
time_i[3]);
fprintf(stderr,"dbg4 time_i[4]: %d\n",
time_i[4]);
fprintf(stderr,"dbg4 time_i[5]: %d\n",
time_i[5]);
fprintf(stderr,"dbg4 time_i[6]: %d\n",
time_i[6]);
fprintf(stderr,"dbg4 time_d: %f\n",
*time_d);
fprintf(stderr,"dbg4 longitude: %f\n",
*navlon);
fprintf(stderr,"dbg4 latitude: %f\n",
*navlat);
fprintf(stderr,"dbg4 speed: %f\n",
*speed);
fprintf(stderr,"dbg4 heading: %f\n",
*heading);
fprintf(stderr,"dbg4 draft: %f\n",
*draft);
fprintf(stderr,"dbg4 roll: %f\n",
*roll);
fprintf(stderr,"dbg4 pitch: %f\n",
*pitch);
fprintf(stderr,"dbg4 heave: %f\n",
*heave);
}
/* done translating values */
}
/* deal with comment */
else if (*kind == MB_DATA_COMMENT)
{
/* set status */
*error = MB_ERROR_COMMENT;
status = MB_FAILURE;
}
/* deal with other record type */
else
{
/* set status */
*error = MB_ERROR_OTHER;
status = MB_FAILURE;
}
/* 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 && *error <= MB_ERROR_NO_ERROR
&& *kind == MB_DATA_DATA)
{
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 draft: %f\n",*draft);
fprintf(stderr,"dbg2 roll: %f\n",*roll);
fprintf(stderr,"dbg2 pitch: %f\n",*pitch);
fprintf(stderr,"dbg2 heave: %f\n",*heave);
}
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 mbr_mgd77txt_rd_data(int verbose, void *mbio_ptr, int *error)
{
char *function_name = "mbr_mgd77txt_rd_data";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbf_mgd77txt_struct *data;
int *header_read;
char line[MB_COMMENT_MAXLINE];
char *read_ptr;
int shift;
int neg_unit;
int itmp;
double dtmp;
int i;
/* 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 mbio_ptr: %p\n",(void *)mbio_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get pointer to raw data structure */
data = (struct mbf_mgd77txt_struct *) mb_io_ptr->raw_data;
header_read = (int *) &mb_io_ptr->save1;
/* initialize everything to zeros */
mbr_zero_mgd77txt(verbose,mb_io_ptr->raw_data,error);
/* set file position */
mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp);
mb_io_ptr->file_pos = mb_io_ptr->file_bytes;
/* read next record */
if ((read_ptr = fgets(line, MB_PATH_MAXLINE, mb_io_ptr->mbfp)) != NULL)
{
mb_io_ptr->file_bytes += strlen(line);
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_EOF;
}
mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp);
/* handle the data */
if (status == MB_SUCCESS
&& *header_read > 0
&& *header_read < MBF_MGD77TXT_HEADER_NUM)
{
data->kind = MB_DATA_HEADER;
(*header_read)++;
strncpy(data->comment, line, strlen(line)-2);
}
else if (status == MB_SUCCESS
&& (line[0] == '1' || line[0] == '4'))
{
data->kind = MB_DATA_HEADER;
(*header_read) = 1;
strncpy(data->comment, line, strlen(line)-2);
}
else if (status == MB_SUCCESS
&& line[0] == '#')
{
data->kind = MB_DATA_COMMENT;
strncpy(data->comment,&line[1],strlen(line)-3);
}
else if (status == MB_SUCCESS
&& line[0] == '3')
{
data->kind = MB_DATA_DATA;
/* get survey id */
shift = 1;
for (i=0;i<8;i++)
data->survey_id[i] = line[i+shift];
/* get time */
shift += 8;
mb_get_int(&data->timezone, &line[shift], 5); shift += 5;
data->timezone = data->timezone / 100;
mb_get_int(&itmp, &line[shift], 2); shift += 2;
mb_fix_y2k(verbose, itmp, &data->time_i[0]);
mb_get_int(&data->time_i[1], &line[shift], 2); shift += 2;
mb_get_int(&data->time_i[2], &line[shift], 2); shift += 2;
mb_get_int(&data->time_i[3], &line[shift], 2); shift += 2;
mb_get_int(&itmp, &line[shift], 5); shift += 5;
data->time_i[4] = 0.001 * itmp;
dtmp = (itmp - 1000 * data->time_i[4]) * 0.06;
data->time_i[5] = (int) dtmp;
data->time_i[6] = 1000000 * (dtmp - data->time_i[5]);
mb_get_time(verbose,data->time_i,&data->time_d);
/* get nav */
neg_unit = 8;
if (line[shift] == '-') {
shift += 1;
neg_unit = 7;
}
mb_get_int(&itmp, &line[shift], neg_unit); shift += neg_unit;
data->latitude = 0.00001 * itmp;
if (neg_unit == 7)
data->latitude = -data->latitude;
neg_unit = 9;
if (line[shift] == '-') {
shift += 1;
neg_unit = 8;
}
mb_get_int(&itmp, &line[shift], neg_unit); shift += neg_unit;
