/*--------------------------------------------------------------------*/
int mbr_dem_hsurivax(int verbose, void *mbio_ptr, int *error) {
char *function_name = "mbr_dem_hsurivax";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_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 mbio_ptr: %p\n", (void *)mbio_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
/* deallocate memory for data descriptor */
status = mb_freed(verbose, __FILE__, __LINE__, (void **)&mb_io_ptr->raw_data, error);
status = mb_freed(verbose, __FILE__, __LINE__, (void **)&mb_io_ptr->store_data, 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 error: %d\n", *error);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
/* return status */
return (status);
}
/*------------------------------------------------------------------------------*/
int mbview_freevectorarrays(int verbose,
double **veclon,
double **veclat,
double **vecz,
double **vecdata,
int *error)
{
/* local variables */
char *function_name = "mbview_freevectorarrays";
int status = MB_SUCCESS;
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",
function_name);
fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(stderr,"dbg2 Input arguments:\n");
fprintf(stderr,"dbg2 verbose: %d\n", verbose);
fprintf(stderr,"dbg2 veclon: %lu\n", (size_t)*veclon);
fprintf(stderr,"dbg2 veclat: %lu\n", (size_t)*veclat);
fprintf(stderr,"dbg2 vecz: %lu\n", (size_t)*vecz);
fprintf(stderr,"dbg2 vecdata: %lu\n", (size_t)*vecdata);
}
/* free the arrays using mb_free */
status = mb_freed(verbose,__FILE__,__LINE__,(void **)veclon,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)veclat,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)vecz,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)vecdata,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 veclon: %lu\n", (size_t)*veclon);
fprintf(stderr,"dbg2 veclat: %lu\n", (size_t)*veclat);
fprintf(stderr,"dbg2 vecz: %lu\n", (size_t)*vecz);
fprintf(stderr,"dbg2 vecdata: %lu\n", (size_t)*vecdata);
fprintf(stderr,"dbg2 error: %d\n", *error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n", status);
}
/* return */
return(status);
}
/*--------------------------------------------------------------------*/
int mbr_dem_em12darw(int verbose, void *mbio_ptr, int *error) {
char *function_name = "mbr_dem_em12darw";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_simrad_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 mbio_ptr: %p\n", (void *)mbio_ptr);
}
/* get pointers to mbio descriptor and data structures */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
store = (struct mbsys_simrad_struct *)mb_io_ptr->store_data;
/* deallocate memory for data descriptor */
status = mb_freed(verbose, __FILE__, __LINE__, (void **)&mb_io_ptr->raw_data, error);
status = mbsys_simrad_deall(verbose, mbio_ptr, &mb_io_ptr->store_data, 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 error: %d\n", *error);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
return (status);
}
/*----------------------------------------------------------------------*/
static int remove_rejected_samps(int verbose, swpls_sxpping *ping, int *error) {
char *function_name = "remove_rejected_samps";
int status = MB_SUCCESS;
swpls_point *points;
int valid, i;
if (verbose >= 2) {
fprintf(stderr, "\ndbg2 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 ping: %p\n", (void *)ping);
}
/* count the number of valid samples */
valid = 0;
for (i = 0; i < ping->nosampsfile; i++) {
if (ping->points[i].status != SWPLS_POINT_REJECTED) {
valid++;
}
}
/* create a temporary array to hold the valid samples */
status = mb_mallocd(verbose, __FILE__, __LINE__, valid * sizeof(swpls_point), (void **)&points, error);
if (status != MB_SUCCESS) {
char message[MAX_ERROR_STRING] = {0};
sprintf(message, "Failure to allocate memory for temporary array (%lu bytes)", valid * sizeof(swpls_point));
error_exit(verbose, *error, "mb_mallocd", message);
}
/* copy the valid samples to the temporary array */
valid = 0;
for (i = 0; i < ping->nosampsfile; i++) {
if (ping->points[i].status != SWPLS_POINT_REJECTED) {
points[valid++] = ping->points[i];
}
}
/* copy the valid samples to the front of the ping->points array and adjust
the sample count. This effectively truncates the ping on write. */
for (i = 0; i < valid; i++) {
ping->points[i] = points[i];
}
ping->nosampsfile = valid;
/* free memory for the temporary points array */
status = mb_freed(verbose, __FILE__, __LINE__, (void **)&points, error);
if (verbose >= 2) {
fprintf(stderr, "\ndbg2 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);
} /* remove_rejected_samps */
/*--------------------------------------------------------------------*/
int mbsys_stereopair_deall(int verbose, void *mbio_ptr, void **store_ptr,
int *error)
{
char *function_name = "mbsys_stereopair_deall";
int status = MB_SUCCESS;
struct mbsys_stereopair_struct *store;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",version_id);
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 data structure pointer */
store = (struct mbsys_stereopair_struct *) *store_ptr;
/* deallocate any arrays or structures contained within the store data structure */
if (store->num_soundings_alloc > 0 && store->soundings != NULL)
status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->soundings),error);
/* deallocate memory for data structure */
status = mb_freed(verbose,__FILE__,__LINE__,(void **)store_ptr,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 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
/*--------------------------------------------------------------------*/
int mb_topogrid_deall(int verbose, void **topogrid_ptr, int *error)
{
char *function_name = "mb_topogrid_deall";
int status = MB_SUCCESS;
struct mb_topogrid_struct *topogrid;
/* 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 topogrid_ptr: %p\n", topogrid_ptr);
fprintf(stderr,"dbg2 topogrid: %p\n", *topogrid_ptr);
}
/* deallocate the topogrid structure */
topogrid = (struct mb_topogrid_struct *) *topogrid_ptr;
if (topogrid->data != NULL)
status = mb_freed(verbose, __FILE__, __LINE__, (void **)&(topogrid->data), error);
status = mb_freed(verbose,__FILE__, __LINE__, (void **)topogrid_ptr,error);
/* 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 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
/*--------------------------------------------------------------------*/
int mbr_dem_swplssxp(int verbose, void *mbio_ptr, int *error) {
char *function_name = "mbr_dem_swplssxp";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
char **bufferptr;
char *buffer;
int *bufferalloc;
/* 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", mbio_ptr);
}
/* get pointers to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
/* deallocate memory for data descriptor */
status = mbsys_swathplus_deall(verbose, mbio_ptr, &mb_io_ptr->store_data, error);
/* deallocate memory for reading/writing buffer */
bufferptr = (char **)&mb_io_ptr->saveptr1;
buffer = (char *)*bufferptr;
bufferalloc = (int *)&mb_io_ptr->save6;
status = mb_freed(verbose, __FILE__, __LINE__, (void **)bufferptr, error);
*bufferalloc = 0;
/* 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);
} /* mbr_dem_swplssxp */
/*--------------------------------------------------------------------*/
int mbr_dem_gsfgenmb(int verbose, void *mbio_ptr, int *error) {
char *function_name = "mbr_dem_gsfgenmb";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbf_gsfgenmb_struct *data;
gsfRecords *records;
/* 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;
data = (struct mbf_gsfgenmb_struct *)mb_io_ptr->raw_data;
records = &(data->records);
/* deallocate memory for data descriptor */
/*gsfFree(records);*/
status = mb_freed(verbose, __FILE__, __LINE__, (void **)&mb_io_ptr->raw_data, error);
status = mbsys_gsf_deall(verbose, mbio_ptr, &mb_io_ptr->store_data, 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 error: %d\n", *error);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
return (status);
}
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)
{
/* id variables */
char program_name[] = "MBauvnavusbl";
char help_message[] = "MBauvnavusbl reads a primary navigation file (usually from a submerged platform\n swath survey) and also reads secondary navigation (e.g. USBL fixes).\n The program calculates position offsets between the raw survey navigation\n and the secondary navigation every 3600 seconds (10 minutes), and then\n linearly interpolates and applies this adjustment vector for each\n primary navigation position. The adjusted navigation is output.";
char usage_message[] = "mbauvnavusbl -Inavfile -Ooutfile -Uusblfile [-Fnavformat -Llonflip -Musblformat -V -H ]";
/* parsing variables */
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;
/* Files and formats */
char ifile[MB_PATH_MAXLINE];
char ofile[MB_PATH_MAXLINE];
char ufile[MB_PATH_MAXLINE];
int navformat = 9;
int usblformat = 165;
FILE *fp;
/* MBIO default parameters - only use lonflip */
int format;
int pings;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double speedmin;
double timegap;
/* read and write values */
int time_i[7];
double navlon;
double navlat;
double heading;
double sonardepth;
/* navigation handling variables */
int useaverage = MB_NO;
double tieinterval = 600.0;
int nnav;
double *ntime = NULL;
double *nlon = NULL;
double *nlat = NULL;
double *nheading = NULL;
double *nspeed = NULL;
double *nsonardepth = NULL;
double *nroll = NULL;
double *npitch = NULL;
double *nheave = NULL;
int nusbl;
double *utime = NULL;
double *ulon = NULL;
double *ulat = NULL;
double *uheading = NULL;
double *usonardepth = NULL;
double *alon = NULL;
double *alat = NULL;
double *aheading = NULL;
double *asonardepth = NULL;
int ntie;
double *ttime = NULL;
double *tlon = NULL;
double *tlat = NULL;
double *theading = NULL;
double *tsonardepth = NULL;
double loncoravg;
double latcoravg;
int nav_ok;
int nstime_i[7], nftime_i[7];
int ustime_i[7], uftime_i[7];
char buffer[NCHARMAX], *result;
int nget;
int year;
int jday;
double timetag;
double easting, northing;
double rov_altitude, rov_roll, rov_pitch;
int position_flag, heading_flag, altitude_flag, attitude_flag, pressure_flag;
double sec;
int intstat;
int i, j;
/* get current default values - only interested in lonflip */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set default input and output */
strcpy (ifile, "stdin");
strcpy (ofile, "stdout");
strcpy (ufile, "\0");
/* process argument list */
while ((c = getopt(argc, argv, "VvHhAaF:f:L:l:I:i:O:o:M:m:U:u:")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'A':
case 'a':
useaverage = MB_YES;
flag++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &navformat);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", ifile);
flag++;
break;
case 'O':
case 'o':
sscanf (optarg,"%s", ofile);
flag++;
break;
case 'M':
case 'm':
sscanf (optarg,"%d", &usblformat);
flag++;
break;
case 'U':
case 'u':
sscanf (optarg,"%s", ufile);
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 lonflip: %d\n",lonflip);
fprintf(stderr,"dbg2 input file: %s\n",ifile);
fprintf(stderr,"dbg2 output file: %s\n",ofile);
fprintf(stderr,"dbg2 usbl file: %s\n",ufile);
fprintf(stderr,"dbg2 nav format: %d\n",navformat);
fprintf(stderr,"dbg2 usbl format: %d\n",usblformat);
fprintf(stderr,"dbg2 useaverage: %d\n",useaverage);
}
/* 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);
}
/* count the nav points */
nnav = 0;
if ((fp = fopen(ifile, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open Navigation File <%s> for reading\n",ifile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
while ((result = fgets(buffer,NCHARMAX,fp)) == buffer)
nnav++;
fclose(fp);
/* allocate space for the nav points */
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&ntime,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nheading,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nspeed,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nsonardepth,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nroll,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&npitch,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nheave,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&alon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&alat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&aheading,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&asonardepth,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&ttime,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&tlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&tlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&theading,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&tsonardepth,&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 in nav points */
nnav = 0;
if ((fp = fopen(ifile, "r")) == NULL)
{
status = MB_FAILURE;
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open Navigation File <%s> for reading\n",ifile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
strncpy(buffer,"\0",sizeof(buffer));
while ((result = fgets(buffer,NCHARMAX,fp)) == buffer)
{
nav_ok = MB_NO;
nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
&time_i[0],&time_i[1],&time_i[2],
&time_i[3],&time_i[4],&sec,
&ntime[nnav],
&nlon[nnav],&nlat[nnav],
&nheading[nnav],&nspeed[nnav],
&nsonardepth[nnav],
&nroll[nnav],&npitch[nnav],&nheave[nnav]);
if (nget >= 12)
nav_ok = MB_YES;
/* make sure longitude is defined according to lonflip */
if (nav_ok == MB_YES)
{
if (lonflip == -1 && nlon[nnav] > 0.0)
nlon[nnav] = nlon[nnav] - 360.0;
else if (lonflip == 0 && nlon[nnav] < -180.0)
nlon[nnav] = nlon[nnav] + 360.0;
else if (lonflip == 0 && nlon[nnav] > 180.0)
nlon[nnav] = nlon[nnav] - 360.0;
else if (lonflip == 1 && nlon[nnav] < 0.0)
nlon[nnav] = nlon[nnav] + 360.0;
}
/* output some debug values */
if (verbose >= 5 && nav_ok == MB_YES)
{
fprintf(stderr,"\ndbg5 New navigation point read in program <%s>\n",program_name);
fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n",
nnav,ntime[nnav],nlon[nnav],nlat[nnav]);
}
else if (verbose >= 5)
{
fprintf(stderr,"\ndbg5 Error parsing line in navigation file in program <%s>\n",program_name);
fprintf(stderr,"dbg5 line: %s\n",buffer);
}
/* check for reverses or repeats in time */
if (nav_ok == MB_YES)
{
if (nnav == 0)
nnav++;
else if (ntime[nnav] > ntime[nnav-1])
nnav++;
else if (nnav > 0 && ntime[nnav] <= ntime[nnav-1]
&& verbose >= 5)
{
fprintf(stderr,"\ndbg5 Navigation time error in program <%s>\n",program_name);
fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n",
nnav-1,ntime[nnav-1],nlon[nnav-1],
nlat[nnav-1]);
fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n",
nnav,ntime[nnav],nlon[nnav],
nlat[nnav]);
}
}
strncpy(buffer,"\0",sizeof(buffer));
}
fclose(fp);
/* check for nav */
if (nnav < 2)
{
fprintf(stderr,"\nNo navigation read from file <%s>\n",ifile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* count the usbl points */
nusbl = 0;
if ((fp = fopen(ufile, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open USBL Navigation File <%s> for reading\n",ufile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
while ((result = fgets(buffer,NCHARMAX,fp)) == buffer)
nusbl++;
fclose(fp);
/* allocate space for the nav points */
status = mb_mallocd(verbose,__FILE__,__LINE__,nusbl*sizeof(double),(void **)&utime,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nusbl*sizeof(double),(void **)&ulon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nusbl*sizeof(double),(void **)&ulat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nusbl*sizeof(double),(void **)&uheading,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nusbl*sizeof(double),(void **)&usonardepth,&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 in usbl points */
nusbl = 0;
if ((fp = fopen(ufile, "r")) == NULL)
{
status = MB_FAILURE;
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open USBL Navigation File <%s> for reading\n",ufile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
strncpy(buffer,"\0",sizeof(buffer));
while ((result = fgets(buffer,NCHARMAX,fp)) == buffer)
{
nav_ok = MB_NO;
/* ignore comments */
if (buffer[0] == '#')
{
}
else if (strchr(buffer, ',') != NULL)
{
nget = sscanf(buffer,
"%d,%d,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d,%d,%d,%d",
&year,
&jday,
&timetag,
&utime[nusbl],
&ulat[nusbl],
&ulon[nusbl],
&easting,
&northing,
&usonardepth[nusbl],
&uheading[nusbl],
&rov_altitude,
&rov_pitch,
&rov_roll,
&position_flag,
&pressure_flag,
&heading_flag,
&altitude_flag,
&attitude_flag);
}
else
{
nget = sscanf(buffer,
"%d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf,%d,%d,%d,%d,%d",
&year,
&jday,
&timetag,
&utime[nusbl],
&ulat[nusbl],
&ulon[nusbl],
&easting,
&northing,
&usonardepth[nusbl],
&uheading[nusbl],
&rov_altitude,
&rov_pitch,
&rov_roll,
&position_flag,
&pressure_flag,
&heading_flag,
&altitude_flag,
&attitude_flag);
}
if (nget == 18)
nav_ok = MB_YES;
/* make sure longitude is defined according to lonflip */
if (nav_ok == MB_YES)
{
if (lonflip == -1 && ulon[nusbl] > 0.0)
ulon[nusbl] = ulon[nusbl] - 360.0;
else if (lonflip == 0 && ulon[nusbl] < -180.0)
ulon[nusbl] = ulon[nusbl] + 360.0;
else if (lonflip == 0 && ulon[nusbl] > 180.0)
ulon[nusbl] = ulon[nusbl] - 360.0;
else if (lonflip == 1 && ulon[nusbl] < 0.0)
ulon[nusbl] = ulon[nusbl] + 360.0;
}
/* output some debug values */
if (verbose >= 5 && nav_ok == MB_YES)
{
fprintf(stderr,"\ndbg5 New USBL navigation point read in program <%s>\n",program_name);
fprintf(stderr,"dbg5 usbl[%d]: %f %f %f\n",
nusbl,utime[nusbl],ulon[nusbl],ulat[nusbl]);
}
else if (verbose >= 5)
{
fprintf(stderr,"\ndbg5 Error parsing line in navigation file in program <%s>\n",program_name);
fprintf(stderr,"dbg5 line: %s\n",buffer);
}
/* check for reverses or repeats in time */
if (nav_ok == MB_YES)
{
if (nusbl == 0)
nusbl++;
else if (utime[nusbl] > utime[nusbl-1])
nusbl++;
else if (nusbl > 0 && utime[nusbl] <= utime[nusbl-1]
&& verbose >= 5)
{
fprintf(stderr,"\ndbg5 USBL Navigation time error in program <%s>\n",program_name);
fprintf(stderr,"dbg5 usbl[%d]: %f %f %f\n",
nusbl-1,utime[nusbl-1],ulon[nusbl-1],
ulat[nusbl-1]);
fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n",
nusbl,utime[nusbl],ulon[nusbl],
ulat[nusbl]);
}
}
strncpy(buffer,"\0",sizeof(buffer));
}
fclose(fp);
/* check for nav */
if (nusbl < 2)
{
fprintf(stderr,"\nNo USBL navigation read from file <%s>\n",ufile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* get start and finish times of nav */
mb_get_date(verbose,ntime[0],nstime_i);
mb_get_date(verbose,ntime[nnav-1],nftime_i);
mb_get_date(verbose,utime[0],ustime_i);
mb_get_date(verbose,utime[nusbl-1],uftime_i);
/* give the statistics */
if (verbose >= 1)
{
fprintf(stderr,"\n%d navigation records read\n",nnav);
fprintf(stderr,"Nav start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
nstime_i[0],nstime_i[1],nstime_i[2],nstime_i[3],
nstime_i[4],nstime_i[5],nstime_i[6]);
fprintf(stderr,"Nav end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
nftime_i[0],nftime_i[1],nftime_i[2],nftime_i[3],
nftime_i[4],nftime_i[5],nftime_i[6]);
fprintf(stderr,"\n%d USBL navigation records read\n",nusbl);
fprintf(stderr,"Nav start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
ustime_i[0],ustime_i[1],ustime_i[2],ustime_i[3],
ustime_i[4],ustime_i[5],ustime_i[6]);
fprintf(stderr,"Nav end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
uftime_i[0],uftime_i[1],uftime_i[2],uftime_i[3],
uftime_i[4],uftime_i[5],uftime_i[6]);
}
/* now loop over nav data getting ties every tieinterval fixes */
ntie = 0;
loncoravg = 0.0;
latcoravg = 0.0;
for (i=0;i<nnav;i++)
{
if (ntie == 0
|| (ntime[i] - ttime[ntie-1]) > tieinterval)
{
/* get time */
ttime[ntie] = ntime[i];
/* interpolate navigation from usbl navigation */
intstat = mb_linear_interp(verbose,
utime-1, ulon-1,
nusbl, ttime[ntie], &navlon, &j,
&error);
intstat = mb_linear_interp(verbose,
utime-1, ulat-1,
nusbl, ttime[ntie], &navlat, &j,
&error);
intstat = mb_linear_interp(verbose,
utime-1, uheading-1,
nusbl, ttime[ntie], &heading, &j,
&error);
intstat = mb_linear_interp(verbose,
utime-1, usonardepth-1,
nusbl, ttime[ntie], &sonardepth, &j,
&error);
/* get adjustments */
tlon[ntie] = navlon - nlon[i];
tlat[ntie] = navlat - nlat[i];
theading[ntie] = heading - nheading[i];
if (theading[ntie] < -180.0)
theading[ntie] += 360.0;
if (theading[ntie] > 180.0)
theading[ntie] -= 360.0;
tsonardepth[ntie] = sonardepth - nsonardepth[i];
ntie++;
/* get averages */
loncoravg += tlon[ntie-1];
latcoravg += tlat[ntie-1];
}
}
/* get averages */
if (ntie > 0)
{
loncoravg /= ntie;
latcoravg /= ntie;
}
fprintf(stderr,"\nCalculated %d adjustment points:\n",ntie);
for (i=0;i<ntie;i++)
fprintf(stderr,"time:%f lon:%f lat:%f heading:%f sonardepth:%f\n",
ttime[i],tlon[i],tlat[i],theading[i],tsonardepth[i]);
fprintf(stderr,"Average lon:%f lat:%f\n",loncoravg,latcoravg);
/* open output file */
if ((fp = fopen(ofile, "w")) == NULL)
{
status = MB_FAILURE;
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open Output Navigation File <%s> for writing\n",ofile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* now loop over nav data applying adjustments */
for (i=0;i<nnav;i++)
{
/* interpolate adjustment */
if (useaverage == MB_NO)
{
/* get adjustment by interpolation */
intstat = mb_linear_interp(verbose,
ttime-1, tlon-1,
ntie, ntime[i], &navlon, &j,
&error);
intstat = mb_linear_interp(verbose,
ttime-1, tlat-1,
ntie, ntime[i], &navlat, &j,
&error);
/* apply adjustment */
nlon[i] += navlon;
nlat[i] += navlat;
}
/* else use average adjustments */
else
{
/* apply adjustment */
nlon[i] += loncoravg;
nlat[i] += latcoravg;
}
/* write out the adjusted navigation */
mb_get_date(verbose,ntime[i],time_i);
sprintf(buffer,
"%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.6f %.6f %.2f %.2f %.2f %.2f %.2f %.2f\n",
time_i[0],
time_i[1],
time_i[2],
time_i[3],
time_i[4],
time_i[5],
time_i[6],
ntime[i],
nlon[i],
nlat[i],
nheading[i],
nspeed[i],
nsonardepth[i],
nroll[i],
npitch[i],
nheave[i]);
if (fputs(buffer, fp) == EOF)
{
error = MB_ERROR_WRITE_FAIL;
status = MB_FAILURE;
}
else
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
}
fclose(fp);
/* deallocate memory for data arrays */
mb_freed(verbose,__FILE__,__LINE__,(void **)&ntime,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nheading,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nspeed,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nsonardepth,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nroll,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&npitch,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nheave,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&alon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&alat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&aheading,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&asonardepth,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&utime,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ulon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ulat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&uheading,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&usonardepth,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ttime,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&tlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&tlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&theading,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&tsonardepth,&error);
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* give the statistics */
if (verbose >= 1)
{
fprintf(stderr,"\n%d input navigation records\n",nnav);
fprintf(stderr,"%d input usbl records\n",nusbl);
}
/* end it all */
exit(error);
}
/*--------------------------------------------------------------------*/
int mb_close(int verbose, void **mbio_ptr, int *error)
{
char *function_name = "mb_close";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_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 mbio_ptr: %p\n",(void *)*mbio_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) *mbio_ptr;
/* deallocate format dependent structures */
status = (*mb_io_ptr->mb_io_format_free)(verbose,*mbio_ptr,error);
/* deallocate system dependent structures */
/*status = (*mb_io_ptr->mb_io_store_free)
(verbose,*mbio_ptr,&(mb_io_ptr->store_data),error);*/
/* deallocate memory for arrays within the mbio descriptor */
if (mb_io_ptr->filetype == MB_FILETYPE_XDR
&& mb_io_ptr->xdrs != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->xdrs,error);
if (mb_io_ptr->filetype == MB_FILETYPE_XDR
&& mb_io_ptr->xdrs2 != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->xdrs2,error);
if (mb_io_ptr->filetype == MB_FILETYPE_XDR
&& mb_io_ptr->xdrs3 != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->xdrs3,error);
if (mb_io_ptr->hdr_comment != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->hdr_comment,error);
status = mb_deall_ioarrays(verbose, *mbio_ptr, error);
/* close the files if normal */
if (mb_io_ptr->filetype == MB_FILETYPE_NORMAL
|| mb_io_ptr->filetype == MB_FILETYPE_XDR)
{
if (mb_io_ptr->mbfp != NULL)
fclose(mb_io_ptr->mbfp);
if (mb_io_ptr->mbfp2 != NULL)
fclose(mb_io_ptr->mbfp2);
if (mb_io_ptr->mbfp3 != NULL)
fclose(mb_io_ptr->mbfp3);
}
/* else handle single normal files to be closed with mb_fileio_close() */
else if (mb_io_ptr->filetype == MB_FILETYPE_SINGLE)
{
status = mb_fileio_close(verbose, *mbio_ptr, error);
}
/* else if gsf then use gsfClose */
else if (mb_io_ptr->filetype == MB_FILETYPE_GSF)
{
gsfClose((int) mb_io_ptr->gsfid);
}
/* else if netcdf then use nc_close */
else if (mb_io_ptr->filetype == MB_FILETYPE_NETCDF)
{
if (mb_io_ptr->filemode == MB_FILEMODE_WRITE)
nc_enddef(mb_io_ptr->ncid);
nc_close(mb_io_ptr->ncid);
}
/* else handle surf files to be opened with libsapi */
else if (mb_io_ptr->filetype == MB_FILETYPE_SURF)
{
SAPI_close();
}
/* deallocate UTM projection if required */
if (mb_io_ptr->projection_initialized == MB_YES)
{
mb_io_ptr->projection_initialized = MB_NO;
mb_proj_free(verbose, &(mb_io_ptr->pjptr), error);
}
/* deallocate the mbio descriptor */
status = mb_freed(verbose,__FILE__, __LINE__,(void **)mbio_ptr,error);
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
fprintf(stderr,"dbg2 Return value:\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 main (int argc, char **argv)
{
char program_name[] = "MBHISTOGRAM";
char help_message[] = "MBHISTOGRAM reads a swath sonar data file and generates a histogram\n\tof the bathymetry, amplitude, or sidescan values. Alternatively, \n\tmbhistogram can output a list of values which break up the\n\tdistribution into equal sized regions.\n\tThe results are dumped to stdout.";
char usage_message[] = "mbhistogram [-Akind -Byr/mo/da/hr/mn/sc -Dmin/max -Eyr/mo/da/hr/mn/sc -Fformat -G -Ifile -Llonflip -Mnintervals -Nnbins -Ppings -Rw/e/s/n -Sspeed -V -H]";
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 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;
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];
/* histogram variables */
int mode = MBHISTOGRAM_SS;
int gaussian = MB_NO;
int nbins = 0;
int nintervals = 0;
double value_min = 0.0;
double value_max = 128.0;
double dvalue_bin;
double value_bin_min;
double value_bin_max;
double data_min;
double data_max;
int data_first = MB_YES;
double target_min;
double target_max;
double *histogram = NULL;
double *intervals = NULL;
double total;
double sum;
double p;
double target;
double dinterval;
double bin_fraction;
int ibin;
/* output stream for basic stuff (stdout if verbose <= 1,
stderr if verbose > 1) */
FILE *output;
int read_data;
int nrec, nvalue;
int nrectot = 0;
int nvaluetot = 0;
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 stdin */
strcpy (read_file, "stdin");
/* process argument list */
while ((c = getopt(argc, argv, "A:a:B:b:D:d:E:e:F:f:GgHhI:i:L:l:M:m:N:n:P:p:R:r:S:s:T:t:Vv")) != -1)
switch (c)
{
case 'A':
case 'a':
sscanf (optarg,"%d", &mode);
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,"%lf/%lf", &value_min,&value_max);
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':
gaussian = MB_YES;
break;
case 'H':
case 'h':
help++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", read_file);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'M':
case 'm':
sscanf (optarg,"%d", &nintervals);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg,"%d", &nbins);
flag++;
break;
case 'P':
case 'p':
sscanf (optarg,"%d", &pings);
flag++;
break;
case 'R':
case 'r':
mb_get_bounds(optarg, bounds);
flag++;
break;
case 'S':
case 's':
sscanf (optarg,"%lf", &speedmin);
flag++;
break;
case 'T':
case 't':
sscanf (optarg,"%lf", &timegap);
flag++;
break;
case 'V':
case 'v':
verbose++;
break;
case '?':
errflg++;
}
/* set output stream */
if (verbose <= 1)
output = stdout;
else
output = stderr;
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(output,"usage: %s\n", usage_message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(output,"\nProgram %s\n",program_name);
fprintf(output,"Version %s\n",rcs_id);
fprintf(output,"MB-system Version %s\n",MB_VERSION);
}
/* get format if required */
if (format == 0)
mb_get_format(verbose,read_file,NULL,&format,&error);
/* figure out histogram dimensions */
if (nintervals > 0 && nbins <= 0)
nbins = 50*nintervals;
if (nbins <= 0)
nbins = 16;
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(output,"\ndbg2 Program <%s>\n",program_name);
fprintf(output,"dbg2 Version %s\n",rcs_id);
fprintf(output,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(output,"dbg2 Control Parameters:\n");
fprintf(output,"dbg2 verbose: %d\n",verbose);
fprintf(output,"dbg2 help: %d\n",help);
fprintf(output,"dbg2 format: %d\n",format);
fprintf(output,"dbg2 pings: %d\n",pings);
fprintf(output,"dbg2 lonflip: %d\n",lonflip);
fprintf(output,"dbg2 bounds[0]: %f\n",bounds[0]);
fprintf(output,"dbg2 bounds[1]: %f\n",bounds[1]);
fprintf(output,"dbg2 bounds[2]: %f\n",bounds[2]);
fprintf(output,"dbg2 bounds[3]: %f\n",bounds[3]);
fprintf(output,"dbg2 btime_i[0]: %d\n",btime_i[0]);
fprintf(output,"dbg2 btime_i[1]: %d\n",btime_i[1]);
fprintf(output,"dbg2 btime_i[2]: %d\n",btime_i[2]);
fprintf(output,"dbg2 btime_i[3]: %d\n",btime_i[3]);
fprintf(output,"dbg2 btime_i[4]: %d\n",btime_i[4]);
fprintf(output,"dbg2 btime_i[5]: %d\n",btime_i[5]);
fprintf(output,"dbg2 btime_i[6]: %d\n",btime_i[6]);
fprintf(output,"dbg2 etime_i[0]: %d\n",etime_i[0]);
fprintf(output,"dbg2 etime_i[1]: %d\n",etime_i[1]);
fprintf(output,"dbg2 etime_i[2]: %d\n",etime_i[2]);
fprintf(output,"dbg2 etime_i[3]: %d\n",etime_i[3]);
fprintf(output,"dbg2 etime_i[4]: %d\n",etime_i[4]);
fprintf(output,"dbg2 etime_i[5]: %d\n",etime_i[5]);
fprintf(output,"dbg2 etime_i[6]: %d\n",etime_i[6]);
fprintf(output,"dbg2 speedmin: %f\n",speedmin);
fprintf(output,"dbg2 timegap: %f\n",timegap);
fprintf(output,"dbg2 file: %s\n",read_file);
fprintf(output,"dbg2 mode: %d\n",mode);
fprintf(output,"dbg2 gaussian: %d\n",gaussian);
fprintf(output,"dbg2 nbins: %d\n",nbins);
fprintf(output,"dbg2 nintervals: %d\n",nintervals);
fprintf(output,"dbg2 value_min: %f\n",value_min);
fprintf(output,"dbg2 value_max: %f\n",value_max);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(output,"\n%s\n",help_message);
fprintf(output,"\nusage: %s\n", usage_message);
exit(error);
}
/* allocate memory for histogram arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_mallocd(verbose,__FILE__,__LINE__,nbins*sizeof(double),
(void **)&histogram,&error);
if (error == MB_ERROR_NO_ERROR)
status = mb_mallocd(verbose,__FILE__,__LINE__,nintervals*sizeof(double),
(void **)&intervals,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error allocating histogram arrays:\n%s\n",message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* output some information */
if (verbose > 0)
{
fprintf(stderr, "\nNumber of data bins: %d\n", nbins);
fprintf(stderr, "Minimum value: %f\n", value_min);
fprintf(stderr, "Maximum value: %f\n", value_max);
if (mode == MBHISTOGRAM_BATH)
fprintf(stderr, "Working on bathymetry data...\n");
else if (mode == MBHISTOGRAM_AMP)
fprintf(stderr, "Working on beam amplitude data...\n");
else
fprintf(stderr, "Working on sidescan data...\n");
}
/* get size of bins */
dvalue_bin = (value_max - value_min)/(nbins-1);
value_bin_min = value_min - 0.5*dvalue_bin;
value_bin_max = value_max + 0.5*dvalue_bin;
/* initialize histogram */
for (i=0;i<nbins;i++)
histogram[i] = 0;
/* 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)
{
/* obtain format array location - format id will
be aliased to current id if old format id given */
status = mb_format(verbose,&format,&error);
/* initialize reading the swath sonar data 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(output,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(output,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(output,"\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(output,"\nMBIO Error allocating data arrays:\n%s\n",message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* output information */
if (error == MB_ERROR_NO_ERROR && verbose > 0)
{
fprintf(stderr, "\nprocessing file: %s %d\n", file, format);
}
/* initialize counting variables */
nrec = 0;
nvalue = 0;
/* read and process data */
while (error <= MB_ERROR_NO_ERROR)
{
/* read a ping of data */
status = mb_get(verbose,mbio_ptr,&kind,&pings,
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);
/* process the pings */
if (error == MB_ERROR_NO_ERROR
|| error == MB_ERROR_TIME_GAP)
{
/* increment record counter */
nrec++;
/* do the bathymetry */
if (mode == MBHISTOGRAM_BATH)
for (i=0;i<beams_bath;i++)
{
if (mb_beam_ok(beamflag[i]))
{
nvalue++;
j = (bath[i] - value_bin_min)
/dvalue_bin;
if (j >= 0 && j < nbins)
histogram[j]++;
if (data_first == MB_YES)
{
data_min = bath[i];
data_max = bath[i];
data_first = MB_NO;
}
else
{
data_min = MIN(bath[i], data_min);
data_max = MAX(bath[i], data_max);
}
}
}
/* do the amplitude */
if (mode == MBHISTOGRAM_AMP)
for (i=0;i<beams_amp;i++)
{
if (mb_beam_ok(beamflag[i]))
{
nvalue++;
j = (amp[i] - value_bin_min)
/dvalue_bin;
if (j >= 0 && j < nbins)
histogram[j]++;
if (data_first == MB_YES)
{
data_min = amp[i];
data_max = amp[i];
data_first = MB_NO;
}
else
{
data_min = MIN(amp[i], data_min);
data_max = MAX(amp[i], data_max);
}
}
}
/* do the sidescan */
if (mode == MBHISTOGRAM_SS)
for (i=0;i<pixels_ss;i++)
{
if (ss[i] > MB_SIDESCAN_NULL)
{
nvalue++;
j = (ss[i] - value_bin_min)
/dvalue_bin;
if (j >= 0 && j < nbins)
histogram[j]++;
if (data_first == MB_YES)
{
data_min = ss[i];
data_max = ss[i];
data_first = MB_NO;
}
else
{
data_min = MIN(ss[i], data_min);
data_max = MAX(ss[i], data_max);
}
}
}
}
}
/* close the swath sonar data file */
status = mb_close(verbose,&mbio_ptr,&error);
nrectot += nrec;
nvaluetot += nvalue;
/* output information */
if (error == MB_ERROR_NO_ERROR && verbose > 0)
{
fprintf(stderr, "%d records processed\n%d data processed\n",
nrec, nvalue);
}
/* 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 information */
if (error == MB_ERROR_NO_ERROR && verbose > 0)
{
fprintf(stderr, "\n%d total records processed\n", nrectot);
fprintf(stderr, "%d total data processed\n\n", nvaluetot);
}
/* recast histogram as gaussian */
if (gaussian == MB_YES)
{
/* get total number of good values */
total = 0.0;
for (i=0;i<nbins;i++)
total = total + histogram[i];
/* recast histogram */
sum = 0.0;
for (i=0;i<nbins;i++)
{
p = (histogram[i]/2 + sum)/(total + 1);
sum = sum + histogram[i];
histogram[i] = qsnorm(p);
}
}
/* calculate gaussian intervals if required */
if (nintervals > 0 && gaussian == MB_YES)
{
/* get interval spacing */
target_min = -2.0;
target_max = 2.0;
dinterval = (target_max - target_min)/(nintervals-1);
/* get intervals */
intervals[0] = MAX(data_min, value_min);
intervals[nintervals-1] = MIN(data_max, value_max);
ibin = 0;
for (j=1;j<nintervals-1;j++)
{
target = target_min + j*dinterval;
while (histogram[ibin] < target && ibin < nbins-1)
ibin++;
if (ibin > 0)
bin_fraction = 1.0 - (histogram[ibin] - target)
/(histogram[ibin] - histogram[ibin-1]);
else
bin_fraction = 0.0;
intervals[j] = value_bin_min
+ dvalue_bin*ibin
+ bin_fraction*dvalue_bin;
}
}
/* calculate linear intervals if required */
else if (nintervals > 0)
{
/* get total number of good values */
total = 0.0;
for (i=0;i<nbins;i++)
total = total + histogram[i];
/* get interval spacing */
dinterval = total/(nintervals-1);
/* get intervals */
intervals[0] = value_bin_min;
total = 0.0;
ibin = -1;
for (j=1;j<nintervals;j++)
{
target = j*dinterval;
while (total < target && ibin < nbins-1)
{
ibin++;
total = total + histogram[ibin];
if (total <= 0.0)
intervals[0] = value_bin_min
+ dvalue_bin*ibin;
}
bin_fraction = 1.0 - (total - target)/histogram[ibin];
intervals[j] = value_bin_min
+ dvalue_bin*ibin
+ bin_fraction*dvalue_bin;
}
}
/* print out the results */
if (nintervals <= 0 && gaussian == MB_YES)
{
for (i=0;i<nbins;i++)
{
fprintf(output,"%f %f\n",
value_min+i*dvalue_bin,histogram[i]);
}
}
else if (nintervals <= 0)
{
for (i=0;i<nbins;i++)
{
fprintf(output,"%f %d\n",
value_min+i*dvalue_bin,(int)histogram[i]);
}
}
else
{
for (i=0;i<nintervals;i++)
fprintf(output,"%f\n",intervals[i]);
}
/* deallocate memory used for data arrays */
mb_freed(verbose,__FILE__,__LINE__,(void **)&histogram,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&intervals,&error);
/* set program status */
status = MB_SUCCESS;
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* print output debug statements */
if (verbose >= 2)
{
fprintf(output,"\ndbg2 Program <%s> completed\n",
program_name);
fprintf(output,"dbg2 Ending status:\n");
fprintf(output,"dbg2 status: %d\n",status);
}
/* end it all */
fprintf(output,"\n");
exit(error);
}
int main (int argc, char **argv)
{
char program_name[] = "MBPS";
char help_message[] = "MBPS reads a swath bathymetry data file and creates a postscript 3-d mesh plot";
char usage_message[] = "mbps [-Iinfile -Fformat -Nnpings -Ppings\n\t-Byr/mo/da/hr/mn/sc -Eyr/mo/da/hr/mn/sc \n\t-Aalpha -Keta -Dviewdir -Xvertexag \n\t-T\"title\" -Wmetersperinch \n\t-Sspeedmin -Ggap -Ydisplay_stats \n\t-Zdisplay_scales -V -H]";
extern char *optarg;
int errflg = 0;
int c;
int help = 0;
int flag = 0;
/*ALBERTO definitions */
int gap=1;
double *xp, *yp;
double xl[4], yl[4];
double alpha = ALPHA_DEF;
double eta = ETA_DEF;
double ve = VE_DEF;
char viewdir = VIEWDIR_DEF;
int display_stats = MB_YES;
int display_scales = MB_YES;
double sin_eta, cos_eta;
double sin_alpha, cos_alpha;
double track_length, xscale, zscale, zscale_inch;
double mean_xp=0.0, mean_yp=0.0, min_xp, max_xp, min_yp, max_yp;
double scaling, x_off, y_off;
double min_z, max_z, range_z, meters_per_inch=(-1.0);
double mean_lat=0.0;
double mean_lon=0.0;
double mean_latmin;
double mean_lonmin;
double mean_hdg=0.0;
int done, mean_knt=0;
int orient;
char label[100];
int a, b, rotate;
double x, y, z;
/* 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 lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double btime_d;
double etime_d;
double speedmin;
double timegap;
char file[MB_PATH_MAXLINE];
int pings = 1;
int beams_bath;
int beams_amp;
int pixels_ss;
int num_pings_max = MBPS_MAXPINGS;
/* MBIO read values */
void *mbio_ptr = NULL;
int kind;
struct ping data[MBPS_MAXPINGS+3];
int time_i[7];
double time_d;
double navlon;
double navlat;
double speed;
double heading;
double distance;
double altitude;
double sonardepth;
char *beamflag;
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 timbeg_i[7];
int timend_i[7];
double distot = 0.0;
int nread;
char title[MB_COMMENT_MAXLINE];
int forward;
double xx, yy, zz;
double heading_start, dheading, dheadingx, dheadingy;
int i, j, jj, k;
void Polygon_Fill();
void Good_Polygon();
/* initialize some time variables */
for (i=0;i<7;i++)
{
timbeg_i[i] = 0;
timend_i[i] = 0;
}
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set default input to stdin */
strcpy (file, "stdin");
/* process argument list */
while ((c = getopt(argc, argv, "VvHhF:f:B:b:E:e:S:s:T:t:I:i:A:a:X:x:K:k:D:d:N:n:P:p:W:w:G:g:YyZz")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'A':
case 'a':
sscanf (optarg, "%lf", &alpha);
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, "%c", &viewdir);
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, "%d", &gap);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", file);
flag++;
break;
case 'K':
case 'k':
sscanf (optarg, "%lf", &eta);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg, "%d", &num_pings_max);
if (num_pings_max < 2
|| num_pings_max > MBPS_MAXPINGS)
num_pings_max = MBPS_MAXPINGS;
flag++;
break;
case 'P':
case 'p':
sscanf (optarg, "%d", &pings);
flag++;
break;
case 'S':
case 's':
sscanf (optarg,"%lf", &speedmin);
flag++;
break;
case 'T':
case 't':
sscanf (optarg,"%s", title);
flag++;
break;
case 'X':
case 'x':
sscanf (optarg, "%lf", &ve);
flag++;
break;
case 'W':
case 'w':
sscanf (optarg, "%lf", &meters_per_inch);
flag++;
break;
case 'Y':
case 'y':
display_stats = MB_NO;
flag++;
break;
case 'Z':
case 'z':
display_scales = MB_NO;
flag++;
break;
case '?':
errflg++;
break;
} /* switch */
/* Process the title of the plot */
for (i = 1; i < argc; i++)
{
if (argv[i][0] == '-'&& ((argv[i][1]=='T')||(argv[i][1]=='t')) ) {
strcpy(title,argv[i]);
title[0]=' ';
title[1]=' ';
}
}
/* check that otions are allowed */
if ((viewdir!='P') && (viewdir!='S') && (viewdir!='B') &&
(viewdir!='p') && (viewdir!='s') && (viewdir!='b'))
{
fprintf(stderr,"viewdir must be either P/p (port) S/s (stbd) or B/b (back)\n");
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 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 file: %s\n",file);
}
/* 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,file,NULL,&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);
}
/* initialize values */
sin_alpha = sin(alpha*DTR);
cos_alpha = cos(alpha*DTR);
sin_eta = sin(eta*DTR);
cos_eta = cos(eta*DTR);
min_z = 0.0;
max_z = -9999.0;
/* allocate memory for data arrays */
beamflag = NULL;
bath = NULL;
bathacrosstrack = NULL;
bathalongtrack = NULL;
amp = NULL;
ss = NULL;
ssacrosstrack = NULL;
ssalongtrack = NULL;
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_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_AMPLITUDE,
sizeof(double), (void **)&, &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);
for (i=0;i<num_pings_max+3;i++)
{
data[i].beams_bath = 0;
data[i].beamflag = NULL;
data[i].bath = NULL;
data[i].bathacrosstrack = NULL;
data[i].bathalongtrack = NULL;
data[i].xp = NULL;
data[i].yp = NULL;
}
/* 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 process data */
nread = 0;
done = MB_NO;
error = MB_ERROR_NO_ERROR;
while (done == MB_NO && error <= MB_ERROR_NO_ERROR)
{
/* read a ping of data */
status = mb_get(verbose,mbio_ptr,&kind,&pings,
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);
/* only work with survey data */
if (error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA)
{
/* allocate arrays */
data[nread].beams_bath = beams_bath;
status = mb_mallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(char), (void **)&(data[nread].beamflag), &error);
status = mb_mallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double), (void **)&(data[nread].bath), &error);
status = mb_mallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double), (void **)&(data[nread].bathacrosstrack), &error);
status = mb_mallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double), (void **)&(data[nread].bathalongtrack), &error);
status = mb_mallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double), (void **)&(data[nread].xp), &error);
status = mb_mallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double), (void **)&(data[nread].yp), &error);
/* copy data to storage arrays */
for (i=0;i<beams_bath;i++)
{
data[nread].beamflag[i] = beamflag[i];
data[nread].bath[i] = bath[i];
data[nread].bathacrosstrack[i] = bathacrosstrack[i];
data[nread].bathalongtrack[i] = bathalongtrack[i];
data[nread].xp[i] = BAD;
data[nread].yp[i] = BAD;
}
/* ignore time gaps */
if (error == MB_ERROR_TIME_GAP)
{
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
}
/* output error messages */
if (error == MB_ERROR_COMMENT)
{
/* do nothing */
}
else if (verbose >= 1 && error < MB_ERROR_NO_ERROR
&& error >= MB_ERROR_OTHER)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nNonfatal MBIO Error:\n%s\n",
message);
fprintf(stderr,"Time: %d %d %d %d %d %d %d\n",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],time_i[5],
time_i[6]);
}
else if (verbose >= 1 && error < MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nNonfatal MBIO Error:\n%s\n",