data->longitude = 0.00001 * itmp;
if (neg_unit == 8)
data->longitude = -data->longitude;
mb_get_int(&data->nav_type, &line[shift], 1); shift += 1;
/* get bath */
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->tt = 0.0001 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->bath = 0.1 * itmp;
mb_get_int(&data->bath_corr, &line[shift], 2); shift += 2;
mb_get_int(&data->bath_type, &line[shift], 1); shift += 1;
if (data->bath > 0.0 && data->bath < 99999.9)
{
data->flag = MB_FLAG_NONE;
}
else
{
data->flag = MB_FLAG_NULL;
}
/* get magnetics */
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_tot_1 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_tot_2 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_res = 0.1 * itmp;
mb_get_int(&data->mag_res_sensor, &line[shift], 1); shift += 1;
mb_get_int(&itmp, &line[shift], 5); shift += 5;
data->mag_diurnal = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_altitude = itmp;
/* get gravity */
mb_get_int(&itmp, &line[shift], 7); shift += 7;
data->gravity = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->eotvos = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 5); shift += 5;
data->free_air = 0.1 * itmp;
mb_get_int(&data->seismic_line, &line[shift], 5); shift += 5;
mb_get_int(&data->seismic_shot, &line[shift], 6); shift += 6;
/* get nav quality */
mb_get_int(&data->nav_quality, &line[shift], 1); shift += 1;
}
else if (status == MB_SUCCESS
&& line[0] == '5')
{
data->kind = MB_DATA_DATA;
/* get survey id */
shift = 1;
for (i=0;i<8;i++)
data->survey_id[i] = line[i+shift];
/* get time */
shift += 8;
mb_get_int(&data->timezone, &line[shift], 3); shift += 3;
mb_get_int(&data->time_i[0], &line[shift], 4); shift += 4;
mb_get_int(&data->time_i[1], &line[shift], 2); shift += 2;
mb_get_int(&data->time_i[2], &line[shift], 2); shift += 2;
mb_get_int(&data->time_i[3], &line[shift], 2); shift += 2;
mb_get_int(&itmp, &line[shift], 5); shift += 5;
data->time_i[4] = 0.001 * itmp;
dtmp = (itmp - 1000 * data->time_i[4]) * 0.06;
data->time_i[5] = (int) dtmp;
data->time_i[6] = 1000000 * (dtmp - data->time_i[5]);
mb_get_time(verbose,data->time_i,&data->time_d);
/* get nav */
neg_unit = 8;
if (line[shift] == '-') {
shift += 1;
neg_unit = 7;
}
mb_get_int(&itmp, &line[shift], neg_unit); shift += neg_unit;
data->latitude = 0.00001 * itmp;
if (neg_unit == 7)
data->latitude = -data->latitude;
neg_unit = 9;
if (line[shift] == '-') {
shift += 1;
neg_unit = 8;
}
mb_get_int(&itmp, &line[shift], neg_unit); shift += neg_unit;
data->longitude = 0.00001 * itmp;
if (neg_unit == 8)
data->longitude = -data->longitude;
mb_get_int(&data->nav_type, &line[shift], 1); shift += 1;
/* get bath */
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->tt = 0.0001 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->bath = 0.1 * itmp;
mb_get_int(&data->bath_corr, &line[shift], 2); shift += 2;
mb_get_int(&data->bath_type, &line[shift], 1); shift += 1;
if (data->bath > 0.0 && data->bath < 99999.9)
{
data->flag = MB_FLAG_NONE;
}
else
{
data->flag = MB_FLAG_NULL;
}
/* get magnetics */
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_tot_1 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_tot_2 = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_res = 0.1 * itmp;
mb_get_int(&data->mag_res_sensor, &line[shift], 1); shift += 1;
mb_get_int(&itmp, &line[shift], 5); shift += 5;
data->mag_diurnal = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->mag_altitude = itmp;
/* get gravity */
mb_get_int(&itmp, &line[shift], 7); shift += 7;
data->gravity = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 6); shift += 6;
data->eotvos = 0.1 * itmp;
mb_get_int(&itmp, &line[shift], 5); shift += 5;
data->free_air = 0.1 * itmp;
mb_get_int(&data->seismic_line, &line[shift], 5); shift += 5;
mb_get_int(&data->seismic_shot, &line[shift], 6); shift += 6;
/* get nav quality */
mb_get_int(&data->nav_quality, &line[shift], 1); shift += 1;
}