message);
fprintf(stderr,"Number of good records so far: %d\n",nread);
}
else if (verbose >= 1 && error > MB_ERROR_NO_ERROR
&& error != MB_ERROR_EOF)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nFatal MBIO Error:\n%s\n",
message);
fprintf(stderr,"Last Good Time: %d %d %d %d %d %d %d\n",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],time_i[5],
time_i[6]);
}
/* calculate raw x,y locations for each beam */
if (status == MB_SUCCESS)
{
/* set initial heading */
if (nread == 0)
heading_start = heading;
/* get heading x and y components */
dheading = heading - heading_start;
if (dheading > 360.0)
dheading -= 360.0;
else if (dheading < 0.0)
dheading += 360.0;
dheadingx = sin(DTR * dheading);
dheadingy = cos(DTR * dheading);
/* get alongtrack distance in nav */
distot += distance * 1000.0; /* distance in meters */
/* loop over the beams */
for (j=0; j<beams_bath; j++)
{
if (j >= data[nread].beams_bath)
{
data[nread].beamflag[j] = MB_FLAG_NULL;
data[nread].xp[j] = BAD;
data[nread].yp[j] = BAD;
}
else if (mb_beam_ok(beamflag[j]))
{
xx = dheadingy * bathacrosstrack[j]
+ dheadingx * bathalongtrack[j];
yy = distot
- dheadingx * bathacrosstrack[j]
+ dheadingy * bathalongtrack[j];
zz = -bath[j];
if (viewdir=='S' || viewdir=='s')
{
data[nread].xp[j] = yy
+ xx * sin_eta * cos_alpha;
data[nread].yp[j] = zz * cos_eta * ve
- xx * sin_eta * sin_alpha;
}
else if (viewdir=='P' || viewdir=='p')
{
data[nread].xp[j]= -yy
- xx * sin_eta * cos_alpha;
data[nread].yp[j]= zz * cos_eta * ve
+ xx * sin_eta * sin_alpha;
}
else if (viewdir=='B' || viewdir=='b')
{
data[nread].xp[j] = xx
+ yy * sin_eta * cos_alpha;
data[nread].yp[j]= zz * cos_eta * ve
+ yy * sin_eta * sin_alpha;
}
mean_lat += navlat;
mean_lon += navlon;
mean_hdg += heading;
mean_xp += data[nread].xp[j];
mean_yp += data[nread].yp[j];
mean_knt++;
if (-data[nread].bath[j] < min_z)
min_z= -data[nread].bath[j];
if (-data[nread].bath[j] > max_z)
max_z= -data[nread].bath[j];
}
else
{
data[nread].xp[j] = BAD;
data[nread].yp[j] = BAD;
}
} /* for j=0 ... */
if (nread == 0)
{
for (k=0; k<7; k++)
timbeg_i[k] = time_i[k];
}
else
{
for (k=0; k<7; k++)
timend_i[k]=time_i[k];
}
} /* if status==MB_SUCCESS */
/* increment counters */
if (error == MB_ERROR_NO_ERROR)
{
nread++;
}
}
/* print debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Reading loop finished in program <%s>\n",
program_name);
fprintf(stderr,"dbg2 status: %d\n",status);
fprintf(stderr,"dbg2 error: %d\n",error);
fprintf(stderr,"dbg2 nread: %d\n",nread);
fprintf(stderr,"dbg2 pings: %d\n",pings);
}
/* test if done */
if (nread >= num_pings_max
&& verbose >= 1)
{
fprintf(stderr, "%s: Maximum number of pings [%d] read before end of file reached...\n",
program_name, num_pings_max);
done = MB_YES;
}
if (nread >= num_pings_max || error > MB_ERROR_NO_ERROR)
{
done = MB_YES;
}
} /* end of processing data, 1'st while under read/process data */
/* close the swath file */
status = mb_close(verbose,&mbio_ptr,&error);
/* print debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Reading loop finished in program <%s>\n",
program_name);
fprintf(stderr,"dbg2 status: %d\n",status);
fprintf(stderr,"dbg2 error: %d\n",error);
fprintf(stderr,"dbg2 nread: %d\n",nread);
fprintf(stderr,"dbg2 pings: %d\n",pings);
}
/* total track length in m */
track_length = distot;
mean_lat /= mean_knt;
mean_latmin = fabs(mean_lat - (int) mean_lat) * 60.0;
mean_lon /= mean_knt;
mean_lonmin = fabs(mean_lon - (int) mean_lon) * 60.0;
mean_hdg /= mean_knt;
mean_xp /= mean_knt;
mean_yp /= mean_knt;
/* rescale xp[],yp[] to zero mean; get min and max */
max_yp = min_yp = max_xp = min_xp = 0.0;
for (i=0; i<nread; i++)
{
beamflag = data[i].beamflag;
xp = data[i].xp;
yp = data[i].yp;
for (j=0; j<data[i].beams_bath; j++)
{
if (mb_beam_ok(beamflag[j]))
{
yp[j] -= mean_yp;
xp[j] -= mean_xp;
min_xp = MIN(min_xp, xp[j]);
max_xp = MAX(max_xp, xp[j]);
min_yp = MIN(min_yp, yp[j]);
max_yp = MAX(max_yp, yp[j]);
} /* if yp[][] */
} /* for j */
} /* for i */
/* get page orientation, scaling(in/m) factor and startup plot */
if ((viewdir=='P') || (viewdir=='S') || (viewdir=='p') || (viewdir=='s'))
{
/* Landscape */
orient = 0;
if (meters_per_inch > 0.0)
{
scaling = 1.0 / meters_per_inch;
x_off = 11. / 2;
y_off = 8.5 / 2.;
}
else
{
if ( (5.2 / (max_yp - min_yp)) < (8.5 / (max_xp - min_xp)) )
scaling = (5.2 / (max_yp - min_yp));
else
scaling = (8.5 / (max_xp - min_xp));
x_off=(-(max_xp + min_xp) * scaling / 2.0) + (11. / 2);
y_off=(-(max_yp + min_yp) * scaling / 2.0) + (8.5 / 2) - .2;
}
}
else
{
/* Portrait */
orient = 1;
if (meters_per_inch > 0.0)
{
scaling = 1.0 / meters_per_inch;
x_off = 8.5 / 2.0;
y_off = 11. / 2.0;
}
else
{
if ( (8./(max_yp-min_yp))<(6.5/(max_xp-min_xp)) )
scaling = (8./(max_yp-min_yp));
else
scaling = (6.5/(max_xp-min_xp));
x_off=(-(max_xp+min_xp)*scaling/2.0)+(8.5/2);
y_off=(-(max_yp+min_yp)*scaling/2.0)+(11./2)-.2;
}
}
/* initialize the Postscript plotting */
#ifdef GMT_MINOR_VERSION
ps_plotinit_hires(NULL,0,orient,x_off,y_off,1.0,1.0,1,300,1,
gmtdefs.paper_width, gmtdefs.page_rgb,
gmtdefs.encoding.name,
GMT_epsinfo (argv[0]));
#else
ps_plotinit(NULL,0,orient,x_off,y_off,1.0,1.0,1,300,1,
gmtdefs.paper_width, gmtdefs.page_rgb,
gmtdefs.encoding.name,
GMT_epsinfo (argv[0]));
#endif
GMT_echo_command (argc, argv);
/* now loop over the data in the appropriate order
laying down white filled boxes with black outlines
wherever the data is good */
if ((viewdir=='S') || (viewdir=='s'))
forward = MB_YES;
else if ((viewdir=='P') || (viewdir=='p'))
forward = MB_NO;
else if ((viewdir=='B') || (viewdir=='b'))
{
if (alpha < 90.0)
forward = MB_YES;
else
forward = MB_NO;
}
for (j=0;j<beams_bath-1;j++)
{
for (i=0;i<nread-1;i++)
{
if (forward == MB_YES)
jj = j;
else
jj = beams_bath - 2 - j;
/* make box */
if (mb_beam_ok(data[i].beamflag[jj])
&& mb_beam_ok(data[i+1].beamflag[jj])
&& mb_beam_ok(data[i].beamflag[jj+1])
&& mb_beam_ok(data[i+1].beamflag[jj+1]))
{
xl[0] = scaling * data[i].xp[jj];
yl[0] = scaling * data[i].yp[jj];
xl[1] = scaling * data[i+1].xp[jj];
yl[1] = scaling * data[i+1].yp[jj];
xl[2] = scaling * data[i+1].xp[jj+1];
yl[2] = scaling * data[i+1].yp[jj+1];
xl[3] = scaling * data[i].xp[jj+1];
yl[3] = scaling * data[i].yp[jj+1];
ps_polygon(xl,yl,4,rgb_white,1);
}
}
}
/* titles and such */
ps_setline(2); /* set line width */
if (display_stats == MB_NO)
{
/* plot a title */
xl[0]=0;
yl[0]=max_yp*scaling+.6;
sprintf(label,"%s",title);
ps_text(xl[0],yl[0],20.,label,0.,6,0);
}
else
{
/* plot a title */
xl[0]=0;
yl[0]=max_yp*scaling+1.3;
sprintf(label,"%s",title);
ps_text(xl[0],yl[0],20.,label,0.,6,0);
/*xl[0]-=3.25;*/
yl[0]-=0.3;
sprintf(label,"Mean Lat.: %3d@+o@+ %4.1f' Mean Lon.: %4d@+o @+%4.1f' Heading: %.1lf@+o @+",(int)mean_lat, mean_latmin, (int)mean_lon, mean_lonmin, mean_hdg);
ps_text(xl[0],yl[0],15.,label,0.,6,0);
yl[0]-=0.3;
sprintf(label,"View Angle: %.1lf@+o @+ V.E.: %.1lfX Scale: %.0lf m/inch Track Length: %.1lf km",eta,ve,1.0/scaling,track_length/1000.0);
ps_text(xl[0],yl[0],15.,label,0.,6,0);
yl[0]-=0.3;
sprintf(label,
"From %.4d/%.2d/%.2d %.2d:%.2d:%.2d to %.4d/%.2d/%.2d %.2d:%.2d:%.2d",
timbeg_i[0],timbeg_i[1],timbeg_i[2],timbeg_i[3],
timbeg_i[4],timbeg_i[5],timend_i[0],timend_i[1],
timend_i[2],timend_i[3],timend_i[4],timend_i[5]);
ps_text(xl[0],yl[0],15.,label,0.,6,0);
} /* else after if display_stats */
if (display_scales == MB_YES)
{
/* plot the x-scale */
xscale=10000; /* x scale in m */
if (track_length < 50000) xscale=5000;
if (track_length < 20000) xscale=2000;
if (track_length < 10000) xscale=1000;
xl[0]=xl[1]= (-xscale*scaling/2.0);
xl[2]=xl[3]= (-xl[0]);
xl[0]+=2.;xl[1]+=2.;xl[2]+=2.;xl[3]+=2.;
yl[1]=yl[2]= min_yp*scaling-1.;
yl[0]=yl[3]= yl[1]+0.1;
#ifdef GMT_MINOR_VERSION
ps_line(xl,yl,4,3,0);
#else
ps_line(xl,yl,4,3,0,0);
#endif
sprintf(label,"%.0f km",xscale/1000.0);
ps_text(xl[0]+.5,yl[0]+.05,15.,label,0.,6,0);
/* plot the z-scale */
range_z=(max_z-min_z);
zscale=2000; /* z scale in m */
if (range_z < 3000) zscale=1000;
if (range_z < 1000) zscale=500;
if (range_z < 500) zscale=200;
if (range_z < 250) zscale=100;
zscale_inch= zscale*scaling*cos_eta*ve;
xl[1]=xl[2]+0.5;
xl[2]=xl[1];
xl[0]=xl[3]= xl[1]+.1;
yl[0]=yl[1]= min_yp*scaling-1.;
yl[2]=yl[3]= yl[0]+zscale_inch;
#ifdef GMT_MINOR_VERSION
ps_line(xl,yl,4,3,0);
#else
ps_line(xl,yl,4,3,0,0);
#endif
sprintf(label,"%.0f m",zscale);
ps_text(xl[0]+0.3,yl[0]+zscale_inch/2.0,15.,label,0.,6,0);
/* plot an arrow in the ship's direction */
a=0;
b=beams_bath/2;
while (!mb_beam_ok(data[a++].beamflag[b])) {}
xl[0] = data[--a].xp[b];
yl[0] = data[a].yp[b];
a = nread - 1;
while (!mb_beam_ok(data[a--].beamflag[b])) {}
xl[1] = data[++a].xp[b];
yl[1] = data[a].yp[b];
xl[1] = ((xl[1]-xl[0])/distot/2)+.6;
yl[1] = ((yl[1]-yl[0])/distot/2) + min_yp*scaling-1.;
xl[0] = 0.+.6;
yl[0] = 0.+min_yp*scaling-0.85;
ps_vector(xl[0],yl[0],xl[1],yl[1],
0.01,0.25,0.1,1.0,rgb_black,0);
ps_text(xl[0]-1.7,yl[0]+.2,15.,"ship heading",0.,1,0);
ps_text(xl[0]-1.7,yl[0],15.,"direction",0.,1,0);
/* plot the three axes */
for (i=0;i<3;i++)
{
xl[0]=0.; /* point in center of page */
yl[0]=0.;
rotate=0; /* set to 1 if arrow is rotated below */
if (i==0)
{
/* x-axis */
x=1.;
y=0;
z=0;
}
else if (i==1)
{
/* y-axis */
x=0;
y=1.;
z=0;
}
else if (i==2)
{
/* z-axis */
x=0;
y=0;
z=-1.;
}
if (viewdir=='P' || viewdir=='p')
{
xl[1]=-y-x*sin_eta*cos_alpha+xl[0];
yl[1]= -z*cos_eta+x*sin_eta*sin_alpha+yl[0];
}
else if (viewdir=='B' || viewdir=='b')
{
xl[1]=(x+y*sin_eta*cos_alpha)+xl[0];
yl[1]=-z*cos_eta+y*sin_eta*sin_alpha+yl[0];
}
else if (viewdir=='S' || viewdir=='s')
{
xl[1]=y+x*sin_eta*cos_alpha+xl[0];
yl[1]=z*cos_eta-x*sin_eta*sin_alpha+yl[0];
}
if (yl[1]<yl[0])
{
/* rotate arrows 180 if facing downward */
xl[1]=-xl[1];
yl[1]=-yl[1];
rotate=1;
}
xl[0]=(-3.); /* move arrows from center to lower left corner */
yl[0]=(min_yp*scaling-1.);
xl[1]=xl[0]+xl[1];
yl[1]=yl[0]+yl[1];
ps_vector(xl[0],yl[0],xl[1],yl[1],
0.01,0.25,0.1,1.0,rgb_black,0);
if (i==0&&rotate==0)
ps_text(xl[1],yl[1]+.15,15.,"x",0.,6,0);
else if (i==1&&rotate==0)
ps_text(xl[1],yl[1]+.15,15.,"y",0.,6,0);
else if (i==2&&rotate==0)
ps_text(xl[1],yl[1]+.15,15.,"z",0.,6,0);
else if (i==0&&rotate==1)
ps_text(xl[1],yl[1]+.15,15.,"-x",0.,6,0);
else if (i==1&&rotate==1)
ps_text(xl[1],yl[1]+.15,15.,"-y",0.,6,0);
else if (i==2&&rotate==1)
ps_text(xl[1],yl[1]+.15,15.,"z",0.,6,0);
} /* (i=0;i<3;i++) */
} /* if display_scales */
/* end the postscript file */
ps_plotend(1);
/* deallocate arrays */
for (i=0;i<nread;i++)
{
mb_freed(verbose,__FILE__, __LINE__, (void **)&(data[i].beams_bath), &error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&(data[i].bath), &error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&(data[i].bathacrosstrack), &error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&(data[i].bathalongtrack), &error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&(data[i].xp), &error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&(data[i].yp), &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);
} /* main */
int main(int argc, char **argv) {
char program_name[] = "mbminirovnav";
char help_message[] = " MBminirov reads USBL tracking and CTD day files from the MBARI MiniROV\n"
"\tand produces a single ROV navigation file in one of the standard MBARI\n"
"\tformats handles preprocessing of swath sonar data as part of setting up\n"
"\tan MB-System processing structure for a dataset.\n";
char usage_message[] = "mbminirovnav\n"
"\t--help\n\n"
"\t--input=fileroot\n"
"\t--input-ctd-file=file\n"
"\t--input-dvl-file=file\n"
"\t--input-nav-file=file\n"
"\t--input-rov-file=file\n"
"\t--interpolate-position\n"
"\t--interval=seconds\n"
"\t--output=file\n"
"\t--rov-dive-start=yyyymmddhhmmss\n"
"\t--rov-dive-end=yyyymmddhhmmss\n"
"\t--utm-zone=zone_id/NorS\n"
"\t--verbose\n\n";
extern char *optarg;
int option_index;
int errflg = 0;
int c;
int help = MB_NO;
/* ROV dive time start and end */
int rov_dive_start_time_set = MB_NO;
double rov_dive_start_time_d;
int rov_dive_start_time_i[7];
int rov_dive_end_time_set = MB_NO;
double rov_dive_end_time_d;
int rov_dive_end_time_i[7];
int interpolate_position = MB_NO;
/* MBIO status variables */
int status = MB_SUCCESS;
int verbose = 0;
int error = MB_ERROR_NO_ERROR;
char *message;
int num_nav_alloc = 0;
int num_nav = 0;
double *nav_time_d = NULL;
double *nav_lon = NULL;
double *nav_lat = NULL;
int num_ctd_alloc = 0;
int num_ctd = 0;
double *ctd_time_d = NULL;
double *ctd_depth = NULL;
int num_rov_alloc = 0;
int num_rov = 0;
double *rov_time_d = NULL;
double *rov_heading = NULL;
double *rov_roll = NULL;
double *rov_pitch = NULL;
int num_dvl_alloc = 0;
int num_dvl = 0;
double *dvl_time_d = NULL;
double *dvl_altitude = NULL;
double *dvl_stime = NULL;
double *dvl_vx = NULL;
double *dvl_vy = NULL;
double *dvl_vz = NULL;
double *dvl_status = NULL;
double time_d;
double rawlat, rawlon, dummydouble, ldegrees, lminutes;
double reference_lon = 0.0;
double reference_lat = 0.0;
int utm_zone_set = MB_NO;
int utm_zone = 0;
mb_path projection_id;
void *pjptr = NULL;
char NorS, EorW;
mb_path dummystring;
double ctd_C, ctd_T, ctd_D, ctd_S;
double ctd_O2uM, ctd_O2raw, ctd_DGH_T, ctd_C2_T, ctd_C2_C;
double rov_x, rov_y, rov_z, rov_yaw, rov_magna_amps;
double rov_F1, rov_F2, rov_F3, rov_F4, rov_F5;
double rov_Heading, rov_Pitch, rov_Roll;
double dvl_Altitude, dvl_Stime, dvl_Vx, dvl_Vy, dvl_Vz, dvl_Status;
double start_time_d = 0.0;
double end_time_d = 0.0;
double interval = 1.0;
int onav_time_i[7], onav_time_j[5];
int onav_year, onav_jday, onav_timetag;
double num_output;
double onav_time_d;
double onav_lon;
double onav_lat;
double onav_easting;
double onav_northing;
double onav_depth;
double onav_pressure;
double onav_heading;
double onav_altitude;
double onav_pitch;
double onav_roll;
int onav_position_flag;
int onav_pressure_flag;
int onav_heading_flag;
int onav_altitude_flag;
int onav_attitude_flag;
char buffer[MB_PATH_MAXLINE], *result;
int nrecord;
int nchar, nget, nscan;
int ioutput;
size_t size;
FILE *fp;
int jnav = 0;
int jctd = 0;
int jdvl = 0;
int jrov = 0;
int interp_status = MB_SUCCESS;
int interp_error = MB_ERROR_NO_ERROR;
int proj_status = 0;
/* command line option definitions */
/* mbminirovnav
* --verbose
* --help
*
* --input-nav=file
* --input-ctd=file
* --output=file
*/
static struct option options[] = {{"help", no_argument, NULL, 0},
{"input", required_argument, NULL, 0},
{"input-nav-file", required_argument, NULL, 0},
{"input-ctd-file", required_argument, NULL, 0},
{"input-dvl-file", required_argument, NULL, 0},
{"input-rov-file", required_argument, NULL, 0},
{"interpolate-position", no_argument, NULL, 0},
{"interval", required_argument, NULL, 0},
{"output", required_argument, NULL, 0},
{"rov-dive-start", required_argument, NULL, 0},
{"rov-dive-end", required_argument, NULL, 0},
{"utm-zone", required_argument, NULL, 0},
{"verbose", no_argument, NULL, 0},
{NULL, 0, NULL, 0}};
/* files */
mb_path input_root = "";
mb_path input_nav_file = "";
mb_path input_ctd_file = "";
mb_path input_dvl_file = "";
mb_path input_rov_file = "";
mb_path output_file = "";
/* process argument list */
while ((c = getopt_long(argc, argv, "", options, &option_index)) != -1)
switch (c) {
/* long options all return c=0 */
case 0:
/* verbose */
if (strcmp("verbose", options[option_index].name) == 0) {
verbose++;
}
/* help */
else if (strcmp("help", options[option_index].name) == 0) {
help = MB_YES;
}
/*-------------------------------------------------------
* Define input and output files */
/* input=file */
else if (strcmp("input", options[option_index].name) == 0) {
strcpy(input_root, optarg);
sprintf(input_nav_file, "NAV_%s000000.txt", input_root);
sprintf(input_ctd_file, "CTD_%s000000.txt", input_root);
sprintf(input_dvl_file, "DVL_%s000000.txt", input_root);
sprintf(input_rov_file, "ROV_%s000000.txt", input_root);
sprintf(output_file, "MiniROV_nav_%s.mb165", input_root);
}
/* input-ctd=file */
else if (strcmp("input-ctd-file", options[option_index].name) == 0) {
strcpy(input_ctd_file, optarg);
}
/* input-dvl=file */
else if (strcmp("input-dvl-file", options[option_index].name) == 0) {
strcpy(input_dvl_file, optarg);
}
/* input-nav=file */
else if (strcmp("input-nav-file", options[option_index].name) == 0) {
strcpy(input_nav_file, optarg);
}
/* input-rov=file */
else if (strcmp("input-rov-file", options[option_index].name) == 0) {
strcpy(input_rov_file, optarg);
}
/* output=file */
else if (strcmp("output", options[option_index].name) == 0) {
strcpy(output_file, optarg);
}
/* interval */
else if (strcmp("interval", options[option_index].name) == 0) {
nscan = sscanf(optarg, "%lf", &interval);
if (interval <= 0.0) {
fprintf(stderr,"Program %s command error: %s %s\n\toutput interval reset to 1.0 seconds\n",
program_name, options[option_index].name, optarg);
}
}
/* start rov dive time */
else if (strcmp("rov-dive-start", options[option_index].name) == 0) {
nscan = sscanf(optarg, "%d/%d/%d/%d/%d/%d", &rov_dive_start_time_i[0],
&rov_dive_start_time_i[1], &rov_dive_start_time_i[2],
&rov_dive_start_time_i[3], &rov_dive_start_time_i[4],
&rov_dive_start_time_i[5]);
if (nscan == 6) {
rov_dive_start_time_i[6] = 0;
mb_get_time(verbose, rov_dive_start_time_i, &rov_dive_start_time_d);
rov_dive_start_time_set = MB_YES;
}
else {
fprintf(stderr,"Program %s command error: %s %s\n",
program_name, options[option_index].name, optarg);
}
}
/* end rov dive time */
else if (strcmp("rov-dive-end", options[option_index].name) == 0) {
nscan = sscanf(optarg, "%d/%d/%d/%d/%d/%d", &rov_dive_end_time_i[0],
&rov_dive_end_time_i[1], &rov_dive_end_time_i[2],
&rov_dive_end_time_i[3], &rov_dive_end_time_i[4],
&rov_dive_end_time_i[5]);
if (nscan == 6) {
rov_dive_end_time_i[6] = 0;
mb_get_time(verbose, rov_dive_end_time_i, &rov_dive_end_time_d);
rov_dive_end_time_set = MB_YES;
}
else {
fprintf(stderr,"Program %s command error: %s %s\n",
program_name, options[option_index].name, optarg);
}
}
/* utm zone */
else if (strcmp("utm-zone", options[option_index].name) == 0) {
nscan = sscanf(optarg, "%d/%c", &utm_zone, &NorS);
if (nscan < 2)
nscan = sscanf(optarg, "%d%c", &utm_zone, &NorS);
if (nscan == 2) {
utm_zone_set = MB_YES;
if (NorS == 'N' || NorS == 'n')
sprintf(projection_id, "UTM%2.2dN", utm_zone);
else if (NorS == 'S' || NorS == 's')
sprintf(projection_id, "UTM%2.2dS", utm_zone);
else
sprintf(projection_id, "UTM%2.2dN", utm_zone);
}
else {
fprintf(stderr,"Program %s command error: %s %s\n",
program_name, options[option_index].name, optarg);
}
}
/* interpolate position over gaps in USBL fixes (rather than repeat position values) */
else if (strcmp("interpolate-position", options[option_index].name) == 0) {
interpolate_position = MB_YES;
}
/*----------------------------------------------------------------*/
break;
case '?':
errflg++;
break;
}
/* 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, "Source File Version %s\n", version_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", version_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 input_root: %s\n", input_root);
fprintf(stderr, "dbg2 input_nav_file: %s\n", input_nav_file);
fprintf(stderr, "dbg2 input_ctd_file: %s\n", input_ctd_file);
fprintf(stderr, "dbg2 input_dvl_file: %s\n", input_dvl_file);
fprintf(stderr, "dbg2 input_rov_file: %s\n", input_rov_file);
fprintf(stderr, "dbg2 output_file: %s\n", output_file);
fprintf(stderr, "dbg2 output time interval: %f\n", interval);
fprintf(stderr, "dbg2 rov_dive_start_time_set: %d\n", rov_dive_start_time_set);
if (rov_dive_start_time_set == MB_YES)
fprintf(stderr, "dbg2 rov_dive_start_time_i: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
rov_dive_start_time_i[0], rov_dive_start_time_i[1], rov_dive_start_time_i[2],
rov_dive_start_time_i[3], rov_dive_start_time_i[4], rov_dive_start_time_i[5],
rov_dive_start_time_i[6]);
fprintf(stderr, "dbg2 rov_dive_end_time_set: %d\n", rov_dive_end_time_set);
if (rov_dive_end_time_set == MB_YES)
fprintf(stderr, "dbg2 rov_dive_end_time_i: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
rov_dive_end_time_i[0], rov_dive_end_time_i[1], rov_dive_end_time_i[2],
rov_dive_end_time_i[3], rov_dive_end_time_i[4], rov_dive_end_time_i[5],
rov_dive_end_time_i[6]);
fprintf(stderr, "dbg2 utm_zone_set: %d\n", utm_zone_set);
if (utm_zone_set == MB_YES) {
fprintf(stderr, "dbg2 utm_zone: %d\n", utm_zone);
fprintf(stderr, "dbg2 projection_id: %s\n", projection_id);
}
fprintf(stderr, "dbg2 interpolate_position: %d\n", interpolate_position);
}
/* print starting verbose */
else if (verbose > 0) {
fprintf(stderr, "\nProgram <%s>\n", program_name);
fprintf(stderr, "Version %s\n", version_id);
fprintf(stderr, "MB-system Version %s\n", MB_VERSION);
fprintf(stderr, "Control Parameters:\n");
fprintf(stderr, " verbose: %d\n", verbose);
fprintf(stderr, " help: %d\n", help);
fprintf(stderr, " input_root: %s\n", input_root);
fprintf(stderr, " input_nav_file: %s\n", input_nav_file);
fprintf(stderr, " input_ctd_file: %s\n", input_ctd_file);
fprintf(stderr, " input_dvl_file: %s\n", input_dvl_file);
fprintf(stderr, " input_rov_file: %s\n", input_rov_file);
fprintf(stderr, " output_file: %s\n", output_file);
fprintf(stderr, " output time interval: %f\n", interval);
fprintf(stderr, " rov_dive_start_time_set: %d\n", rov_dive_start_time_set);
if (rov_dive_start_time_set == MB_YES)
fprintf(stderr, " rov_dive_start_time_i: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
rov_dive_start_time_i[0], rov_dive_start_time_i[1], rov_dive_start_time_i[2],
rov_dive_start_time_i[3], rov_dive_start_time_i[4], rov_dive_start_time_i[5],
rov_dive_start_time_i[6]);
fprintf(stderr, " rov_dive_end_time_set: %d\n", rov_dive_end_time_set);
if (rov_dive_end_time_set == MB_YES)
fprintf(stderr, " rov_dive_end_time_i: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n",
rov_dive_end_time_i[0], rov_dive_end_time_i[1], rov_dive_end_time_i[2],
rov_dive_end_time_i[3], rov_dive_end_time_i[4], rov_dive_end_time_i[5],
rov_dive_end_time_i[6]);
fprintf(stderr, " utm_zone_set: %d\n", utm_zone_set);
if (utm_zone_set == MB_YES) {
fprintf(stderr, " utm_zone: %d\n", utm_zone);
fprintf(stderr, " projection_id: %s\n", projection_id);
}
fprintf(stderr, " interpolate_position: %d\n", interpolate_position);
}
/* 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);
}
/*-------------------------------------------------------------------*/
/* load input nav data */
/* count the records */
error = MB_ERROR_NO_ERROR;
nrecord = 0;
nchar = MB_PATH_MAXLINE - 1;
if ((fp = fopen(input_nav_file, "r")) != NULL) {
/* loop over reading the records */
while ((result = fgets(buffer, nchar, fp)) == buffer)
if (buffer[0] != '#' && strlen(buffer) > 5)
nrecord++;
/* close the file */
fclose(fp);
fp = NULL;
}
else {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
/* allocate memory if necessary */
if (status == MB_SUCCESS && num_nav_alloc < nrecord) {
size = nrecord * sizeof(double);
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&nav_time_d, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&nav_lon, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&nav_lat, &error);
if (status == MB_SUCCESS)
num_nav_alloc = nrecord;
}
/* read the records */
if (status == MB_SUCCESS) {
nrecord = 0;
if ((fp = fopen(input_nav_file, "r")) == NULL) {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
else {
/* loop over reading the records - handle the different formats */
while ((result = fgets(buffer, nchar, fp)) == buffer) {
nget = sscanf(buffer, "%lf,$GPGLL,%lf,%c,%lf,%c,%lf,%s",
&time_d, &rawlat, &NorS, &rawlon, &EorW, &dummydouble, dummystring);
if (nget == 7) {
if (start_time_d <= 0.0)
start_time_d = time_d;
if (time_d > 0.0 && time_d < start_time_d)
start_time_d = time_d;
if (time_d > end_time_d)
end_time_d = time_d;
nav_time_d[num_nav] = time_d;
ldegrees = floor(rawlat / 100.0);
lminutes = rawlat - ldegrees * 100;
nav_lat[num_nav] = ldegrees + (lminutes / 60.0);
if (NorS == 'S')
nav_lat[num_nav] *= -1;
ldegrees = floor(rawlon / 100.0);
lminutes = rawlon - ldegrees * 100;
nav_lon[num_nav] = ldegrees + (lminutes / 60.0);
if (EorW == 'W')
nav_lon[num_nav] *= -1;
if (interpolate_position == MB_NO
|| num_nav <= 1
|| nav_lon[num_nav] != nav_lon[num_nav-1]
|| nav_lat[num_nav] != nav_lat[num_nav-1]) {
reference_lon += nav_lon[num_nav];
reference_lat += nav_lat[num_nav];
if (num_nav < num_nav_alloc)
num_nav++;
}
}
}
/* close the file */
fclose(fp);
/* calculate average longitude for UTM zone calcuation */
if (num_nav > 0) {
reference_lon /= num_nav;
reference_lat /= num_nav;
}
if (reference_lon < 180.0)
reference_lon += 360.0;
if (reference_lon >= 180.0)
reference_lon -= 360.0;
}
}
/*-------------------------------------------------------------------*/
/* load input ctd data */
/* count the records */
error = MB_ERROR_NO_ERROR;
nrecord = 0;
nchar = MB_PATH_MAXLINE - 1;
if ((fp = fopen(input_ctd_file, "r")) != NULL) {
/* loop over reading the records */
while ((result = fgets(buffer, nchar, fp)) == buffer)
if (buffer[0] != '#' && strlen(buffer) > 5)
nrecord++;
/* close the file */
fclose(fp);
fp = NULL;
}
else {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
/* allocate memory if necessary */
if (status == MB_SUCCESS && num_ctd_alloc < nrecord) {
size = nrecord * sizeof(double);
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&ctd_time_d, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&ctd_depth, &error);
if (status == MB_SUCCESS)
num_ctd_alloc = nrecord;
}
/* read the records */
if (status == MB_SUCCESS) {
nrecord = 0;
if ((fp = fopen(input_ctd_file, "r")) == NULL) {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
else {
/* loop over reading the records - handle the different formats */
while ((result = fgets(buffer, nchar, fp)) == buffer) {
nget = sscanf(buffer, "%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf",
&time_d, &ctd_C, &ctd_T, &ctd_D, &ctd_S,
&ctd_O2uM, &ctd_O2raw, &ctd_DGH_T, &ctd_C2_T, &ctd_C2_C);
if (nget == 10) {
if (start_time_d <= 0.0)
start_time_d = time_d;
if (time_d > 0.0 && time_d < start_time_d)
start_time_d = time_d;
if (time_d > end_time_d)
end_time_d = time_d;
ctd_time_d[num_ctd] = time_d;
ctd_depth[num_ctd] = ctd_D;
if (num_ctd < num_ctd_alloc)
num_ctd++;
}
}
/* close the file */
fclose(fp);
}
}
/*-------------------------------------------------------------------*/
/* load input rov data */
/* count the records */
error = MB_ERROR_NO_ERROR;
nrecord = 0;
nchar = MB_PATH_MAXLINE - 1;
if ((fp = fopen(input_rov_file, "r")) != NULL) {
/* loop over reading the records */
while ((result = fgets(buffer, nchar, fp)) == buffer)
if (buffer[0] != '#' && strlen(buffer) > 5)
nrecord++;
/* close the file */
fclose(fp);
fp = NULL;
}
else {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
/* allocate memory if necessary */
if (status == MB_SUCCESS && num_rov_alloc < nrecord) {
size = nrecord * sizeof(double);
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&rov_time_d, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&rov_heading, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&rov_roll, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&rov_pitch, &error);
if (status == MB_SUCCESS)
num_rov_alloc = nrecord;
}
/* read the records */
if (status == MB_SUCCESS) {
nrecord = 0;
if ((fp = fopen(input_rov_file, "r")) == NULL) {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
else {
/* loop over reading the records - handle the different formats */
while ((result = fgets(buffer, nchar, fp)) == buffer) {
nget = sscanf(buffer, "%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf",
&time_d, &rov_x, &rov_y, &rov_z, &rov_yaw, &rov_magna_amps,
&rov_F1, &rov_F2, &rov_F3, &rov_F4, &rov_F5,
&rov_Heading, &rov_Pitch, &rov_Roll);
if (nget == 14) {
if (start_time_d <= 0.0)
start_time_d = time_d;
if (time_d > 0.0 && time_d < start_time_d)
start_time_d = time_d;
if (time_d > end_time_d)
end_time_d = time_d;
rov_time_d[num_rov] = time_d;
rov_heading[num_rov] = rov_Heading;
rov_roll[num_rov] = rov_Roll;
rov_pitch[num_rov] = rov_Pitch;
if (num_rov < num_rov_alloc)
num_rov++;
}
}
/* close the file */
fclose(fp);
}
}
/*-------------------------------------------------------------------*/
/* load input dvl data */
/* count the records */
error = MB_ERROR_NO_ERROR;
nrecord = 0;
nchar = MB_PATH_MAXLINE - 1;
if ((fp = fopen(input_dvl_file, "r")) != NULL) {
/* loop over reading the records */
while ((result = fgets(buffer, nchar, fp)) == buffer)
if (buffer[0] != '#' && strlen(buffer) > 5)
nrecord++;
/* close the file */
fclose(fp);
fp = NULL;
}
else {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
/* allocate memory if necessary */
if (status == MB_SUCCESS && num_dvl_alloc < nrecord) {
size = nrecord * sizeof(double);
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_time_d, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_altitude, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_stime, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_vx, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_vy, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_vz, &error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose, __FILE__, __LINE__, size, (void **)&dvl_status, &error);
if (status == MB_SUCCESS)
num_dvl_alloc = nrecord;
}
/* read the records */
if (status == MB_SUCCESS) {
nrecord = 0;
if ((fp = fopen(input_dvl_file, "r")) == NULL) {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
else {
/* loop over reading the records - handle the different formats */
while ((result = fgets(buffer, nchar, fp)) == buffer) {
nget = sscanf(buffer, "%lf,%lf,%lf,%lf,%lf,%lf,%lf",
&time_d, &dvl_Altitude, &dvl_Stime, &dvl_Vx, &dvl_Vy, &dvl_Vz, &dvl_Status);
if (nget == 7) {
if (start_time_d <= 0.0)
start_time_d = time_d;
if (time_d > 0.0 && time_d < start_time_d)
start_time_d = time_d;
if (time_d > end_time_d)
end_time_d = time_d;
dvl_time_d[num_dvl] = time_d;
dvl_altitude[num_dvl] = dvl_Altitude;
dvl_stime[num_dvl] = dvl_Stime;
dvl_vx[num_dvl] = dvl_Vx;
dvl_vy[num_dvl] = dvl_Vy;
dvl_vz[num_dvl] = dvl_Vz;
dvl_status[num_dvl] = dvl_Status;
if (num_dvl < num_dvl_alloc)
num_dvl++;
}
}
/* close the file */
fclose(fp);
}
}
/*-------------------------------------------------------------------*/
fprintf(stderr,"\nProgram %s\n", program_name);
fprintf(stderr,"Input data loaded:\n\tNavigation: %d\n\tCTD: %d\n\tAttitude:%d\n\tDVL: %d\n\n",
num_nav, num_ctd, num_rov, num_dvl);
/* get time range of output based on max bounds of any input data
or use the specified time interval */
if (rov_dive_start_time_set == MB_YES) {
start_time_d = rov_dive_start_time_d;
}
if (rov_dive_end_time_set == MB_YES) {
end_time_d = rov_dive_end_time_d;
}
start_time_d = floor(start_time_d);
num_output = (int)(ceil((end_time_d - start_time_d) / interval));
/* get UTM projection for easting and northing fields */
if (utm_zone_set == MB_YES) {
if (utm_zone < 0)
sprintf(projection_id, "UTM%2.2dS", abs(utm_zone));
else
sprintf(projection_id, "UTM%2.2dN", utm_zone);
}
else {
utm_zone = (int)(((reference_lon + 183.0) / 6.0) + 0.5);
if (reference_lat >= 0.0)
sprintf(projection_id, "UTM%2.2dN", utm_zone);
else
sprintf(projection_id, "UTM%2.2dS", utm_zone);
}
proj_status = mb_proj_init(verbose, projection_id, &(pjptr), &error);
/* write the MiniROV navigation data */
if (status == MB_SUCCESS) {
if ((fp = fopen(output_file, "w")) == NULL) {
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
else {
/* loop over 1 second intervals from start time to end time */
for (ioutput=0;ioutput<num_output;ioutput++) {
/* set the output time */
onav_time_d = start_time_d + ioutput * interval;
mb_get_date(verbose, onav_time_d, onav_time_i);
onav_year = onav_time_i[0];
onav_timetag = 10000 * onav_time_i[3] + 100 * onav_time_i[4] + onav_time_i[5];
mb_get_jtime(verbose, onav_time_i, onav_time_j);
onav_jday = onav_time_j[1];
/* interpolate values onto the target time */
interp_status = mb_linear_interp_longitude(verbose, nav_time_d - 1, nav_lon - 1, num_nav, onav_time_d, &onav_lon, &jnav, &interp_error);
interp_status = mb_linear_interp_latitude(verbose, nav_time_d - 1, nav_lat - 1, num_nav, onav_time_d, &onav_lat, &jnav, &interp_error);
interp_status = mb_linear_interp(verbose, ctd_time_d - 1, ctd_depth - 1, num_ctd, onav_time_d, &onav_depth, &jctd, &interp_error);
interp_status = mb_linear_interp(verbose, dvl_time_d - 1, dvl_altitude - 1, num_dvl, onav_time_d, &onav_altitude, &jdvl, &interp_error);
interp_status = mb_linear_interp_heading(verbose, rov_time_d - 1, rov_heading - 1, num_rov, onav_time_d, &onav_heading, &jrov, &interp_error);
interp_status = mb_linear_interp(verbose, rov_time_d - 1, rov_roll - 1, num_rov, onav_time_d, &onav_roll, &jrov, &interp_error);
interp_status = mb_linear_interp(verbose, rov_time_d - 1, rov_pitch - 1, num_rov, onav_time_d, &onav_pitch, &jrov, &interp_error);
if (onav_lon != 0.0 && onav_lat != 0.0)
onav_position_flag = MB_YES;
else
onav_position_flag = MB_NO;
if (onav_lon != 0.0 && onav_lat != 0.0)
onav_pressure_flag = MB_YES;
else
onav_pressure_flag = MB_NO;
if (onav_lon != 0.0 && onav_lat != 0.0)
onav_heading_flag = MB_YES;
else
onav_heading_flag = MB_NO;
if (onav_lon != 0.0 && onav_lat != 0.0)
onav_altitude_flag = MB_YES;
else
onav_altitude_flag = MB_NO;
if (onav_lon != 0.0 && onav_lat != 0.0)
onav_attitude_flag = MB_YES;
else
onav_attitude_flag = MB_NO;
/* get UTM eastings and northings */
mb_proj_forward(verbose, pjptr, onav_lon, onav_lat, &onav_easting, &onav_northing, &error);
/* get pressure from CTD depth */
onav_pressure = onav_depth * (1.0052405 * (1 + 5.28E-3 * sin(DTR * onav_lat) * sin(DTR * onav_lat)));
/* print output debug statements */
if (verbose >= 4) {
fprintf(stderr, "\ndbg4 Data to be written in MBIO function <%s>\n", program_name);
fprintf(stderr, "dbg4 Values,read:\n");
fprintf(stderr, "dbg4 onav_time_d: %f\n", onav_time_d);
fprintf(stderr, "dbg4 onav_lat: %f\n", onav_lat);
fprintf(stderr, "dbg4 onav_lon: %f\n", onav_lon);
fprintf(stderr, "dbg4 onav_easting: %f\n", onav_easting);
fprintf(stderr, "dbg4 onav_northing: %f\n", onav_northing);
fprintf(stderr, "dbg4 onav_depth: %f\n", onav_depth);
fprintf(stderr, "dbg4 onav_pressure: %f\n", onav_pressure);
fprintf(stderr, "dbg4 onav_heading: %f\n", onav_heading);
fprintf(stderr, "dbg4 onav_altitude: %f\n", onav_altitude);
fprintf(stderr, "dbg4 onav_pitch: %f\n", onav_pitch);
fprintf(stderr, "dbg4 onav_roll: %f\n", onav_roll);
fprintf(stderr, "dbg4 onav_position_flag: %d\n", onav_position_flag);
fprintf(stderr, "dbg4 onav_pressure_flag: %d\n", onav_pressure_flag);
fprintf(stderr, "dbg4 onav_heading_flag: %d\n", onav_heading_flag);
fprintf(stderr, "dbg4 onav_altitude_flag: %d\n", onav_altitude_flag);
fprintf(stderr, "dbg4 onav_attitude_flag: %d\n", onav_attitude_flag);
fprintf(stderr, "dbg4 error: %d\n", error);
fprintf(stderr, "dbg4 status: %d\n", status);
}
/* write the record */
fprintf(fp, "%4.4d,%3.3d,%6.6d,%9.0f,%10.6f,%11.6f,%7.0f,%7.0f,%7.2f,%5.1f,%6.2f,%4.1f,%4.1f,%d,%d,%d,%d,%d\n",
onav_year, onav_jday, onav_timetag, onav_time_d,
onav_lat, onav_lon, onav_easting, onav_northing,
onav_pressure, onav_heading, onav_altitude, onav_pitch, onav_roll,
onav_position_flag, onav_pressure_flag, onav_heading_flag,
onav_altitude_flag, onav_attitude_flag);
}
/* close the file */
fclose(fp);
}
}
/*-------------------------------------------------------------------*/
proj_status = mb_proj_free(verbose, &(pjptr), &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&nav_time_d, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&nav_lon, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&nav_lat, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&ctd_time_d, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&ctd_depth, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&rov_time_d, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&rov_heading, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&rov_roll, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&rov_pitch, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_time_d, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_altitude, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_stime, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_vx, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_vy, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_vz, &error);
mb_freed(verbose, __FILE__, __LINE__, (void **)&dvl_status, &error);
exit(0);
/*-------------------------------------------------------------------*/
}
int main (int argc, char **argv)
{
char program_name[] = "MBauvloglist";
char help_message[] = "MBauvloglist lists table data from an MBARI AUV mission log file.";
char usage_message[] = "MBauvloglist -Ifile [-Fprintformat -Llonflip -Olist -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 = NULL;
/* MBIO read control parameters */
int pings;
int format;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double speedmin;
double timegap;
/* auv log data */
FILE *fp;
char file[MB_PATH_MAXLINE];
struct field
{
int type;
int size;
int index;
char name[MB_PATH_MAXLINE];
char format[MB_PATH_MAXLINE];
char description[MB_PATH_MAXLINE];
char units[MB_PATH_MAXLINE];
double scale;
};
struct printfield
{
char name[MB_PATH_MAXLINE];
int index;
int formatset;
char format[MB_PATH_MAXLINE];
};
int nfields = 0;
struct field fields[NFIELDSMAX];
int nprintfields = 0;
struct printfield printfields[NFIELDSMAX];
int nrecord;
int recordsize;
int printheader = MB_NO;
int angles_in_degrees = MB_NO;
/* navigation, heading, attitude data for merging in fnv format */
int nav_merge = MB_NO;
mb_path nav_file;
int nav_num = 0;
int nav_alloc = 0;
double *nav_time_d = NULL;
double *nav_navlon = NULL;
double *nav_navlat = NULL;
double *nav_heading = NULL;
double *nav_speed = NULL;
double *nav_sensordepth = NULL;
double *nav_roll = NULL;
double *nav_pitch = NULL;
double *nav_heave = NULL;
/* output control */
int output_mode = OUTPUT_MODE_TAB;
double time_d = 0.0;
int time_i[7];
int time_j[5];
char buffer[MB_PATH_MAXLINE];
char type[MB_PATH_MAXLINE];
char printformat[MB_PATH_MAXLINE];
char *result;
int nscan;
double dvalue;
double sec;
int ivalue;
int index;
int jinterp = 0;
int nchar;
int nget;
int nav_ok;
int interp_status;
int i, j;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set file to null */
file[0] = '\0';
nav_file[0] = '\0';
strcpy(printformat, "default");
/* process argument list */
while ((c = getopt(argc, argv, "F:f:I:i:L:l:M:m:N:n:O:o:PpSsVvWwHh")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'F':
case 'f':
sscanf (optarg,"%s", printformat);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", file);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'M':
case 'm':
sscanf (optarg,"%d", &output_mode);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg,"%s", nav_file);
nav_merge = MB_YES;
flag++;
break;
case 'O':
case 'o':
nscan = sscanf (optarg,"%s", printfields[nprintfields].name);
if (strlen(printformat) > 0 && strcmp(printformat, "default") != 0)
{
printfields[nprintfields].formatset = MB_YES;
strcpy(printfields[nprintfields].format,printformat);
}
else
{
printfields[nprintfields].formatset = MB_NO;
strcpy(printfields[nprintfields].format,"");
}
printfields[nprintfields].index = -1;
nprintfields++;
flag++;
break;
case 'P':
case 'p':
printheader = MB_YES;
flag++;
break;
case 'S':
case 's':
angles_in_degrees = MB_YES;
flag++;
break;
case '?':
errflg++;
}
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(stderr,"usage: %s\n", usage_message);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(stderr,"\nProgram %s\n",program_name);
fprintf(stderr,"Version %s\n",rcs_id);
fprintf(stderr,"MB-system Version %s\n",MB_VERSION);
}
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Program <%s>\n",program_name);
fprintf(stderr,"dbg2 Version %s\n",rcs_id);
fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(stderr,"dbg2 Control Parameters:\n");
fprintf(stderr,"dbg2 verbose: %d\n",verbose);
fprintf(stderr,"dbg2 help: %d\n",help);
fprintf(stderr,"dbg2 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 file: %s\n",file);
fprintf(stderr,"dbg2 nav_file: %s\n",nav_file);
fprintf(stderr,"dbg2 output_mode: %d\n",output_mode);
fprintf(stderr,"dbg2 printheader: %d\n",printheader);
fprintf(stderr,"dbg2 angles_in_degrees:%d\n",angles_in_degrees);
fprintf(stderr,"dbg2 nprintfields: %d\n",nprintfields);
for (i=0;i<nprintfields;i++)
fprintf(stderr,"dbg2 printfields[%d]: %s %d %s\n",
i,printfields[i].name,
printfields[i].formatset,
printfields[i].format);
}
/* 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);
}
/* if nav merging to be done get nav */
if (nav_merge == MB_YES && strlen(nav_file) > 0)
{
/* count the data points in the nav file */
nav_num = 0;
nchar = MB_PATH_MAXLINE-1;
if ((fp = fopen(nav_file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open Navigation File <%s> for reading\n",nav_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
while ((result = fgets(buffer,nchar,fp)) == buffer)
nav_num++;
fclose(fp);
/* allocate arrays for nav */
if (nav_num > 0)
{
nav_alloc = nav_num;
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_time_d,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_navlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_navlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_heading,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_speed,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_sensordepth,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_roll,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_pitch,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_heave,&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 the data points in the nav file */
nav_num = 0;
if ((fp = fopen(nav_file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open navigation File <%s> for reading\n",nav_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
while ((result = fgets(buffer,nchar,fp)) == buffer)
{
nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
&time_i[0],&time_i[1],&time_i[2],
&time_i[3],&time_i[4],&sec,
&nav_time_d[nav_num],
&nav_navlon[nav_num],&nav_navlat[nav_num],
&nav_heading[nav_num],&nav_speed[nav_num],&nav_sensordepth[nav_num],
&nav_roll[nav_num],&nav_pitch[nav_num],&nav_heave[nav_num]);
if (nget >= 9)
nav_ok = MB_YES;
else
nav_ok = MB_NO;
if (nav_num > 0 && nav_time_d[nav_num] <= nav_time_d[nav_num-1])
nav_ok = MB_NO;
if (nav_ok == MB_YES)
nav_num++;
}
fclose(fp);
}
fprintf(stderr,"%d %d records read from nav file %s\n",nav_alloc,nav_num,nav_file);
/* open the input file */
if ((fp = fopen(file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
fprintf(stderr,"\nUnable to open log file <%s> for reading\n",file);
exit(status);
}
nfields = 0;
recordsize = 0;
while ((result = fgets(buffer,MB_PATH_MAXLINE,fp)) == buffer
&& strncmp(buffer, "# begin",7) != 0)
{
nscan = sscanf(buffer, "# %s %s %s",
type,
fields[nfields].name,
fields[nfields].format);
if (nscan == 2)
{
if (printheader == MB_YES)
fprintf(stdout,"# csv %s\n", fields[nfields].name);
}
else if (nscan == 3)
{
if (printheader == MB_YES)
fprintf(stdout,"%s",buffer);
result = (char *) strchr(buffer, ',');
strcpy(fields[nfields].description, &(result[1]));
result = (char *) strchr(fields[nfields].description, ',');
result[0] = 0;
result = (char *) strrchr(buffer, ',');
strcpy(fields[nfields].units, &(result[1]));
fields[nfields].index = recordsize;
if (strcmp(type, "double") == 0)
{
fields[nfields].type = TYPE_DOUBLE;
fields[nfields].size = 8;
if (angles_in_degrees == MB_YES
&&(strcmp(fields[nfields].name, "mLatK") == 0
|| strcmp(fields[nfields].name, "mLonK") == 0
|| strcmp(fields[nfields].name, "mLatK") == 0
|| strcmp(fields[nfields].name, "mRollK") == 0
|| strcmp(fields[nfields].name, "mPitchK") == 0
|| strcmp(fields[nfields].name, "mHeadK") == 0
|| strcmp(fields[nfields].name, "mYawK") == 0
|| strcmp(fields[nfields].name, "mLonCB") == 0
|| strcmp(fields[nfields].name, "mLatCB") == 0
|| strcmp(fields[nfields].name, "mRollCB") == 0
|| strcmp(fields[nfields].name, "mPitchCB") == 0
|| strcmp(fields[nfields].name, "mHeadCB") == 0
|| strcmp(fields[nfields].name, "mYawCB") == 0))
fields[nfields].scale = RTD;
else
fields[nfields].scale = 1.0;
recordsize += 8;
}
else if (strcmp(type, "integer") == 0)
{
fields[nfields].type = TYPE_INTEGER;
fields[nfields].size = 4;
fields[nfields].scale = 1.0;
recordsize += 4;
}
else if (strcmp(type, "timeTag") == 0)
{
fields[nfields].type = TYPE_TIMETAG;
fields[nfields].size = 8;
fields[nfields].scale = 1.0;
recordsize += 8;
}
else if (strcmp(type, "angle") == 0)
{
fields[nfields].type = TYPE_ANGLE;
fields[nfields].size = 8;