/* 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 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_hs10_extract(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,
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 = "mbsys_hs10_extract";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_hs10_struct *store;
int i;
/* 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);
fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_hs10_struct *) store_ptr;
/* get data kind */
*kind = store->kind;
/* extract data from structure */
if (*kind == MB_DATA_DATA)
{
/* get time */
mb_fix_y2k(verbose, store->year, &time_i[0]);
time_i[1] = store->month;
time_i[2] = store->day;
time_i[3] = store->hour;
time_i[4] = store->minute;
time_i[5] = store->tenth_second / 10;
time_i[6] = 100000 * (store->tenth_second - 10 * time_i[5]);
mb_get_time(verbose,time_i,time_d);
/* get navigation */
*navlon = ((double) store->londeg) + (store->lonmin / 60000.0);
if (store->EorW == 'W')
*navlon *= -1.0;
*navlat = ((double) store->latdeg) + (store->latmin / 60000.0);
if (store->NorS == 'S')
*navlat *= -1.0;
/* get heading */
*heading = (0.1 * (double) store->heading);
/* get speed */
*speed = 0.0;
/* set beamwidths in mb_io structure */
mb_io_ptr->beamwidth_ltrack = 3.0;
mb_io_ptr->beamwidth_xtrack = 3.0;
/* read distance and depth values into storage arrays */
*nbath = MBSYS_HS10_BEAMS;
*namp = MBSYS_HS10_BEAMS;
*nss = 0;
for (i=0;i<*nbath;i++)
{
if (store->depth[i] >= 29999)
{
beamflag[i] = MB_FLAG_NULL;
bath[i] = 0.0;
bathacrosstrack[i] = 0.0;
}
else if (store->depth[i] > 0)
{
beamflag[i] = MB_FLAG_NONE;
bath[i] = (double) store->depth[i];
bathacrosstrack[i] = (double) store->acrosstrack[i];
}
else if (store->depth[i] < 0)
{
beamflag[i]
= MB_FLAG_MANUAL + MB_FLAG_FLAG;
bath[i] = (double) -store->depth[i];
bathacrosstrack[i] = (double) store->acrosstrack[i];
}
amp[i] = store->amplitude[i];
bathalongtrack[i] = 0.0;
}
/* print debug statements */
if (verbose >= 5)
{
fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Extracted values:\n");
fprintf(stderr,"dbg4 kind: %d\n",
*kind);
fprintf(stderr,"dbg4 error: %d\n",
*error);
fprintf(stderr,"dbg4 time_i[0]: %d\n",
time_i[0]);
fprintf(stderr,"dbg4 time_i[1]: %d\n",
time_i[1]);
fprintf(stderr,"dbg4 time_i[2]: %d\n",
time_i[2]);
fprintf(stderr,"dbg4 time_i[3]: %d\n",
time_i[3]);
fprintf(stderr,"dbg4 time_i[4]: %d\n",
time_i[4]);
fprintf(stderr,"dbg4 time_i[5]: %d\n",
time_i[5]);
fprintf(stderr,"dbg4 time_i[6]: %d\n",
time_i[6]);
fprintf(stderr,"dbg4 time_d: %f\n",
*time_d);
fprintf(stderr,"dbg4 longitude: %f\n",
*navlon);
fprintf(stderr,"dbg4 latitude: %f\n",
*navlat);
fprintf(stderr,"dbg4 speed: %f\n",
*speed);
fprintf(stderr,"dbg4 heading: %f\n",
*heading);
fprintf(stderr,"dbg4 nbath: %d\n",
*nbath);
for (i=0;i<*nbath;i++)
fprintf(stderr,"dbg4 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg4 namp: %d\n",
*namp);
for (i=0;i<*namp;i++)
fprintf(stderr,"dbg4 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n",
i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
}
/* done translating values */
}
/* extract comment from structure */
else if (*kind == MB_DATA_COMMENT)
{
/* copy comment */
strncpy(comment, store->comment, MBSYS_HS10_COMMENT);
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 New ping read by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 New ping values:\n");
fprintf(stderr,"dbg4 error: %d\n",
*error);
fprintf(stderr,"dbg4 comment: %s\n",
comment);
}
}
/* 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 && *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);
}
if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
&& *kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 nbath: %d\n",
*nbath);
for (i=0;i<*nbath;i++)
fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 namp: %d\n",
*namp);
for (i=0;i<*namp;i++)
fprintf(stderr,"dbg2 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n",
i,amp[i],bathacrosstrack[i],bathalongtrack[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);
}