if (angles_in_degrees == MB_YES
&&(strcmp(fields[nfields].name, "mRollCB") == 0
|| strcmp(fields[nfields].name, "mOmega_xCB") == 0
|| strcmp(fields[nfields].name, "mPitchCB") == 0
|| strcmp(fields[nfields].name, "mOmega_yCB") == 0
|| strcmp(fields[nfields].name, "mYawCB") == 0
|| strcmp(fields[nfields].name, "mOmega_zCB") == 0))
fields[nfields].scale = RTD;
else
fields[nfields].scale = 1.0;
recordsize += 8;
}
nfields++;
}
}
/* end here if asked only to print header */
if (nprintfields == 0 && printheader == MB_YES)
exit(error);
/* by default print everything */
if (nprintfields == 0)
{
nprintfields = nfields;
for (i=0;i<nfields;i++)
{
strcpy(printfields[i].name, fields[i].name);
printfields[i].index = i;
printfields[i].formatset = MB_NO;
strcpy(printfields[i].format, fields[i].format);
}
}
/* check the fields to be printed */
for (i=0;i<nprintfields;i++)
{
if (strcmp(printfields[i].name,"zero") == 0)
{
printfields[i].index = INDEX_ZERO;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%f");
}
}
else if (strcmp(printfields[i].name,"timeTag") == 0)
{
printfields[i].index = INDEX_ZERO;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.8f");
}
}
else if (strcmp(printfields[i].name,"mergeLon") == 0)
{
printfields[i].index = INDEX_MERGE_LON;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.9f");
}
}
else if (strcmp(printfields[i].name,"mergeLat") == 0)
{
printfields[i].index = INDEX_MERGE_LAT;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.9f");
}
}
else if (strcmp(printfields[i].name,"mergeHeading") == 0)
{
printfields[i].index = INDEX_MERGE_HEADING;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeSpeed") == 0)
{
printfields[i].index = INDEX_MERGE_SPEED;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeDraft") == 0)
{
printfields[i].index = INDEX_MERGE_SENSORDEPTH;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeSensordepth") == 0)
{
printfields[i].index = INDEX_MERGE_SENSORDEPTH;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeRoll") == 0)
{
printfields[i].index = INDEX_MERGE_ROLL;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergePitch") == 0)
{
printfields[i].index = INDEX_MERGE_PITCH;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeHeave") == 0)
{
printfields[i].index = INDEX_MERGE_HEAVE;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else
{
for (j=0;j<nfields;j++)
{
if (strcmp(printfields[i].name, fields[j].name) == 0)
printfields[i].index = j;
}
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, fields[printfields[i].index].format);
}
}
}
/* if verbose print list of print field names */
if (verbose > 0)
{
for (i=0;i<nprintfields;i++)
{
if (i == 0)
fprintf(stdout, "# ");
fprintf(stdout, "%s", printfields[i].name);
if (i < nprintfields-1)
fprintf(stdout, " | ");
else
fprintf(stdout, "\n");
}
}
/* read the data records in the auv log file */
nrecord = 0;
while (fread(buffer, recordsize, 1, fp) == 1)
{
for (i=0;i<nprintfields;i++)
{
index = printfields[i].index;
if (index == INDEX_ZERO)
{
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_LON)
{
interp_status = mb_linear_interp_longitude(verbose,
nav_time_d-1, nav_navlon-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_LAT)
{
interp_status = mb_linear_interp_latitude(verbose,
nav_time_d-1, nav_navlat-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_HEADING)
{
interp_status = mb_linear_interp_heading(verbose,
nav_time_d-1, nav_heading-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_SPEED)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_speed-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_SENSORDEPTH)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_sensordepth-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_ROLL)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_roll-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_PITCH)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_pitch-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_HEAVE)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_heave-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (fields[index].type == TYPE_DOUBLE)
{
mb_get_binary_double(MB_YES, &buffer[fields[index].index], &dvalue);
dvalue *= fields[index].scale;
if ((strcmp(fields[nfields].name, "mHeadK") == 0
|| strcmp(fields[nfields].name, "mYawK") == 0)
&& angles_in_degrees == MB_YES
&& dvalue < 0.0)
dvalue += 360.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (fields[index].type == TYPE_INTEGER)
{
mb_get_binary_int(MB_YES, &buffer[fields[index].index], &ivalue);
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&ivalue, sizeof(int), 1, stdout);
else
fprintf(stdout, printfields[i].format, ivalue);
}
else if (fields[index].type == TYPE_TIMETAG)
{
mb_get_binary_double(MB_YES, &buffer[fields[index].index], &dvalue);
time_d = dvalue;
if (strcmp(printfields[i].format, "time_i") == 0)
{
mb_get_date(verbose,time_d,time_i);
if (output_mode == OUTPUT_MODE_BINARY)
{
fwrite(time_i, sizeof(int), 7, stdout);
}
else
{
fprintf(stdout,"%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d",
time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6]);
}
}
else if (strcmp(printfields[i].format, "time_j") == 0)
{
mb_get_date(verbose,time_d,time_i);
mb_get_jtime(verbose,time_i,time_j);
if (output_mode == OUTPUT_MODE_BINARY)
{
fwrite(&time_i[0], sizeof(int), 1, stdout);
fwrite(&time_j[1], sizeof(int), 1, stdout);
fwrite(&time_i[3], sizeof(int), 1, stdout);
fwrite(&time_i[4], sizeof(int), 1, stdout);
fwrite(&time_i[5], sizeof(int), 1, stdout);
fwrite(&time_i[6], sizeof(int), 1, stdout);
}
else
{
fprintf(stdout,"%4.4d %3.3d %2.2d %2.2d %2.2d.%6.6d",
time_i[0],time_j[1],time_i[3],time_i[4],time_i[5],time_i[6]);
}
}
else
{
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, time_d);
}
}
else if (fields[index].type == TYPE_ANGLE)
{
mb_get_binary_double(MB_YES, &buffer[fields[index].index], &dvalue);
dvalue *= fields[index].scale;
if (strcmp(fields[index].name, "mYawCB") == 0
&& angles_in_degrees == MB_YES
&& dvalue < 0.0)
dvalue += 360.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
if (output_mode == OUTPUT_MODE_TAB)
{
if (i < nprintfields - 1)
fprintf(stdout, "\t");
else
fprintf(stdout, "\n");
}
else if (output_mode == OUTPUT_MODE_CSV)
{
if (i < nprintfields - 1)
fprintf(stdout, ",");
else
fprintf(stdout, "\n");
}
}
nrecord++;
}
fclose(fp);
/* deallocate arrays for navigation */
if (nav_alloc > 0)
{
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_time_d,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_navlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_navlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_heading,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_speed,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_sensordepth,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_roll,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_pitch,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_heave,&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)
{
#ifdef MBCONTOURFILTER
char program_name[] = "MBCONTOURFILTER";
char help_message[] = "MBCONTOURFILTER is a utility which creates a pen plot \ncontour map of multibeam swath bathymetry. \nThe primary purpose of this program is to serve as \npart of a real-time plotting system. The contour \nlevels and colors can be controlled \ndirectly or set implicitly using contour and color change intervals. \nContours can also be set to have ticks pointing downhill.";
char usage_message[] = "mbcontourfilter -Jparameters -Rwest/east/south/north \n\t[-Acontour_int/color_int/tick_int/label_int/tick_len/label_hgt/label_spacing \n\t-Btickinfo -byr/mon/day/hour/min/sec -Ccontourfile \n\t-Dtime_tick/time_annot/date_annot/time_tick_len -Eyr/mon/day/hour/min/sec \n\t-fformat -Fred/green/blue -Idatalist -K -Llonflip -M -O -Nnplot \n\t-P -ppings -Q -Ttimegap -U -Xx-shift -Yy-shift -Zalgorithm -#copies -V -H]";
#else
char program_name[] = "MBCONTOUR";
char help_message[] = "MBCONTOUR is a GMT compatible utility which creates a color postscript \ncontour map of multibeam swath bathymetry. \nComplete maps are made by using MBCONTOUR in conjunction with the \nusual GMT programs. The contour levels and colors can be controlled \ndirectly or set implicitly using contour and color change intervals. \nContours can also be set to have ticks pointing downhill.";
char usage_message[] = "mbcontour -Jparameters -Rwest/east/south/north \n\t[-Acontour_int/color_int/tick_int/label_int/tick_len/label_hgt/label_spacing \n\t-Btickinfo -byr/mon/day/hour/min/sec -Ccontourfile -ccopies \n\t-Dtime_tick/time_annot/date_annot/time_tick_len \n\t-Eyr/mon/day/hour/min/sec \n\t-fformat -Fred/green/blue -Idatalist -K -Llonflip -Nnplot -O \n\t-P -ppings -U -Xx-shift -Yy-shift -Zalgorithm -V -H]";
#endif
extern char *optarg;
int argc_gmt = 0;
char *argv_gmt[MBCONTOUR_GMT_ARG_MAX];
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 = NULL;
/* MBIO read control parameters */
char read_file[MBCONTOUR_LABEL_LEN];
int read_datalist;
int read_data;
void *datalist;
int look_processed = MB_DATALIST_LOOK_UNSET;
double file_weight;
FILE *fp;
int format;
int pings;
int lonflip;
int lonflip_set = MB_NO;
double bounds[4];
double mb_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 file_in_bounds;
int beams_bath;
int beams_amp;
int pixels_ss;
void *mbio_ptr = NULL;
/* mbio read values */
struct swath *swath_plot = NULL;
struct ping *pingcur = NULL;
int kind;
int pings_read;
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[256];
int pingnumber;
/* plot control variables */
int contour_algorithm;
char contourfile[MB_PATH_MAXLINE];
int plot;
int done;
int flush;
int save_new;
int *npings = NULL;
int nping_read;
int nplot;
int plot_contours;
int plot_triangles;
int set_contours;
double cont_int;
double col_int;
double tick_int;
double label_int;
double tick_len;
double label_hgt;
double label_spacing;
double tick_len_map;
double label_hgt_map;
double label_spacing_map;
int plot_name;
int plotted_name;
int plot_track;
double time_tick_int;
double time_annot_int;
double date_annot_int;
double time_tick_len;
double time_tick_len_map;
double name_hgt;
double name_hgt_map;
int name_perp;
double scale;
int bathy_in_feet;
int plot_pingnumber;
int pingnumber_tick_int;
int pingnumber_annot_int;
double pingnumber_tick_len;
double pingnumber_tick_len_map;
/* pen variables */
int ncolor;
int nlevel;
double *level = NULL;
int *red = NULL;
int *green = NULL;
int *blue = NULL;
int *label = NULL;
int *tick = NULL;
/* inch to map scale */
double inchtolon;
/* other variables */
char line[MBCONTOUR_LABEL_LEN];
char labelstr[MBCONTOUR_LABEL_LEN], tickstr[MBCONTOUR_LABEL_LEN];
int count;
int setcolors;
double navlon_old;
double navlat_old;
int i1, i2;
double d1, d2, d3, d4, d5, d6, d7;
int nscan;
int i;
/* get current mb default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set default input to stdin */
strcpy (read_file, "stdin");
/* initialize some values */
format = -1;
read_datalist = MB_NO;
contour_algorithm = MB_CONTOUR_OLD;
strcpy (contourfile,"\0");
set_contours = MB_NO;
bounds[0] = 0.0;
bounds[1] = 0.0;
bounds[2] = 0.0;
bounds[3] = 0.0;
scale = 0.0;
nplot = 0;
cont_int = 25.;
col_int = 100.;
tick_int = 100.;
label_int = 100.;
label_hgt = 0.1;
label_spacing = 0.0;
tick_len = 0.05;
plot_name = MB_NO;
plot_track = MB_NO;
time_tick_int = 0.25;
time_annot_int = 1.0;
date_annot_int = 4.0;
time_tick_len = 0.1;
name_hgt = 0.1;
name_perp = MB_NO;
ncolor = 4;
nlevel = 0;
plot_contours = MB_NO;
plot_triangles = MB_NO;
bathy_in_feet = MB_NO;
plot_pingnumber = MB_NO;
pingnumber_tick_int = 50;
pingnumber_annot_int = 100;
pingnumber_tick_len = 0.1;
/* get GMT options into separate argv */
argv_gmt[0] = argv[0];
argc_gmt = 1;
for (i=1;i<argc;i++)
{
if (argv[i][0] == '-')
{
switch (argv[i][1])
{
case 'B':
case 'F':
case 'J':
case 'j':
case 'K':
case 'k':
case 'O':
case 'o':
case 'P':
case 'R':
case 'r':
case 'U':
case 'u':
case 'V':
case 'v':
case 'X':
case 'x':
case 'Y':
case 'y':
case '#':
if (argc_gmt < MBCONTOUR_GMT_ARG_MAX)
{
argv_gmt[argc_gmt] = argv[i];
argc_gmt++;
break;
}
}
}
}
/* deal with mb options */
while ((c = getopt(argc, argv, "VvHhA:a:B:b:C:c:D:d:E:e:F:f:G:g:I:i:J:j:KkL:l:M:m:N:n:OoPp:QqR:r:S:s:T:t:UuWwX:x:Y:y:Z:z:")) != -1)
switch (c)
{
case 'A':
case 'a':
nscan = sscanf (optarg, "%lf/%lf/%lf/%lf/%lf/%lf/%lf",
&d1,&d2,&d3,&d4,&d5,&d6,&d7);
if (nscan >= 1)
cont_int = d1;
if (nscan >= 2)
col_int = d2;
if (nscan >= 3)
tick_int = d3;
if (nscan >= 4)
label_int = d4;
if (nscan >= 5)
tick_len = d5;
if (nscan >= 6)
label_hgt = d6;
if (nscan >= 7)
label_spacing = d7;
if (nscan >= 1)
plot_contours = MB_YES;
break;
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;
break;
case 'C':
sscanf (optarg,"%s", contourfile);
plot_contours = MB_YES;
set_contours = MB_YES;
break;
case 'D':
case 'd':
sscanf (optarg, "%lf/%lf/%lf/%lf",
&time_tick_int,&time_annot_int,
&date_annot_int,&time_tick_len);
plot_track = MB_YES;
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;
break;
case 'f':
sscanf (optarg, "%d",&format);
break;
case 'G':
case 'g':
nscan = sscanf (optarg, "%lf/%d", &name_hgt, &name_perp);
plot_name = MB_YES;
if (nscan < 1)
name_hgt = 0.1;
if (nscan < 2)
name_perp = MB_NO;
break;
case 'H':
case 'h':
help++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", read_file);
flag++;
break;
case 'J':
if (optarg[0] == 'm')
sscanf (&optarg[1],"%lf", &scale);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
lonflip_set = MB_YES;
flag++;
break;
case 'M':
case 'm':
nscan = sscanf (optarg, "%d/%d/%lf",
&i1,&i2,&d3);
if (nscan >= 1)
pingnumber_tick_int = i1;
if (nscan >= 2)
pingnumber_annot_int = i2;
if (nscan >= 3)
pingnumber_tick_len = d3;
if (nscan >= 1)
plot_pingnumber = MB_YES;
break;
case 'N':
case 'n':
sscanf (optarg,"%d", &nplot);
if (nplot < 3) nplot = 3;
break;
case 'p':
sscanf (optarg,"%d", &pings);
flag++;
break;
case 'Q':
case 'q':
plot_triangles = MB_YES;
break;
case 'R':
case 'r':
sscanf(optarg,"%lf/%lf/%lf/%lf",
&bounds[0],&bounds[1],
&bounds[2],&bounds[3]);
break;
case 'S':
case 's':
sscanf (optarg, "%lf", &speedmin);
break;
case 'T':
case 't':
sscanf (optarg,"%lf", &timegap);
flag++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'W':
case 'w':
bathy_in_feet = MB_YES;
break;
case 'Z':
case 'z':
sscanf (optarg,"%d", &contour_algorithm);
flag++;
break;
case 'B':
case 'F':
case 'K':
case 'O':
case 'P':
case 'U':
case 'X':
case 'x':
case 'Y':
case 'y':
case '#':
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);
}
/* set number of pings to be plotted if not set */
if (nplot == 0 && contour_algorithm == MB_CONTOUR_TRIANGLES)
nplot = 5;
else if (nplot == 0)
nplot = 50;
/* if nothing set to be plotted, plot contours and track */
if (plot_contours == MB_NO && plot_triangles == MB_NO
&& plot_track == MB_NO && plot_pingnumber == MB_NO)
{
plot_contours = MB_YES;
plot_track = MB_YES;
}
if (plot_name == MB_YES && plot_track == MB_NO
&& plot_pingnumber == MB_NO)
{
plot_track = MB_YES;
}
if (plot_track == MB_NO
&& plot_pingnumber == MB_YES)
{
plot_track = MB_YES;
time_tick_int = 10000000.0;
time_annot_int = 10000000.0;
date_annot_int = 10000000.0;
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(stderr,"\nProgram %s\n",program_name);
fprintf(stderr,"MB-system Version %s\n",MB_VERSION);
}
/* 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);
}
/* initialize plotting */
status = plot_init(verbose,argc_gmt,argv_gmt,bounds,&scale,&inchtolon,&error);
/* if error flagged then print it and exit */
if (status == MB_FAILURE)
{
fprintf(stderr,"usage: %s\n", usage_message);
fprintf(stderr,"GMT option error\n");
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* 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 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 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 contour algorithm: %d\n",contour_algorithm);
fprintf(stderr,"dbg2 plot contours: %d\n",plot_contours);
fprintf(stderr,"dbg2 plot triangles: %d\n",plot_triangles);
fprintf(stderr,"dbg2 plot track: %d\n",plot_track);
fprintf(stderr,"dbg2 plot_pingnumber: %d\n",plot_pingnumber);
fprintf(stderr,"dbg2 plot name: %d\n",plot_name);
fprintf(stderr,"dbg2 contour interval: %f\n",cont_int);
fprintf(stderr,"dbg2 color interval: %f\n",col_int);
fprintf(stderr,"dbg2 tick interval: %f\n",tick_int);
fprintf(stderr,"dbg2 label interval: %f\n",label_int);
fprintf(stderr,"dbg2 tick length: %f\n",tick_len);
fprintf(stderr,"dbg2 label height: %f\n",label_hgt);
fprintf(stderr,"dbg2 label spacing: %f\n",label_spacing);
fprintf(stderr,"dbg2 number contoured: %d\n",nplot);
fprintf(stderr,"dbg2 time tick int: %f\n",time_tick_int);
fprintf(stderr,"dbg2 time interval: %f\n",time_annot_int);
fprintf(stderr,"dbg2 date interval: %f\n",date_annot_int);
fprintf(stderr,"dbg2 time tick length: %f\n",time_tick_len);
fprintf(stderr,"dbg2 name height: %f\n",name_hgt);
fprintf(stderr,"dbg2 pingnumber tick int: %d\n",pingnumber_tick_int);
fprintf(stderr,"dbg2 pingnumber annot int: %d\n",pingnumber_annot_int);
fprintf(stderr,"dbg2 pingnumber tick len: %f\n",pingnumber_tick_len);
fprintf(stderr,"dbg2 bathy_in_feet: %d\n\n",bathy_in_feet);
}
/* if bounds not specified then quit */
if (bounds[0] >= bounds[1] || bounds[2] >= bounds[3]
|| bounds[2] <= -90.0 || bounds[3] >= 90.0)
{
fprintf(stderr,"\nRegion bounds not properly specified:\n\t%f %f %f %f\n",bounds[0],bounds[1],bounds[2],bounds[3]);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_PARAMETER;
exit(error);
}
/* scale label and tick sizes */
label_hgt_map = inchtolon * label_hgt;
label_spacing_map = inchtolon * label_spacing;
tick_len_map = inchtolon * tick_len;
time_tick_len_map = inchtolon * time_tick_len;
name_hgt_map = inchtolon * name_hgt;
pingnumber_tick_len_map = inchtolon * pingnumber_tick_len;
/* read contours from file */
if (set_contours == MB_YES)
{
/* open contour file */
if ((fp = fopen(contourfile,"r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open contour file: %s\n",
contourfile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* count lines in file */
nlevel = 0;
while (fgets(line,MBCONTOUR_LABEL_LEN,fp) != NULL)
nlevel++;
fclose(fp);
/* set number of colors equal to levels */
ncolor = nlevel;
/* allocate memory */
status = mb_mallocd(verbose, __FILE__, __LINE__, nlevel*sizeof(double), (void **)&level,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, nlevel*sizeof(int), (void **)&label,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, nlevel*sizeof(int), (void **)&tick,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, ncolor*sizeof(int), (void **)&red,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, ncolor*sizeof(int), (void **)&green,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, ncolor*sizeof(int), (void **)&blue,&error);
/* reopen contour file */
if ((fp = fopen(contourfile,"r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open contour file: %s\n",
contourfile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* read contour levels from file */
nlevel = 0;
while (fgets(line,MBCONTOUR_LABEL_LEN,fp) != NULL)
{
count = sscanf(line,"%lf %s %s %d %d %d",
&level[nlevel],labelstr,tickstr,
&red[nlevel],&green[nlevel],&blue[nlevel]);
setcolors = MB_YES;
if (count >= 2 && labelstr[0] == 'a')
label[nlevel] = 1;
else if (count >= 2 && labelstr[0] == 'n')
label[nlevel] = 0;
else
{
label[nlevel] = 0;
setcolors = MB_NO;
}
if (count >= 3 && tickstr[0] == 't')
tick[nlevel] = 1;
else if (count >= 3 && tickstr[0] == 'n')
tick[nlevel] = 0;
else
{
tick[nlevel] = 0;
setcolors = MB_NO;
}
if (count < 6 || setcolors == MB_NO)
{
red[nlevel] = 0;
green[nlevel] = 0;
blue[nlevel] = 0;
}
if (count > 0) nlevel++;
}
fclose(fp);
}
/* else set default colors and use contour intervals */
else
{
/* set defaults */
nlevel = 0;
ncolor = 4;
/* allocate memory */
status = mb_mallocd(verbose, __FILE__, __LINE__, ncolor*sizeof(int), (void **)&red,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, ncolor*sizeof(int), (void **)&green,&error);
status = mb_mallocd(verbose, __FILE__, __LINE__, ncolor*sizeof(int), (void **)&blue,&error);
/* set colors */
red[0] = 0; green[0] = 0; blue[0] = 0; /* black */
red[1] = 255; green[1] = 0; blue[1] = 0; /* red */
red[2] = 0; green[2] = 200; blue[2] = 0; /* green */
red[3] = 0; green[3] = 0; blue[3] = 255; /* blue */
}
/* set colors */
set_colors(ncolor,red,green,blue);
/* set bounds for multibeam reading larger than
map borders */
mb_bounds[0] = bounds[0] - 0.25*(bounds[1] - bounds[0]);
mb_bounds[1] = bounds[1] + 0.25*(bounds[1] - bounds[0]);
mb_bounds[2] = bounds[2] - 0.25*(bounds[3] - bounds[2]);
mb_bounds[3] = bounds[3] + 0.25*(bounds[3] - bounds[2]);
/* set lonflip if possible */
if (lonflip_set == MB_NO)
{
if (mb_bounds[0] < -180.0)
lonflip = -1;
else if (mb_bounds[1] > 180.0)
lonflip = 1;
else if (lonflip == -1 && mb_bounds[1] > 0.0)
lonflip = 0;
else if (lonflip == 1 && mb_bounds[0] < 0.0)
lonflip = 0;
}
/* determine whether to read one file or a list of files */
if (format < 0)
read_datalist = MB_YES;
/* open file list */
nping_read = 0;
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
{
strcpy(file,read_file);
read_data = MB_YES;
}
/* loop over files in file list */
if (verbose == 1)
fprintf(stderr,"\n");
while (read_data == MB_YES)
{
/* check for mbinfo file - get file bounds if possible */
status = mb_check_info(verbose, file, lonflip, bounds,
&file_in_bounds, &error);
if (status == MB_FAILURE)
{
file_in_bounds = MB_YES;
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
}
/* read if data may be in bounds */
if (file_in_bounds == MB_YES)
{
/* check for "fast bathymetry" or "fbt" file */
if (plot_contours == MB_YES)
{
mb_get_fbt(verbose, file, &format, &error);
}
/* else check for "fast nav" or "fnv" file */
else if (plot_track == MB_YES || plot_pingnumber == MB_YES)
{
mb_get_fnv(verbose, file, &format, &error);
}
/* call mb_read_init() */
if ((status = mb_read_init(
verbose,file,format,pings,lonflip,mb_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 **)&bathlon, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathlat, &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 **)&sslon, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&sslat, &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);
}
/* initialize contour controls */
status = mb_contour_init(verbose,&swath_plot,nplot,beams_bath,
contour_algorithm,
plot_contours,plot_triangles,
plot_track,plot_name,plot_pingnumber,
cont_int,col_int,tick_int,label_int,
tick_len_map,label_hgt_map,label_spacing_map,
ncolor,nlevel,level,label,tick,
time_tick_int,time_annot_int,
date_annot_int,time_tick_len_map,name_hgt_map,
pingnumber_tick_int,pingnumber_annot_int,
pingnumber_tick_len_map,
&error);
swath_plot->beams_bath = beams_bath;
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nMBIO Error allocating contour control structure:\n%s\n",message);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* print message */
if (verbose >= 2)
fprintf(stderr,"\n");
if (verbose >= 1)
fprintf(stderr,"processing data in %s...\n",file);
/* loop over reading */
npings = &swath_plot->npings;
*npings = 0;
done = MB_NO;
plotted_name = MB_NO;
while (done == MB_NO)
{
/* read the next ping */
status = mb_read(verbose,mbio_ptr,&kind,
&pings_read,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);
/* get pingnumber */
if (status == MB_SUCCESS)
{
status = mb_pingnumber(verbose,mbio_ptr,&pingnumber,&error);
}
/* copy data to swath_plot */
if (status == MB_SUCCESS || error == MB_ERROR_TIME_GAP)
{
pingcur = &swath_plot->pings[*npings];
/* make sure enough memory is allocated */
if (pingcur->beams_bath_alloc < beams_bath)
{
status = mb_reallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(char),
(void **)&(pingcur->beamflag),&error);
status = mb_reallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double),
(void **)&(pingcur->bath),&error);
status = mb_reallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double),
(void **)&(pingcur->bathlon),&error);
status = mb_reallocd(verbose, __FILE__, __LINE__, beams_bath*sizeof(double),
(void **)&(pingcur->bathlat),&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(int),
(void **)&(pingcur->bflag[0]),&error);
status = mb_reallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(int),
(void **)&(pingcur->bflag[1]),&error);
pingcur->beams_bath_alloc = beams_bath;
}
/* insert the data */
for (i=0;i<7;i++)
pingcur->time_i[i] = time_i[i];
pingcur->time_d = time_d;
pingcur->navlon = navlon;
pingcur->navlat = navlat;
pingcur->heading = heading;
pingcur->beams_bath = beams_bath;
pingcur->pingnumber = pingnumber;
for (i=0;i<beams_bath;i++)
{
pingcur->beamflag[i] = beamflag[i];
pingcur->bath[i] = bath[i];
pingcur->bathlon[i] = bathlon[i];
pingcur->bathlat[i] = bathlat[i];
pingcur->bflag[0][i] = 0;
pingcur->bflag[1][i] = 0;
}
}
/* null out any unused beams for formats with
variable numbers of beams */
for (i=beams_bath;i<swath_plot->beams_bath;i++)
beamflag[i] = MB_FLAG_NULL;
/* 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 npings: %d\n",
*npings);
fprintf(stderr,"dbg2 time: %4d %2d %2d %2d %2d %2d %6.6d\n",
time_i[0],time_i[1],time_i[2],
time_i[3],time_i[4],time_i[5],time_i[6]);
fprintf(stderr,"dbg2 navigation: %f %f\n",
navlon, navlat);
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);
}
/* scale bathymetry if necessary */
if (error == MB_ERROR_NO_ERROR
&& bathy_in_feet == MB_YES)
{
for (i=0;i<beams_bath;i++)
{
bath[i] = 3.2808399 * bath[i];
}
}
/* update bookkeeping */
if (error == MB_ERROR_NO_ERROR)
{
/*if (*npings == 0 ||
(*npings > 0
&& contour_algorithm == MB_CONTOUR_TRIANGLES)
|| (*npings > 0
&& (navlon != navlon_old
|| navlat != navlat_old)))*/
{
nping_read += pings_read;
(*npings)++;
navlon_old = navlon;
navlat_old = navlat;
}
}
/* decide whether to plot, whether to
save the new ping, and if done */
plot = MB_NO;
flush = MB_NO;
if (*npings >= nplot)
plot = MB_YES;
if (*npings > 0
&& (error > MB_ERROR_NO_ERROR
|| error == MB_ERROR_TIME_GAP
|| error == MB_ERROR_OUT_BOUNDS
|| error == MB_ERROR_OUT_TIME
|| error == MB_ERROR_SPEED_TOO_SMALL))
{
plot = MB_YES;
flush = MB_YES;
}
save_new = MB_NO;
if (error == MB_ERROR_TIME_GAP)
save_new = MB_YES;
if (error > MB_ERROR_NO_ERROR)
done = MB_YES;
/* if enough pings read in, plot them */
if (plot == MB_YES)
{
/* print debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Plotting %d pings in program <%s>\n",
*npings,program_name);
for (i=0;i<*npings;i++)
{
pingcur = &swath_plot->pings[i];
fprintf(stderr,"dbg2 %4d %4d %2d %2d %2d %2d %2d %6.6d\n",
i,pingcur->time_i[0],
pingcur->time_i[1],
pingcur->time_i[2],
pingcur->time_i[3],
pingcur->time_i[4],
pingcur->time_i[5],
pingcur->time_i[6]);
}
}
/* plot data */
if (plot_contours == MB_YES
|| plot_triangles == MB_YES)
mb_contour(verbose,swath_plot,&error);
/* plot nav track */
if (plot_track == MB_YES)
mb_track(verbose,swath_plot,&error);
/* annotate pingnumber */
if (plot_pingnumber == MB_YES)
{
mb_trackpingnumber(verbose,swath_plot,&error);
}
if (plot_name == MB_YES && plotted_name == MB_NO)
{
mb_trackname(verbose,name_perp,swath_plot,file,&error);
plotted_name = MB_YES;
}
/* reorganize data */
if (flush == MB_YES && save_new == MB_YES)
{
status = ping_copy(verbose,0,*npings,
swath_plot,&error);
*npings = 1;
}
else if (flush == MB_YES)
{
*npings = 0;
}
else if (*npings > 1)
{
status = ping_copy(verbose,0,*npings-1,
swath_plot,&error);
*npings = 1;
}
}
}
status = mb_close(verbose,&mbio_ptr,&error);
/* deallocate memory for data arrays */
status = mb_contour_deall(verbose,swath_plot,&error);
} /* end if file in bounds */
/* 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);
/* end plot */
plot_end(verbose,&error);
/* deallocate memory for data arrays */
mb_freed(verbose,__FILE__, __LINE__, (void **)&level,&error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&label,&error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&tick,&error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&red,&error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&green,&error);
mb_freed(verbose,__FILE__, __LINE__, (void **)&blue,&error);
/* print ending info */
if (verbose >= 1)
fprintf(stderr,"\n%d pings read and plotted\n",
nping_read);
/* check memory */
if (verbose >= 2)
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 */
plot_exit(argc,argv);
exit(status);
}
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 main (int argc, char **argv)
{
/* id variables */
char program_name[] = "HSDUMP";
char help_message[] = "HSDUMP lists the information contained in data records on\n\tHydrosweep DS data files, including survey, calibrate, water \n\tvelocity and comment records. The default input stream is stdin.";
char usage_message[] = "hsdump [-Fformat -V -H -Iinfile -Okind]";
/* parsing variables */
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 format_description[MB_DESCRIPTION_LENGTH];
char *message = NULL;
/* MBIO read and write control parameters */
int format = 0;
int pings;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double btime_d;
double etime_d;
double speedmin;
double timegap;
int beams_bath;
int beams_amp;
int pixels_ss;
char file[MB_PATH_MAXLINE];
void *mbio_ptr = NULL;
/* mbio read and write values */
void *store_ptr;
struct mbsys_hsds_struct *store;
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 = 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];
/* dump control parameters */
int mb_data_data_list = MB_NO;
int mb_data_comment_list = MB_NO;
int mb_data_calibrate_list = MB_NO;
int mb_data_mean_velocity_list = MB_NO;
int mb_data_velocity_profile_list = MB_NO;
int mb_data_standby_list = MB_NO;
int mb_data_nav_source_list = MB_NO;
int mb_data_data_count = 0;
int mb_data_comment_count = 0;
int mb_data_calibrate_count = 0;
int mb_data_mean_velocity_count = 0;
int mb_data_velocity_profile_count = 0;
int mb_data_standby_count = 0;
int mb_data_nav_source_count = 0;
/* output stream for basic stuff (stdout if verbose <= 1,
stderr if verbose > 1) */
FILE *output;
int i;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* reset all defaults */
format = MBF_HSATLRAW;
pings = 1;
lonflip = 0;
bounds[0] = -360.;
bounds[1] = 360.;
bounds[2] = -90.;
bounds[3] = 90.;
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;
/* set default input and output */
strcpy (file, "stdin");
/* process argument list */
while ((c = getopt(argc, argv, "VvHhF:f:I:i:O:o:")) != -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", file);
flag++;
break;
case 'O':
case 'o':
sscanf (optarg,"%d", &kind);
if (kind == MB_DATA_DATA)
mb_data_data_list = MB_YES;
if (kind == MB_DATA_COMMENT)
mb_data_comment_list = MB_YES;
if (kind == MB_DATA_CALIBRATE)
mb_data_calibrate_list = MB_YES;
if (kind == MB_DATA_MEAN_VELOCITY)
mb_data_mean_velocity_list = MB_YES;
if (kind == MB_DATA_VELOCITY_PROFILE)
mb_data_velocity_profile_list = MB_YES;
if (kind == MB_DATA_STANDBY)
mb_data_standby_list = MB_YES;
if (kind == MB_DATA_NAV_SOURCE)
mb_data_nav_source_list = MB_YES;
flag++;
break;
case '?':
errflg++;
}
/* set output stream */
if (verbose <= 1)
output = stdout;
else
output = stderr;
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(output,"usage: %s\n", usage_message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(output,"\nProgram %s\n",program_name);
fprintf(output,"MB-system Version %s\n",MB_VERSION);
}
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(output,"\ndbg2 Program <%s>\n",program_name);
fprintf(output,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(output,"dbg2 Control Parameters:\n");
fprintf(output,"dbg2 verbose: %d\n",verbose);
fprintf(output,"dbg2 help: %d\n",help);
fprintf(output,"dbg2 format: %d\n",format);
fprintf(output,"dbg2 pings: %d\n",pings);
fprintf(output,"dbg2 lonflip: %d\n",lonflip);
fprintf(output,"dbg2 bounds[0]: %f\n",bounds[0]);
fprintf(output,"dbg2 bounds[1]: %f\n",bounds[1]);
fprintf(output,"dbg2 bounds[2]: %f\n",bounds[2]);
fprintf(output,"dbg2 bounds[3]: %f\n",bounds[3]);
fprintf(output,"dbg2 btime_i[0]: %d\n",btime_i[0]);
fprintf(output,"dbg2 btime_i[1]: %d\n",btime_i[1]);
fprintf(output,"dbg2 btime_i[2]: %d\n",btime_i[2]);
fprintf(output,"dbg2 btime_i[3]: %d\n",btime_i[3]);
fprintf(output,"dbg2 btime_i[4]: %d\n",btime_i[4]);
fprintf(output,"dbg2 btime_i[5]: %d\n",btime_i[5]);
fprintf(output,"dbg2 btime_i[6]: %d\n",btime_i[6]);
fprintf(output,"dbg2 etime_i[0]: %d\n",etime_i[0]);
fprintf(output,"dbg2 etime_i[1]: %d\n",etime_i[1]);
fprintf(output,"dbg2 etime_i[2]: %d\n",etime_i[2]);
fprintf(output,"dbg2 etime_i[3]: %d\n",etime_i[3]);
fprintf(output,"dbg2 etime_i[4]: %d\n",etime_i[4]);
fprintf(output,"dbg2 etime_i[5]: %d\n",etime_i[5]);
fprintf(output,"dbg2 etime_i[6]: %d\n",etime_i[6]);
fprintf(output,"dbg2 speedmin: %f\n",speedmin);
fprintf(output,"dbg2 timegap: %f\n",timegap);
fprintf(output,"dbg2 input file: %s\n",file);
fprintf(output,"dbg2 mb_data_data_list: %d\n",
mb_data_data_list);
fprintf(output,"dbg2 mb_data_comment_list: %d\n",
mb_data_comment_list);
fprintf(output,"dbg2 mb_data_calibrate_list: %d\n",
mb_data_calibrate_list);
fprintf(output,"dbg2 mb_data_mean_velocity_list: %d\n",
mb_data_mean_velocity_list);
fprintf(output,"dbg2 mb_data_velocity_profile_list: %d\n",
mb_data_velocity_profile_list);
fprintf(output,"dbg2 mb_data_standby_list: %d\n",
mb_data_standby_list);
fprintf(output,"dbg2 mb_data_nav_source_list: %d\n",
mb_data_nav_source_list);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(output,"\n%s\n",help_message);
fprintf(output,"\nusage: %s\n", usage_message);
exit(error);
}
/* if bad format specified then print it and exit */
status = mb_format(verbose,&format,&error);
if (format != MBF_HSATLRAW && format != MBF_HSLDEOIH)
{
fprintf(output,"\nProgram <%s> requires complete Hydrosweep DS data stream\n",program_name);
fprintf(output,"!!Format %d is unacceptable, only formats %d and %d can be used\n",format,MBF_HSATLRAW,MBF_HSLDEOIH);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_FORMAT;
exit(error);
}
/* initialize reading the input multibeam 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(output,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(output,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for 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 **)&bathacrosstrack,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),
(void **)&bathalongtrack,&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 **)&ssacrosstrack,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),
(void **)&ssalongtrack,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error allocating data arrays:\n%s\n",message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* printf out file and format */
mb_format_description(verbose, &format, format_description, &error);
fprintf(output,"\nHydrosweep DS Data File: %s\n",file);
fprintf(output,"MBIO Data Format ID: %d\n",format);
fprintf(output,"%s",format_description);
/* read and list */
while (error <= MB_ERROR_NO_ERROR)
{
/* read some data */
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
status = mb_get_all(verbose,mbio_ptr,&store_ptr,&kind,
time_i,&time_d,&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&nbath,&namp,&nss,
beamflag,bath,amp,bathacrosstrack,bathalongtrack,
ss,ssacrosstrack,ssalongtrack,
comment,&error);
/* get data structure pointer */
store = (struct mbsys_hsds_struct *) store_ptr;
/* non-survey data do not matter to hsdump */
if (error >= MB_ERROR_OTHER && error < MB_ERROR_NO_ERROR)
{
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
}
/* output error messages */
if (verbose >= 1 && error <= MB_ERROR_OTHER)
{
mb_error(verbose,error,&message);
fprintf(output,"\nNonfatal MBIO Error:\n%s\n",message);
}
else if (verbose >= 1 && error > MB_ERROR_NO_ERROR
&& error != MB_ERROR_EOF)
{
mb_error(verbose,error,&message);
fprintf(output,"\nFatal MBIO Error:\n%s\n",message);
}
/* deal with survey data record */
if (kind == MB_DATA_DATA && mb_data_data_list == MB_YES)
{
mb_data_data_count++;
fprintf(output,"\n");
fprintf(output,"Survey Data Record (ERGNMESS + ERGNSLZT +ERGNAMPL):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Course: %f\n",
store->course_true);
fprintf(output," Course On Ground: %f\n",
store->course_ground);
fprintf(output," Speed: %f\n",
store->speed);
fprintf(output," Speed On Ground: %f\n",
store->speed_ground);
fprintf(output," Transverse Speed: %f\n",
store->speed_transverse);
fprintf(output," Speed Reference: %c%c\n",
store->speed_reference[0],
store->speed_reference[1]);
fprintf(output," Roll: %f\n",
store->roll);
fprintf(output," Pitch: %f\n",
store->pitch);
fprintf(output," Heave: %f\n",
store->heave);
fprintf(output," Track: %d\n",
store->track);
fprintf(output," Center Depth: %f\n",
store->depth_center);
fprintf(output," Depth Scale: %f\n",
store->depth_scale);
fprintf(output," Spare: %d\n",
store->spare);
fprintf(output," Crosstrack Distances and Depths:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->distance[i],store->depth[i]);
fprintf(output," Center Travel Time: %f\n",
store->time_center);
fprintf(output," Time Scale: %f\n",
store->time_scale);
fprintf(output," Travel Times:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d\n",
store->time[i]);
fprintf(output," Gyro Headings:\n");
for (i=0;i<11;i++)
fprintf(output," %f\n",
store->gyro[i]);
fprintf(output," Mode: %c%c\n",
store->mode[0],store->mode[1]);
fprintf(output," Transmit Starboard: %d\n",
store->trans_strbd);
fprintf(output," Transmit Vertical: %d\n",
store->trans_vert);
fprintf(output," Transmit Port: %d\n",
store->trans_port);
fprintf(output," Pulse Starboard: %d\n",
store->pulse_len_strbd);
fprintf(output," Pulse Vertical: %d\n",
store->pulse_len_vert);
fprintf(output," Pulse Port: %d\n",
store->pulse_len_port);
fprintf(output," Gain Start: %d\n",
store->gain_start);
fprintf(output," Compensation Factor:%d\n",
store->r_compensation_factor);
fprintf(output," Compensation Start: %d\n",
store->compensation_start);
fprintf(output," Increase Start: %d\n",
store->increase_start);
fprintf(output," Near TVC: %d\n",
store->tvc_near);
fprintf(output," Far TVC: %d\n",
store->tvc_far);
fprintf(output," Near Increase: %d\n",
store->increase_int_near);
fprintf(output," Far Increase: %d\n",
store->increase_int_far);
fprintf(output," Center Gain: %d\n",
store->gain_center);
fprintf(output," Filter Gain: %f\n",
store->filter_gain);
fprintf(output," Center Amplitude: %d\n",
store->amplitude_center);
fprintf(output," Center Echo Time: %d\n",
store->echo_duration_center);
fprintf(output," Echo Scale: %d\n",
store->echo_scale_center);
fprintf(output," Amplitudes and Durations:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->amplitude[i],
store->echo_duration[i]);
fprintf(output," Echo Gains and Scales:\n");
for (i=0;i<16;i++)
fprintf(output," %5d %5d\n",
store->gain[i],
store->echo_scale[i]);
}
/* deal with comment record */
if (kind == MB_DATA_COMMENT && mb_data_comment_list == MB_YES)
{
mb_data_comment_count++;
fprintf(output,"\n");
fprintf(output,"Comment Record (LDEOCMNT):\n");
fprintf(output," %s\n",store->comment);
}
/* deal with calibrate data record */
if (kind == MB_DATA_CALIBRATE
&& mb_data_calibrate_list == MB_YES)
{
mb_data_calibrate_count++;
fprintf(output,"\n");
fprintf(output,"Calibrate Data Record (ERGNEICH + ERGNSLZT +ERGNAMPL):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Course: %f\n",
store->course_true);
fprintf(output," Course On Ground: %f\n",
store->course_ground);
fprintf(output," Speed: %f\n",
store->speed);
fprintf(output," Speed On Ground: %f\n",
store->speed_ground);
fprintf(output," Transverse Speed: %f\n",
store->speed_transverse);
fprintf(output," Speed Reference: %c%c\n",
store->speed_reference[0],
store->speed_reference[1]);
fprintf(output," Roll: %f\n",
store->roll);
fprintf(output," Pitch: %f\n",
store->pitch);
fprintf(output," Heave: %f\n",
store->heave);
fprintf(output," Track: %d\n",
store->track);
fprintf(output," Center Depth: %f\n",
store->depth_center);
fprintf(output," Depth Scale: %f\n",
store->depth_scale);
fprintf(output," Spare: %d\n",
store->spare);
fprintf(output," Crosstrack Distances and Depths:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->distance[i],store->depth[i]);
fprintf(output," Center Travel Time: %f\n",
store->time_center);
fprintf(output," Time Scale: %f\n",
store->time_scale);
fprintf(output," Travel Times:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d\n",
store->time[i]);
fprintf(output," Gyro Headings:\n");
for (i=0;i<11;i++)
fprintf(output," %f\n",
store->gyro[i]);
fprintf(output," Mode: %c%c\n",
store->mode[0],store->mode[1]);
fprintf(output," Transmit Starboard: %d\n",
store->trans_strbd);
fprintf(output," Transmit Vertical: %d\n",
store->trans_vert);
fprintf(output," Transmit Port: %d\n",
store->trans_port);
fprintf(output," Pulse Starboard: %d\n",
store->pulse_len_strbd);
fprintf(output," Pulse Vertical: %d\n",
store->pulse_len_vert);
fprintf(output," Pulse Port: %d\n",
store->pulse_len_port);
fprintf(output," Gain Start: %d\n",
store->gain_start);
fprintf(output," Compensation Factor:%d\n",
store->r_compensation_factor);
fprintf(output," Compensation Start: %d\n",
store->compensation_start);
fprintf(output," Increase Start: %d\n",
store->increase_start);
fprintf(output," Near TVC: %d\n",
store->tvc_near);
fprintf(output," Far TVC: %d\n",
store->tvc_far);
fprintf(output," Near Increase: %d\n",
store->increase_int_near);
fprintf(output," Far Increase: %d\n",
store->increase_int_far);
fprintf(output," Center Gain: %d\n",
store->gain_center);
fprintf(output," Filter Gain: %f\n",
store->filter_gain);
fprintf(output," Center Amplitude: %d\n",
store->amplitude_center);
fprintf(output," Center Echo Time: %d\n",
store->echo_duration_center);
fprintf(output," Echo Scale: %d\n",
store->echo_scale_center);
fprintf(output," Amplitudes and Durations:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->amplitude[i],
store->echo_duration[i]);
fprintf(output," Echo Gains and Scales:\n");
for (i=0;i<16;i++)
fprintf(output," %5d %5d\n",
store->gain[i],
store->echo_scale[i]);
}
/* deal with mean velocity data record */
if (kind == MB_DATA_MEAN_VELOCITY
&& mb_data_mean_velocity_list == MB_YES)
{
mb_data_mean_velocity_count++;
fprintf(output,"\n");
fprintf(output,"Mean Water Velocity Record (ERGNHYDI):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Draught: %f\n",
store->draught);
fprintf(output," Mean velocity: %f\n",
store->vel_mean);
fprintf(output," Keel velocity: %f\n",
store->vel_keel);
fprintf(output," Tide: %f\n",store->tide);
}
/* deal with velocity profile data record */
if (kind == MB_DATA_VELOCITY_PROFILE
&& mb_data_velocity_profile_list == MB_YES)
{
mb_data_velocity_profile_count++;
fprintf(output,"\n");
fprintf(output,"Water Velocity Profile Record (ERGNCTDS):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Number of points: %d\n",
store->num_vel);
fprintf(output," Water Velocity Profile:\n");
for (i=0;i<store->num_vel;i++)
fprintf(output," %f %f\n",
store->vdepth[i],store->velocity[i]);
}
/* deal with standby data record */
if (kind == MB_DATA_STANDBY
&& mb_data_standby_list == MB_YES)
{
mb_data_standby_count++;
fprintf(output,"\n");
fprintf(output,"Standby Data Record (ERGNPARA):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
}
/* deal with navigation source data record */
if (kind == MB_DATA_NAV_SOURCE
&& mb_data_nav_source_list == MB_YES)
{
mb_data_nav_source_count++;
fprintf(output,"\n");
fprintf(output,"Standby Data Record (ERGNPARA):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," X Correction: %f\n",
store->pos_corr_x);
fprintf(output," Y Correction: %f\n",
store->pos_corr_y);
fprintf(output," Sensors: ");
for (i=0;i<10;i++)
fprintf(output,"%c",store->sensors[i]);
fprintf(output,"\n");
}
}
/* close the file */
status = mb_close(verbose,&mbio_ptr,&error);
/* deallocate memory for data arrays */
mb_freed(verbose,__FILE__,__LINE__,(void **)&beamflag,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bath,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathacrosstrack,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathalongtrack,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ss,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ssacrosstrack,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ssalongtrack,&error);
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* give the statistics */
fprintf(output,"\n");
if (mb_data_data_list == MB_YES)
fprintf(output,"%d survey data records listed\n",
mb_data_data_count);
if (mb_data_comment_list == MB_YES)
fprintf(output,"%d comment records listed\n",
mb_data_comment_count);
if (mb_data_calibrate_list == MB_YES)
fprintf(output,"%d calibrate data records listed\n",
mb_data_calibrate_count);
if (mb_data_mean_velocity_list == MB_YES)
fprintf(output,"%d mean velocity data records listed\n",
mb_data_mean_velocity_count);
if (mb_data_velocity_profile_list == MB_YES)
fprintf(output,"%d velocity profile data records listed\n",
mb_data_velocity_profile_count);
if (mb_data_standby_list == MB_YES)
fprintf(output,"%d standby data records listed\n",
mb_data_standby_count);
if (mb_data_nav_source_list == MB_YES)
fprintf(output,"%d navigation source data records listed\n",
mb_data_nav_source_count);
/* end it all */
exit(error);
}
int main (int argc, char **argv)
{
/* id variables */
char program_name[] = "MBrolltimelag";
char help_message[] = "MBrolltimelag extracts the roll time series and the apparent \nbottom slope time series from swath data, and then calculates \nthe cross correlation between the roll and the slope minus roll \nfor a specified set of time lags.";
char usage_message[] = "mbrolltimelag -Iswathdata [-Fformat -Krollsource -Nnping -Ooutputname -Snavchannel -Tnlag/lagmin/lagmax -V -H ]";
/* parsing variables */
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;
/* Files and formats */
char swathdata[MB_PATH_MAXLINE];
char swathfile[MB_PATH_MAXLINE];
char swathroot[MB_PATH_MAXLINE];
char outroot[MB_PATH_MAXLINE];
char outroot_defined = MB_NO;
char xcorfile[MB_PATH_MAXLINE];
char xcorfiletot[MB_PATH_MAXLINE];
char cmdfile[MB_PATH_MAXLINE];
char estimatefile[MB_PATH_MAXLINE];
char histfile[MB_PATH_MAXLINE];
char fhistfile[MB_PATH_MAXLINE];
char modelfile[MB_PATH_MAXLINE];
int format = 0;
int formatguess = 0;
FILE *fp = NULL;
FILE *fpx = NULL;
FILE *fpf = NULL;
FILE *fpt = NULL;
FILE *fpe = NULL;
FILE *fph = NULL;
FILE *fpm = NULL;
int read_datalist = MB_NO;
int read_data = MB_NO;
void *datalist;
int look_processed = MB_DATALIST_LOOK_UNSET;
double file_weight;
/* cross correlation parameters */
int navchannel = MB_DATA_DATA;
int kind = MB_DATA_NONE;
int npings = 100;
double rthreshold = 0.9;
int nlag = 41;
double lagstart = -2.0;
double lagend = 2.0;
double lagmax;
double lagstep = 0.05;
double *rr = NULL;
/* slope data */
int nslope = 0;
int nslopetot = 0;
int nslope_alloc = 0;
double *slope_time_d = NULL;
double *slope_slope = NULL;
double *slope_roll = NULL;
int nroll = 0;
int nroll_alloc = 0;
double *roll_time_d = NULL;
double *roll_roll = NULL;
/* timelag histogram array */
int *timelaghistogram = NULL;
double time_d;
double roll;
double slope;
double timelag;
double sumsloperoll;
double sumslopesq;
double sumrollsq;
double slopeminusmean;
double rollminusmean;
double r;
double sum_x, sum_y, sum_xy, sum_x2, sum_y2;
double mmm, bbb;
int nrollmean;
double rollmean;
double slopemean;
double maxtimelag;
double maxr;
double peaktimelag;
double peakr;
int peakk;
int peakkmax;
int peakksum;
double time_d_avg;
int nestimate = 0;
int nmodel = 0;
int nr;
double rollint;
int found;
int nscan;
int j0, j1;
int i, j, k, l;
/* set default input */
strcpy(swathdata, "datalist.mb-1");
/* process argument list */
while ((c = getopt(argc, argv, "VvHhC:c:F:f:I:i:K:k:O:o:N:n:S:s:T:t:")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'C':
case 'c':
sscanf (optarg,"%lf", &rthreshold);
flag++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", swathdata);
flag++;
break;
case 'K':
case 'k':
sscanf (optarg,"%d", &kind);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg,"%d", &npings);
flag++;
break;
case 'O':
case 'o':
sscanf (optarg,"%s", outroot);
outroot_defined = MB_YES;
flag++;
break;
case 'S':
case 's':
sscanf (optarg,"%d", &navchannel);
flag++;
break;
case 'T':
case 't':
sscanf (optarg,"%d/%lf/%lf", &nlag, &lagstart, &lagend);
lagmax = MAX(fabs(lagstart), fabs(lagend));
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 rthreshold: %f\n",rthreshold);
fprintf(stderr,"dbg2 swathdata: %s\n",swathdata);
fprintf(stderr,"dbg2 npings: %d\n",npings);
fprintf(stderr,"dbg2 nlag: %d\n",nlag);
fprintf(stderr,"dbg2 lagstart: %f\n",lagstart);
fprintf(stderr,"dbg2 lagend: %f\n",lagend);
fprintf(stderr,"dbg2 lagmax: %f\n",lagmax);
fprintf(stderr,"dbg2 navchannel: %d\n",navchannel);
fprintf(stderr,"dbg2 kind: %d\n",kind);
}
/* 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 */
mb_get_format(verbose,swathdata,swathroot,&formatguess,&error);
if (format == 0)
format = formatguess;
if (outroot_defined == MB_NO)
strcpy(outroot, swathroot);
/* determine whether to read one file or a list of files */
if (format < 0)
read_datalist = MB_YES;
/* get time lag step */
lagstep = 2 * lagmax / (nlag - 1);
status = mb_reallocd(verbose,__FILE__,__LINE__, nlag * sizeof(double), (void **)&rr, &error);
status = mb_reallocd(verbose,__FILE__,__LINE__, nlag * sizeof(int), (void **)&timelaghistogram, &error);
/* print out some helpful information */
if (verbose > 0)
{
fprintf(stderr, "Program %s parameters:\n", program_name);
fprintf(stderr, " Input: %s\n", swathdata);
fprintf(stderr, " Format: %d\n", format);
fprintf(stderr, " Number of pings per estimate: %d\n", npings);
fprintf(stderr, " Number of time lag calculations: %d\n", nlag);
fprintf(stderr, " Start time lag reported: %f\n", lagstart);
fprintf(stderr, " End time lag reported: %f\n", lagend);
fprintf(stderr, " Maximum time lag: %f\n", lagmax);
fprintf(stderr, " Time lag step: %f\n", lagstep);
}
/* first get roll data from the entire swathdata (which can be a datalist ) */
if (kind > MB_DATA_NONE)
sprintf(cmdfile, "mbnavlist -I%s -F%d -K%d -OMR", swathdata, format, kind);
else
sprintf(cmdfile, "mbnavlist -I%s -F%d -N%d -OMR", swathdata, format, navchannel);
fprintf(stderr,"\nRunning %s...\n",cmdfile);
fp = popen(cmdfile, "r");
while ((nscan = fscanf(fp, "%lf %lf", &time_d, &roll)) == 2)
{
if (nroll >= nroll_alloc)
{
nroll_alloc += MBRTL_ALLOC_CHUNK;
status = mb_reallocd(verbose,__FILE__,__LINE__, nroll_alloc * sizeof(double), (void **)&roll_time_d, &error);
status = mb_reallocd(verbose,__FILE__,__LINE__, nroll_alloc * sizeof(double), (void **)&roll_roll, &error);
}
if (nroll == 0 || time_d > roll_time_d[nroll-1])
{
roll_time_d[nroll] = time_d;
roll_roll[nroll] = roll;
nroll++;
}
}
pclose(fp);
fprintf(stderr,"%d roll data read from %s\n", nroll, swathdata);
/* open total cross correlation file */
if (read_datalist == MB_YES)
{
sprintf(xcorfiletot, "%s_xcorr.txt", outroot);
if ((fpt = fopen(xcorfiletot, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open cross correlation output: %s\n",
xcorfiletot);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
}
/* open time lag estimate file */
sprintf(estimatefile, "%s_timelagest.txt", outroot);
if ((fpe = fopen(estimatefile, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open estimate output: %s\n",
estimatefile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* open time lag histogram file */
sprintf(histfile, "%s_timelaghist.txt", outroot);
if ((fph = fopen(histfile, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open histogram output: %s\n",
histfile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* open time lag model file */
sprintf(modelfile, "%s_timelagmodel.txt", outroot);
if ((fpm = fopen(modelfile, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open time lag model output: %s\n",
modelfile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* open file list */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_open(verbose,&datalist,
swathdata,look_processed,&error)) != MB_SUCCESS)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open data list file: %s\n",
swathdata);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
if ((status = mb_datalist_read(verbose,datalist,
swathfile,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
/* else copy single filename to be read */
else
{
strcpy(swathfile, swathdata);
read_data = MB_YES;
}
/* loop over all files to be read */
while (read_data == MB_YES)
{
nestimate = 0;
nslope = 0;
time_d_avg = 0.0;
sprintf(cmdfile, "mblist -I%s -F%d -OMAR", swathfile, format);
fprintf(stderr,"\nRunning %s...\n",cmdfile);
fp = popen(cmdfile, "r");
while ((nscan = fscanf(fp, "%lf %lf %lf", &time_d, &slope, &roll)) == 3)
{
if (nslope >= nslope_alloc)
{
nslope_alloc += MBRTL_ALLOC_CHUNK;
status = mb_reallocd(verbose,__FILE__,__LINE__, nslope_alloc * sizeof(double), (void **)&slope_time_d, &error);
status = mb_reallocd(verbose,__FILE__,__LINE__, nslope_alloc * sizeof(double), (void **)&slope_slope, &error);
status = mb_reallocd(verbose,__FILE__,__LINE__, nslope_alloc * sizeof(double), (void **)&slope_roll, &error);
}
if (nslope == 0 || time_d > slope_time_d[nslope-1])
{
slope_time_d[nslope] = time_d;
time_d_avg += time_d;
slope_slope[nslope] = roll - slope;
slope_roll[nslope] = roll;
nslope++;
}
}
pclose(fp);
nslopetot += nslope;
if (nslope > 0)
time_d_avg /= nslope;
fprintf(stderr,"%d slope data read from %s\n", nslope, swathfile);
/* open time lag histogram file */
sprintf(fhistfile, "%s_timelaghist.txt", swathfile);
if ((fpf = fopen(fhistfile, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open histogram output: %s\n",
fhistfile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* open cross correlation file */
sprintf(xcorfile, "%s_xcorr.txt", swathfile);
if ((fpx = fopen(xcorfile, "w")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open cross correlation output: %s\n",
xcorfile);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* initialize time lag histogram */
for (k=0;k<nlag;k++)
{
timelaghistogram[k] = 0;
}
/* now do cross correlation calculations */
for (i=0;i<nslope/npings;i++)
{
/* get ping range in this chunk */
j0 = i * npings;
j1 = j0 + npings - 1;
/* get mean slope in this chunk */
slopemean = 0.0;
for (j = j0; j <= j1; j++)
{
slopemean += slope_slope[j];
}
slopemean /= npings;
/* get mean roll in this chunk */
rollmean = 0.0;
nrollmean = 0;
for (j = 0; j < nroll; j++)
{
if ((roll_time_d[j] >= slope_time_d[j0] - lagmax)
&& (roll_time_d[j] <= slope_time_d[j1] + lagmax))
{
rollmean += roll_roll[j];
nrollmean++;
}
}
if (nrollmean > 0)
{
rollmean /= nrollmean;
}
/* calculate cross correlation for the specified time lags */
if (nrollmean > 0)
{
fprintf(fpx, ">\n");
if (fpt != NULL)
fprintf(fpt, ">\n");
for (k = 0; k < nlag; k++)
{
timelag = -lagmax + k * lagstep;
sumsloperoll = 0.0;
sumslopesq = 0.0;
sumrollsq = 0.0;
nr = 0;
for (j = j0; j <= j1; j++)
{
/* interpolate lagged roll value */
found = MB_NO;
time_d = slope_time_d[j] + timelag;
for (l = nr; l < nroll - 1 && found == MB_NO; l++)
{
if (time_d >= roll_time_d[l]
&& time_d <= roll_time_d[l+1])
{
nr = l;
found = MB_YES;
}
}
if (found == MB_NO && time_d < roll_time_d[0])
{
rollint = roll_roll[0];
}
else if (found == MB_NO && time_d > roll_time_d[nroll - 1])
{
rollint = roll_roll[nroll - 1];
}
else
{
rollint = roll_roll[nr] + (roll_roll[nr+1] - roll_roll[nr])
* (time_d - roll_time_d[nr])
/ (roll_time_d[nr+1] - roll_time_d[nr]);
}
/* add to sums */
slopeminusmean = (slope_slope[j] - slopemean);
rollminusmean = (rollint - rollmean);
sumslopesq += slopeminusmean * slopeminusmean;
sumrollsq += rollminusmean * rollminusmean;
sumsloperoll += slopeminusmean * rollminusmean;
}
r = sumsloperoll / sqrt(sumslopesq) / sqrt(sumrollsq);
rr[k] = r;
/* output results */
fprintf(fpx, "%5.3f %5.3f \n", timelag, r);
if (fpt != NULL)
fprintf(fpt, "%5.3f %5.3f \n", timelag, r);
}
/* get max and closest peak cross correlations */
maxr = 0.0;
peakr = 0.0;
peaktimelag = 0.0;
for (k = 0; k < nlag; k++)
{
timelag = -lagmax + k * lagstep;
if (timelag >= lagstart && timelag <= lagend)
{
if (rr[k] > maxr)
{
maxr = rr[k];
maxtimelag = timelag;
}
if (k == 0)
{
peakk = k;
peakr = rr[k];
peaktimelag = timelag;
}
else if (k < nlag - 1
&& rr[k] > 0.0
&& rr[k] > rr[k-1]
&& rr[k] > rr[k+1]
&& fabs(timelag) < fabs(peaktimelag))
{
peakk = k;
peakr = rr[k];
peaktimelag = timelag;
}
else if (k == nlag - 1
&& peaktimelag == -lagmax
&& rr[k] > peakr)
{
peakk = k;
peakr = rr[k];
peaktimelag = timelag;
}
}
}
}
/* print out best correlated time lag estimates */
if (peakr > rthreshold)
{
timelaghistogram[peakk]++;
}
/* augment histogram */
if (peakr > rthreshold)
{
fprintf(fpe, "%10.3f %6.3f\n", slope_time_d[(j0+j1)/2], peaktimelag);
fprintf(fpf, "%6.3f\n", peaktimelag);
fprintf(fph, "%6.3f\n", peaktimelag);
sum_x += slope_time_d[(j0+j1)/2];
sum_y += peaktimelag;
sum_xy += slope_time_d[(j0+j1)/2] * peaktimelag;
sum_x2 += slope_time_d[(j0+j1)/2] * slope_time_d[(j0+j1)/2];
sum_y2 += peaktimelag * peaktimelag;
nestimate++;
}
/* print out max and closest peak cross correlations */
if (verbose > 0)
{
fprintf(stderr, "cross correlation pings %5d - %5d: max: %6.3f %5.3f peak: %6.3f %5.3f\n",
j0, j1, maxtimelag, maxr, peaktimelag, peakr);
}
}
/* close cross correlation and histogram files */
fclose(fpx);
fclose(fpf);
/* generate plot shellscript for cross correlation file */
sprintf(cmdfile, "mbm_xyplot -I%s -N", xcorfile);
fprintf(stderr, "Running: %s...\n", cmdfile);
system(cmdfile);
/* generate plot shellscript for time lag histogram */
sprintf(cmdfile, "mbm_histplot -I%s -C%g -L\"Frequency Histogram of %s:Time Lag (sec):Frequency:\"",
fhistfile, lagstep, swathfile);
fprintf(stderr, "Running: %s...\n", cmdfile);
system(cmdfile);
/* output peak time lag */
peakk = 0;
peakkmax = 0;
peakksum = 0;
timelag = 0.0;
for (k=0;k<nlag;k++)
{
if (timelaghistogram[k] > peakkmax)
{
peakkmax = timelaghistogram[k];
peakk = k;
}
peakksum += timelaghistogram[k];
}
if (nslope > 0 && peakksum > 0 && peakkmax > 1
&& peakkmax > peakksum / 5)
{
timelag = -lagmax + peakk * lagstep;
fprintf(fpm, "%f %f\n", time_d_avg, timelag);
nmodel++;
fprintf(stderr,"Time lag model point: %f %f | nslope:%d peakksum:%d peakkmax:%d\n",
time_d_avg, timelag, nslope, peakksum, peakkmax);
}
else
{
if (peakkmax > 0)
timelag = -lagmax + peakk * lagstep;
fprintf(stderr,"Time lag model point: %f %f | nslope:%d peakksum:%d peakkmax:%d | REJECTED\n",
time_d_avg, timelag, nslope, peakksum, peakkmax);
}
/* figure out whether and what to read next */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_read(verbose,datalist,
swathfile,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
else
{
read_data = MB_NO;
}
/* end loop over files in list */
}
if (read_datalist == MB_YES)
mb_datalist_close(verbose,&datalist,&error);
/* close cross correlation file */
if (read_datalist == MB_YES)
fclose(fpt);
/* close estimate file */
fclose(fpe);
/* close histogram file */
fclose(fph);
/* close time lag model file */
fclose(fpm);
/* generate plot shellscript for cross correlation file */
if (read_datalist == MB_YES)
{
sprintf(cmdfile, "mbm_xyplot -I%s -N", xcorfiletot);
fprintf(stderr, "Running: %s...\n", cmdfile);
system(cmdfile);
}
/* generate plot shellscript for time lag histogram */
sprintf(cmdfile, "mbm_histplot -I%s -C%g -L\"Frequency Histogram of %s:Time Lag (sec):Frequency:\"",
histfile, lagstep, swathdata);
fprintf(stderr, "Running: %s...\n", cmdfile);
system(cmdfile);
/* generate plot shellscript for time lag model if it exists */
if (nmodel > 1 || nestimate > 1)
{
mmm = (nestimate * sum_xy - sum_x * sum_y) / (nestimate * sum_x2 - sum_x * sum_x);
bbb = (sum_y - mmm * sum_x) / nestimate;
sprintf(cmdfile, "mbm_xyplot -I%s -ISc0.05:%s -I%s -ISc0.1:%s -L\"Time lag model of %s:Time (sec):Time Lag (sec):\"",
modelfile, estimatefile, modelfile, modelfile, swathdata);
fprintf(stderr, "Running: %s...\n", cmdfile);
system(cmdfile);
}
/* deallocate memory for data arrays */
mb_freed(verbose,__FILE__,__LINE__,(void **)&slope_time_d,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&slope_slope,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&slope_roll,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&roll_time_d,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&roll_roll,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&rr,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&timelaghistogram,&error);
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* give the statistics */
if (verbose >= 1)
{
fprintf(stderr,"\n%d input roll records\n", nroll);
fprintf(stderr,"%d input slope\n", nslopetot);
}
/* end it all */
exit(error);
}
/*--------------------------------------------------------------------------*/
int mb_spline_init(int verbose, double *x, double *y,
int n, double yp1, double ypn, double *y2, int *error)
{
char *function_name = "mb_spline_init";
int status = MB_SUCCESS;
int i, k;
double p, qn, sig, un, *u;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBBA 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 x: %p\n",x);
fprintf(stderr,"dbg2 y: %p\n",y);
fprintf(stderr,"dbg2 n: %d\n",n);
fprintf(stderr,"dbg2 yp1: %f\n",yp1);
fprintf(stderr,"dbg2 ypn: %f\n",ypn);
fprintf(stderr,"dbg2 y2: %p\n",y2);
}
/* check for n > 2 */
if (n < 3)
{
status = MB_FAILURE;
*error = MB_ERROR_NOT_ENOUGH_DATA;
}
/* allocate memory for working vector */
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__,__LINE__, n * sizeof(double), (void **)&u, error);
/* set up spline interpolation coefficients */
if (status == MB_SUCCESS)
{
if (yp1 > 0.99e30)
y2[1]=u[1]=0.0;
else
{
y2[1] = -0.5;
u[1]=(3.0/(x[2]-x[1]))*((y[2]-y[1])/(x[2]-x[1])-yp1);
}
for (i=2;i<=n-1;i++)
{
sig=(x[i]-x[i-1])/(x[i+1]-x[i-1]);
p=sig*y2[i-1]+2.0;
y2[i]=(sig-1.0)/p;
u[i]=(y[i+1]-y[i])/(x[i+1]-x[i]) - (y[i]-y[i-1])/(x[i]-x[i-1]);
u[i]=(6.0*u[i]/(x[i+1]-x[i-1])-sig*u[i-1])/p;
}
if (ypn > 0.99e30)
qn=un=0.0;
else
{
qn=0.5;
un=(3.0/(x[n]-x[n-1]))*(ypn-(y[n]-y[n-1])/(x[n]-x[n-1]));
}
y2[n]=(un-qn*u[n-1])/(qn*y2[n-1]+1.0);
for (k=n-1;k>=1;k--)
y2[k]=y2[k]*y2[k+1]+u[k];
/* deallocate memory for vector */
status = mb_freed(verbose,__FILE__, __LINE__, (void **)&u, 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 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
return(status);
}
/*------------------------------------------------------------------------------*/
int mbview_freeprofilearrays(int verbose,
double **distance,
double **zdata,
int **boundary,
double **xlon,
double **ylat,
double **distovertopo,
double **bearing,
double **slope,
int *error)
{
/* local variables */
char *function_name = "mbview_freeprofilearrays";
int status = MB_SUCCESS;
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",
function_name);
fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(stderr,"dbg2 Input arguments:\n");
fprintf(stderr,"dbg2 verbose: %d\n", verbose);
fprintf(stderr,"dbg2 distance: %lu\n", (size_t)*distance);
fprintf(stderr,"dbg2 zdata: %lu\n", (size_t)*zdata);
fprintf(stderr,"dbg2 boundary: %lu\n", (size_t)*boundary);
fprintf(stderr,"dbg2 xlon: %lu\n", (size_t)*xlon);
fprintf(stderr,"dbg2 ylat: %lu\n", (size_t)*ylat);
fprintf(stderr,"dbg2 distovertopo: %lu\n", (size_t)*distovertopo);
fprintf(stderr,"dbg2 bearing: %lu\n", (size_t)*bearing);
fprintf(stderr,"dbg2 slope: %lu\n", (size_t)*slope);
}
/* free the arrays using mb_free */
status = mb_freed(verbose,__FILE__,__LINE__,(void **)distance,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)zdata,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)boundary,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)xlon,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)ylat,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)distovertopo,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)bearing,error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)slope,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 distance: %lu\n", (size_t)*distance);
fprintf(stderr,"dbg2 zdata: %lu\n", (size_t)*zdata);
fprintf(stderr,"dbg2 boundary: %lu\n", (size_t)*boundary);
fprintf(stderr,"dbg2 xlon: %lu\n", (size_t)*xlon);
fprintf(stderr,"dbg2 ylat: %lu\n", (size_t)*ylat);
fprintf(stderr,"dbg2 distovertopo: %lu\n", (size_t)*distovertopo);
fprintf(stderr,"dbg2 bearing: %lu\n", (size_t)*bearing);
fprintf(stderr,"dbg2 slope: %lu\n", (size_t)*slope);
fprintf(stderr,"dbg2 error: %d\n", *error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n", status);
}
/* return */
return(status);
}
/*------------------------------------------------------------------------------*/
int mbview_vector_delete(size_t instance, int ivec) {
/* local variables */
char *function_name = "mbview_vector_delete";
int error = MB_ERROR_NO_ERROR;
int status = MB_SUCCESS;
struct mbview_world_struct *view;
struct mbview_struct *data;
int i;
/* print starting debug statements */
if (mbv_verbose >= 2) {
fprintf(stderr, "\ndbg2 MBIO function <%s> called\n", function_name);
fprintf(stderr, "dbg2 MB-system Version %s\n", MB_VERSION);
fprintf(stderr, "dbg2 Input arguments:\n");
fprintf(stderr, "dbg2 ivec: %d\n", ivec);
fprintf(stderr, "dbg2 instance: %zu\n", instance);
}
/* get view */
view = &(mbviews[instance]);
data = &(view->data);
/* delete vec if its the same as previously selected */
if (ivec >= 0 && ivec < shared.shareddata.nvector) {
/* free memory for deleted vec */
mb_freed(mbv_verbose, __FILE__, __LINE__, (void **)&(shared.shareddata.vectors[ivec].vectorpts), &error);
mb_freed(mbv_verbose, __FILE__, __LINE__, (void **)&(shared.shareddata.vectors[ivec].segments), &error);
/* move vec data if necessary */
for (i = ivec; i < shared.shareddata.nvector - 1; i++) {
shared.shareddata.vectors[i] = shared.shareddata.vectors[i + 1];
}
/* rest last vec */
shared.shareddata.vectors[shared.shareddata.nvector - 1].color = MBV_COLOR_RED;
shared.shareddata.vectors[shared.shareddata.nvector - 1].size = 4;
shared.shareddata.vectors[shared.shareddata.nvector - 1].name[0] = '\0';
shared.shareddata.vectors[shared.shareddata.nvector - 1].npoints = 0;
shared.shareddata.vectors[shared.shareddata.nvector - 1].npoints_alloc = 0;
shared.shareddata.vectors[shared.shareddata.nvector - 1].vectorpts = NULL;
shared.shareddata.vectors[shared.shareddata.nvector - 1].segments = NULL;
/* set nvector */
shared.shareddata.nvector--;
/* no selection */
shared.shareddata.vector_selected = MBV_SELECT_NONE;
}
else {
status = MB_FAILURE;
}
/* print output debug statements */
if (mbv_verbose >= 2) {
fprintf(stderr, "\ndbg2 MBIO function <%s> completed\n", function_name);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
/* return */
return (status);
}
/*--------------------------------------------------------------------*/
int mb_read_init(int verbose, char *file,
int format, int pings, int lonflip, double bounds[4],
int btime_i[7], int etime_i[7],
double speedmin, double timegap,
void **mbio_ptr, double *btime_d, double *etime_d,
int *beams_bath, int *beams_amp, int *pixels_ss,
int *error)
{
char *function_name = "mb_read_init";
int status;
struct mb_io_struct *mb_io_ptr;
int status_save;
int error_save;
int sapi_status;
char *lastslash;
char path[MB_PATH_MAXLINE], name[MB_PATH_MAXLINE];
char prjfile[MB_PATH_MAXLINE];
char projection_id[MB_NAME_LENGTH];
int proj_status;
FILE *pfp;
struct stat file_status;
int fstat;
int nscan;
int i;
char *stdin_string = "stdin";
/* 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 file: %s\n",file);
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);
}
/* allocate memory for mbio descriptor */
status = mb_mallocd(verbose,__FILE__, __LINE__,sizeof(struct mb_io_struct),
(void **) mbio_ptr,error);
if (status == MB_SUCCESS)
{
memset(*mbio_ptr, 0, sizeof(struct mb_io_struct));
mb_io_ptr = (struct mb_io_struct *) *mbio_ptr;
}
/* set system byte order flag */
if (status == MB_SUCCESS)
{
mb_io_ptr->byteswapped = mb_swap_check();
}
/* get format information */
if (status == MB_SUCCESS)
{
status = mb_format_register(verbose, &format,
*mbio_ptr, error);
}
/* quit if there is a problem */
if (status == MB_FAILURE)
{
/* free memory for mbio descriptor */
if (mbio_ptr != NULL)
{
status_save = status;
error_save = *error;
status = mb_freed(verbose,__FILE__, __LINE__,(void **)mbio_ptr,error);
status = status_save;
*error = error_save;
}
/* output debug information */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> terminated with error\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);
}
/* initialize file access for the mbio descriptor */
mb_io_ptr->filemode = MB_FILEMODE_READ;
mb_io_ptr->mbfp = NULL;
strcpy(mb_io_ptr->file,file);
mb_io_ptr->file_pos = 0;
mb_io_ptr->file_bytes = 0;
mb_io_ptr->mbfp2 = NULL;
strcpy(mb_io_ptr->file2,"\0");
mb_io_ptr->file2_pos = 0;
mb_io_ptr->file2_bytes = 0;
mb_io_ptr->mbfp3 = NULL;
strcpy(mb_io_ptr->file3,"\0");
mb_io_ptr->file3_pos = 0;
mb_io_ptr->file3_bytes = 0;
mb_io_ptr->ncid = 0;
#ifdef WITH_GSF
mb_io_ptr->gsfid = 0;
#else
/* TODO: possibly set to -666 */
#endif
mb_io_ptr->xdrs = NULL;
mb_io_ptr->xdrs2 = NULL;
mb_io_ptr->xdrs3 = NULL;
/* load control parameters into the mbio descriptor */
mb_io_ptr->format = format;
mb_io_ptr->pings = pings;
mb_io_ptr->lonflip = lonflip;
for (i=0;i<4;i++)
mb_io_ptr->bounds[i] = bounds[i];
for (i=0;i<7;i++)
{
mb_io_ptr->btime_i[i] = btime_i[i];
mb_io_ptr->etime_i[i] = etime_i[i];
}
mb_io_ptr->speedmin = speedmin;
mb_io_ptr->timegap = timegap;
/* get mbio internal time */
status = mb_get_time(verbose,mb_io_ptr->btime_i,btime_d);
status = mb_get_time(verbose,mb_io_ptr->etime_i,etime_d);
mb_io_ptr->btime_d = *btime_d;
mb_io_ptr->etime_d = *etime_d;
/* set the number of beams and allocate storage arrays */
*beams_bath = mb_io_ptr->beams_bath_max;
*beams_amp = mb_io_ptr->beams_amp_max;
*pixels_ss = mb_io_ptr->pixels_ss_max;
mb_io_ptr->new_beams_bath = 0;
mb_io_ptr->new_beams_amp = 0;
mb_io_ptr->new_pixels_ss = 0;
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 Beam and pixel dimensions set in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 beams_bath: %d\n",
mb_io_ptr->beams_bath_max);
fprintf(stderr,"dbg4 beams_amp: %d\n",
mb_io_ptr->beams_amp_max);
fprintf(stderr,"dbg4 pixels_ss: %d\n",
mb_io_ptr->pixels_ss_max);
}
/* initialize pointers */
mb_io_ptr->raw_data = NULL;
mb_io_ptr->store_data = NULL;
mb_io_ptr->beamflag = NULL;
mb_io_ptr->bath = NULL;
mb_io_ptr->amp = NULL;
mb_io_ptr->bath_acrosstrack = NULL;
mb_io_ptr->bath_alongtrack = NULL;
mb_io_ptr->bath_num = NULL;
mb_io_ptr->amp_num = NULL;
mb_io_ptr->ss = NULL;
mb_io_ptr->ss_acrosstrack = NULL;
mb_io_ptr->ss_alongtrack = NULL;
mb_io_ptr->ss_num = NULL;
mb_io_ptr->new_beamflag = NULL;
mb_io_ptr->new_bath = NULL;
mb_io_ptr->new_amp = NULL;
mb_io_ptr->new_bath_acrosstrack = NULL;
mb_io_ptr->new_bath_alongtrack = NULL;
mb_io_ptr->new_ss = NULL;
mb_io_ptr->new_ss_acrosstrack = NULL;
mb_io_ptr->new_ss_alongtrack = NULL;
/* initialize projection parameters */
mb_io_ptr->projection_initialized = MB_NO;
mb_io_ptr->projection_id[0] = '\0';
mb_io_ptr->pjptr = NULL;
/* initialize ancillary variables used
to save information in certain cases */
mb_io_ptr->save_flag = MB_NO;
mb_io_ptr->save_label_flag = MB_NO;
mb_io_ptr->save1 = 0;
mb_io_ptr->save2 = 0;
mb_io_ptr->save3 = 0;
mb_io_ptr->save4 = 0;
mb_io_ptr->save5 = 0;
mb_io_ptr->save6 = 0;
mb_io_ptr->save7 = 0;
mb_io_ptr->save8 = 0;
mb_io_ptr->save9 = 0;
mb_io_ptr->save10 = 0;
mb_io_ptr->save11 = 0;
mb_io_ptr->save12 = 0;
mb_io_ptr->save13 = 0;
mb_io_ptr->save14 = 0;
mb_io_ptr->saved1 = 0;
mb_io_ptr->saved2 = 0;
mb_io_ptr->saved3 = 0;
mb_io_ptr->saved4 = 0;
mb_io_ptr->saved5 = 0;
mb_io_ptr->saveptr1 = NULL;
mb_io_ptr->saveptr2 = NULL;
/* allocate arrays */
mb_io_ptr->beams_bath_alloc = mb_io_ptr->beams_bath_max;
mb_io_ptr->beams_amp_alloc = mb_io_ptr->beams_amp_max;
mb_io_ptr->pixels_ss_alloc = mb_io_ptr->pixels_ss_max;
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(char),
(void **) &mb_io_ptr->beamflag,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(double),
(void **) &mb_io_ptr->bath,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_amp_alloc*sizeof(double),
(void **) &mb_io_ptr->amp,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(double),
(void **) &mb_io_ptr->bath_acrosstrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(double),
(void **) &mb_io_ptr->bath_alongtrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(int),
(void **) &mb_io_ptr->bath_num,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_amp_alloc*sizeof(int),
(void **) &mb_io_ptr->amp_num,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(double),
(void **) &mb_io_ptr->ss,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(double),
(void **) &mb_io_ptr->ss_acrosstrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(double),
(void **) &mb_io_ptr->ss_alongtrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(int),
(void **) &mb_io_ptr->ss_num,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(char),
(void **) &mb_io_ptr->new_beamflag,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(double),
(void **) &mb_io_ptr->new_bath,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_amp_alloc*sizeof(double),
(void **) &mb_io_ptr->new_amp,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(double),
(void **) &mb_io_ptr->new_bath_acrosstrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->beams_bath_alloc*sizeof(double),
(void **) &mb_io_ptr->new_bath_alongtrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(double),
(void **) &mb_io_ptr->new_ss,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(double),
(void **) &mb_io_ptr->new_ss_acrosstrack,error);
if (status == MB_SUCCESS)
status = mb_mallocd(verbose,__FILE__, __LINE__,mb_io_ptr->pixels_ss_alloc*sizeof(double),
(void **) &mb_io_ptr->new_ss_alongtrack,error);
/* call routine to allocate memory for format dependent i/o */
if (status == MB_SUCCESS)
status = (*mb_io_ptr->mb_io_format_alloc)(verbose,*mbio_ptr,error);
/* deal with a memory allocation failure */
if (status == MB_FAILURE)
{
status = mb_deall_ioarrays(verbose, mbio_ptr, error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr,error);
mb_io_ptr->beams_bath_alloc = 0;
mb_io_ptr->beams_amp_alloc = 0;
mb_io_ptr->pixels_ss_alloc = 0;
status = MB_FAILURE;
*error = MB_ERROR_MEMORY_FAIL;
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> terminated with error\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);
}
/* handle normal or xdr files to be opened
directly with fopen */
if (mb_io_ptr->filetype == MB_FILETYPE_NORMAL
|| mb_io_ptr->filetype == MB_FILETYPE_XDR)
{
/* open the first file */
if (strncmp(file,stdin_string,5) == 0)
mb_io_ptr->mbfp = stdin;
else
if ((mb_io_ptr->mbfp = fopen(mb_io_ptr->file, "r")) == NULL)
{
*error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
/* open the second file if required */
if (status == MB_SUCCESS
&& mb_io_ptr->numfile >= 2)
{
if ((mb_io_ptr->mbfp2 = fopen(mb_io_ptr->file2, "r")) == NULL)
{
*error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
}
/* or open the second file if desired and possible */
else if (status == MB_SUCCESS
&& mb_io_ptr->numfile <= -2)
{
if ((fstat = stat(mb_io_ptr->file2, &file_status)) == 0
&& (file_status.st_mode & S_IFMT) != S_IFDIR
&& file_status.st_size > 0)
mb_io_ptr->mbfp2 = fopen(mb_io_ptr->file2, "r");
}
/* open the third file if required */
if (status == MB_SUCCESS
&& mb_io_ptr->numfile >= 3)
{
if ((mb_io_ptr->mbfp3 = fopen(mb_io_ptr->file3, "r")) == NULL)
{
*error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
}
/* or open the third file if desired and possible */
else if (status == MB_SUCCESS
&& mb_io_ptr->numfile <= -3)
{
if ((fstat = stat(mb_io_ptr->file2, &file_status)) == 0
&& (file_status.st_mode & S_IFMT) != S_IFDIR
&& file_status.st_size > 0)
mb_io_ptr->mbfp3 = fopen(mb_io_ptr->file3, "r");
}
/* if needed, initialize XDR stream */
if (status == MB_SUCCESS
&& mb_io_ptr->filetype == MB_FILETYPE_XDR)
{
status = mb_mallocd(verbose,__FILE__, __LINE__,sizeof(XDR),
(void **) &mb_io_ptr->xdrs,error);
if (status == MB_SUCCESS)
{
xdrstdio_create((XDR *)mb_io_ptr->xdrs,
mb_io_ptr->mbfp, XDR_DECODE);
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_MEMORY_FAIL;
}
}
/* if needed, initialize second XDR stream */
if (status == MB_SUCCESS
&& mb_io_ptr->filetype == MB_FILETYPE_XDR
&& (mb_io_ptr->numfile >= 2 || mb_io_ptr->numfile <= -2)
&& mb_io_ptr->mbfp2 != NULL)
{
status = mb_mallocd(verbose,__FILE__, __LINE__,sizeof(XDR),
(void **) &mb_io_ptr->xdrs2,error);
if (status == MB_SUCCESS)
{
xdrstdio_create((XDR *)mb_io_ptr->xdrs2,
mb_io_ptr->mbfp2, XDR_DECODE);
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_MEMORY_FAIL;
}
}
/* if needed, initialize third XDR stream */
if (status == MB_SUCCESS
&& mb_io_ptr->filetype == MB_FILETYPE_XDR
&& (mb_io_ptr->numfile >= 3 || mb_io_ptr->numfile <= -3)
&& mb_io_ptr->mbfp3 != NULL)
{
status = mb_mallocd(verbose,__FILE__, __LINE__,sizeof(XDR),
(void **) &mb_io_ptr->xdrs3,error);
if (status == MB_SUCCESS)
{
xdrstdio_create((XDR *)mb_io_ptr->xdrs3,
mb_io_ptr->mbfp3, XDR_DECODE);
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_MEMORY_FAIL;
}
}
}
/* else handle single normal files to be opened with mb_fileio_open() */
else if (mb_io_ptr->filetype == MB_FILETYPE_SINGLE)
{
status = mb_fileio_open(verbose, *mbio_ptr, error);
}
#ifdef WITH_GSF
/* else handle gsf files to be opened with gsflib */
else if (mb_io_ptr->filetype == MB_FILETYPE_GSF)
{
status = gsfOpen(mb_io_ptr->file,
GSF_READONLY,
(int *) &(mb_io_ptr->gsfid));
if (status == 0)
{
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OPEN_FAIL;
}
}
#else
/* TODO: should issue an error */
#endif
/* else handle netcdf files to be opened with libnetcdf */
else if (mb_io_ptr->filetype == MB_FILETYPE_NETCDF)
{
status = nc_open(mb_io_ptr->file,
NC_NOWRITE,
(int *) &(mb_io_ptr->ncid));
if (status == 0)
{
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OPEN_FAIL;
}
}
/* else handle surf files to be opened with libsapi */
else if (mb_io_ptr->filetype == MB_FILETYPE_SURF)
{
lastslash = strrchr(file, '/');
if (lastslash != NULL && strlen(lastslash) > 1)
{
strcpy(name,&(lastslash[1]));
strcpy(path,file);
path[strlen(file) - strlen(lastslash)] = '\0';
}
else if (strlen(file) > 0)
{
strcpy(path, ".");
strcpy(name, file);
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OPEN_FAIL;
}
if (status == MB_SUCCESS)
{
if (strcmp(&name[strlen(name)-4],".sda") == 0)
name[strlen(name)-4] = '\0';
else if (strcmp(&name[strlen(name)-4],".SDA") == 0)
name[strlen(name)-4] = '\0';
else if (strcmp(&name[strlen(name)-4],".six") == 0)
name[strlen(name)-4] = '\0';
else if (strcmp(&name[strlen(name)-4],".SIX") == 0)
name[strlen(name)-4] = '\0';
sapi_status = SAPI_open(path,name,verbose);
if (sapi_status == 0)
{
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OPEN_FAIL;
}
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OPEN_FAIL;
}
}
/* else handle segy files to be opened with mb_segy */
else if (mb_io_ptr->filetype == MB_FILETYPE_SEGY)
{
status = mb_segy_read_init(verbose, mb_io_ptr->file,
(void **)&(mb_io_ptr->mbfp), NULL, NULL, error);
if (status != MB_SUCCESS)
{
status = MB_FAILURE;
*error = MB_ERROR_OPEN_FAIL;
}
}
/* if error terminate */
if (status == MB_FAILURE)
{
/* save status and error values */
status_save = status;
error_save = *error;
/* free allocated memory */
if (mb_io_ptr->filetype == MB_FILETYPE_XDR
&& mb_io_ptr->xdrs != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->xdrs,error);
if (mb_io_ptr->filetype == MB_FILETYPE_XDR
&& mb_io_ptr->xdrs2 != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->xdrs2,error);
if (mb_io_ptr->filetype == MB_FILETYPE_XDR
&& mb_io_ptr->xdrs3 != NULL)
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->xdrs3,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->beamflag,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->bath,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->amp,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->bath_acrosstrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->bath_alongtrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->bath_num,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->amp_num,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->ss,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->ss_acrosstrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->ss_alongtrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->ss_num,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_beamflag,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_bath,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_amp,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_bath_acrosstrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_bath_alongtrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_ss,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_ss_acrosstrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr->new_ss_alongtrack,error);
status = mb_freed(verbose,__FILE__, __LINE__,(void **)&mb_io_ptr,error);
/* restore error and status values */
status = status_save;
*error = error_save;
/* output debug message */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> terminated with error\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);
}
/* initialize the working variables */
mb_io_ptr->ping_count = 0;
mb_io_ptr->nav_count = 0;
mb_io_ptr->comment_count = 0;
if (pings == 0)
mb_io_ptr->pings_avg = 2;
else
mb_io_ptr->pings_avg = pings;
mb_io_ptr->pings_read = 0;
mb_io_ptr->error_save = MB_ERROR_NO_ERROR;
mb_io_ptr->last_time_d = 0.0;
mb_io_ptr->last_lon = 0.0;
mb_io_ptr->last_lat = 0.0;
mb_io_ptr->old_time_d = 0.0;
mb_io_ptr->old_lon = 0.0;
mb_io_ptr->old_lat = 0.0;
mb_io_ptr->old_ntime_d = 0.0;
mb_io_ptr->old_nlon = 0.0;
mb_io_ptr->old_nlat = 0.0;
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;
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;
}
mb_io_ptr->need_new_ping = MB_YES;
/* initialize variables for interpolating asynchronous data */
mb_io_ptr->nfix = 0;
mb_io_ptr->nattitude = 0;
mb_io_ptr->nheading = 0;
mb_io_ptr->nsonardepth = 0;
mb_io_ptr->naltitude = 0;
for (i=0;i<MB_ASYNCH_SAVE_MAX;i++)
{
mb_io_ptr->fix_time_d[i] = 0.0;
mb_io_ptr->fix_lon[i] = 0.0;
mb_io_ptr->fix_lat[i] = 0.0;
mb_io_ptr->attitude_time_d[i] = 0.0;
mb_io_ptr->attitude_heave[i] = 0.0;
mb_io_ptr->attitude_roll[i] = 0.0;
mb_io_ptr->attitude_pitch[i] = 0.0;
mb_io_ptr->heading_time_d[i] = 0.0;
mb_io_ptr->heading_heading[i] = 0.0;
mb_io_ptr->sonardepth_time_d[i] = 0.0;
mb_io_ptr->sonardepth_sonardepth[i] = 0.0;
mb_io_ptr->altitude_time_d[i] = 0.0;
mb_io_ptr->altitude_altitude[i] = 0.0;
}
/* initialize notices */
for (i=0;i<MB_NOTICE_MAX;i++)
mb_io_ptr->notice_list[i] = 0;
/* check for projection specification file */
sprintf(prjfile, "%s.prj", file);
if ((pfp = fopen(prjfile, "r")) != NULL)
{
nscan = fscanf(pfp,"%s", projection_id);
proj_status = mb_proj_init(verbose,projection_id,
&(mb_io_ptr->pjptr), error);
if (proj_status == MB_SUCCESS)
{
mb_io_ptr->projection_initialized = MB_YES;
strcpy(mb_io_ptr->projection_id, projection_id);
}
else
{
fprintf(stderr, "Unable to initialize projection %s from file %s\n\n",
projection_id, prjfile);
}
fclose(pfp);
}
else
{
*error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
}
/* set error and status (if you got here you succeeded */
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
fprintf(stderr,"dbg2 Return values:\n");
fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)*mbio_ptr);
fprintf(stderr,"dbg2 ->numfile: %d\n",mb_io_ptr->numfile);
fprintf(stderr,"dbg2 ->file: %s\n",mb_io_ptr->file);
if (mb_io_ptr->numfile >= 2 || mb_io_ptr->numfile <= -2)
fprintf(stderr,"dbg2 ->file2: %s\n",mb_io_ptr->file2);
if (mb_io_ptr->numfile >= 3 || mb_io_ptr->numfile <= -3)
fprintf(stderr,"dbg2 ->file3: %s\n",mb_io_ptr->file3);
fprintf(stderr,"dbg2 ->mbfp: %p\n",(void *)mb_io_ptr->mbfp);
if (mb_io_ptr->numfile >= 2 || mb_io_ptr->numfile <= -2)
fprintf(stderr,"dbg2 ->mbfp2: %p\n",(void *)mb_io_ptr->mbfp2);
if (mb_io_ptr->numfile >= 3 || mb_io_ptr->numfile <= -3)
fprintf(stderr,"dbg2 ->mbfp3: %p\n",(void *)mb_io_ptr->mbfp3);
fprintf(stderr,"dbg2 btime_d: %f\n",*btime_d);
fprintf(stderr,"dbg2 etime_d: %f\n",*etime_d);
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 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
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;
/* segy data */
char segyfile[MB_PATH_MAXLINE];
void *mbsegyioptr;
struct mb_segyasciiheader_struct asciiheader;
struct mb_segyfileheader_struct fileheader;
struct mb_segytraceheader_struct traceheader;
float *trace = NULL;
float *worktrace = NULL;
double *spsd = NULL;
double *wpsd = NULL;
double *spsdtot = NULL;
double *wpsdtot = NULL;
/* fft controls */
int nfft = 1024;
fftw_plan plan;
fftw_complex *fftw_in = NULL;
fftw_complex *fftw_out = NULL;
int nsection;
/* grid controls */
char fileroot[MB_PATH_MAXLINE];
char gridfile[MB_PATH_MAXLINE];
char psdfile[MB_PATH_MAXLINE];
int decimatex = 1;
int tracemode = MBSEGYPSD_USESHOT;
int tracestart = 0;
int traceend = 0;
int chanstart = 0;
int chanend = -1;
double timesweep = 0.0;
double timedelay = 0.0;
double sampleinterval = 0.0;
int windowmode = MBSEGYPSD_WINDOW_OFF;
double windowstart, windowend;
int ntraces;
int ngridx = 0;
int ngridy = 0;
int ngridxy = 0;
float *grid = NULL;
double xmin;
double xmax;
double ymin;
double ymax;
double dx;
double dy;
double gridmintot = 0.0;
double gridmaxtot = 0.0;
char projection[MB_PATH_MAXLINE];
char xlabel[MB_PATH_MAXLINE];
char ylabel[MB_PATH_MAXLINE];
char zlabel[MB_PATH_MAXLINE];
char title[MB_PATH_MAXLINE];
char plot_cmd[MB_PATH_MAXLINE];
int scale2distance = MB_NO;
double shotscale = 1.0;
double frequencyscale = 1.0;
int logscale = MB_NO;
int sinftracemode = MBSEGYPSD_USESHOT;
int sinftracestart = 0;
int sinftraceend = 0;
int sinfchanstart = 0;
int sinfchanend = -1;
double sinftimesweep = 0.0;
double sinftimedelay = 0.0;
double soundpressurelevel;
double sint, taper;
double norm, normraw, normtaper, normfft;
FILE *fp;
int nread;
int tracecount, tracenum, channum, traceok;
double tracemin, tracemax;
double xwidth, ywidth;
int ix, iy, iys;
int itstart, itend;
double factor, btime, stime, dtime;
double btimesave = 0.0;
double stimesave = 0.0;
double dtimesave = 0.0;
int plot_status;
int kstart, kend;
int i, j, k, n;
/* set file to null */
segyfile[0] = '\0';
/* get NaN value */
GMT_make_fnan(NaN);
/* process argument list */
while ((c = getopt(argc, argv, "A:a:D:d:I:i:LlN:n:O:o:PpS:s:T:t:VvW:w:Hh")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'A':
case 'a':
n = sscanf (optarg,"%lf/%lf", &shotscale, &frequencyscale);
if (n == 2)
scale2distance = MB_YES;
flag++;
break;
case 'D':
case 'd':
n = sscanf (optarg,"%d", &decimatex);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", segyfile);
flag++;
break;
case 'L':
case 'l':
logscale = MB_YES;
flag++;
break;
case 'N':
case 'n':
n = sscanf (optarg,"%d", &nfft);
flag++;
break;
case 'G':
case 'O':
case 'o':
sscanf (optarg,"%s", fileroot);
flag++;
break;
case 'S':
case 's':
n = sscanf (optarg,"%d/%d/%d/%d/%d", &tracemode, &tracestart, &traceend, &chanstart, &chanend);
if (n < 5)
{
chanstart = 0;
chanend = -1;
}
if (n < 3)
{
tracestart = 0;
traceend = 0;
}
if (n < 1)
{
tracemode = MBSEGYPSD_USESHOT;
}
flag++;
break;
case 'T':
case 't':
n = sscanf (optarg,"%lf/%lf", ×weep, &timedelay);
if (n < 2)
timedelay = 0.0;
flag++;
break;
case 'W':
case 'w':
n = sscanf (optarg,"%d/%lf/%lf", &windowmode, &windowstart, &windowend);
flag++;
break;
case '?':
errflg++;
}
/* set output stream to stdout or stderr */
if (verbose >= 2)
outfp = stderr;
else
outfp = stdout;
/* 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,"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 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 segyfile: %s\n",segyfile);
fprintf(outfp,"dbg2 fileroot: %s\n",fileroot);
fprintf(outfp,"dbg2 nfft: %d\n",nfft);
fprintf(outfp,"dbg2 decimatex: %d\n",decimatex);
fprintf(outfp,"dbg2 tracemode: %d\n",tracemode);
fprintf(outfp,"dbg2 tracestart: %d\n",tracestart);
fprintf(outfp,"dbg2 traceend: %d\n",traceend);
fprintf(outfp,"dbg2 chanstart: %d\n",chanstart);
fprintf(outfp,"dbg2 chanend: %d\n",chanend);
fprintf(outfp,"dbg2 timesweep: %f\n",timesweep);
fprintf(outfp,"dbg2 timedelay: %f\n",timedelay);
fprintf(outfp,"dbg2 ngridx: %d\n",ngridx);
fprintf(outfp,"dbg2 ngridy: %d\n",ngridy);
fprintf(outfp,"dbg2 ngridxy: %d\n",ngridxy);
fprintf(outfp,"dbg2 windowmode: %d\n",windowmode);
fprintf(outfp,"dbg2 windowstart: %f\n",windowstart);
fprintf(outfp,"dbg2 windowend: %f\n",windowend);
fprintf(outfp,"dbg2 scale2distance: %d\n",scale2distance);
fprintf(outfp,"dbg2 shotscale: %f\n",shotscale);
fprintf(outfp,"dbg2 frequencyscale: %f\n",frequencyscale);
fprintf(outfp,"dbg2 logscale: %d\n",logscale);
}
/* 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 segy limits if required */
if (traceend < 1 || traceend < tracestart || timesweep <= 0.0)
{
get_segy_limits(verbose,
segyfile,
&sinftracemode,
&sinftracestart,
&sinftraceend,
&sinfchanstart,
&sinfchanend,
&sinftimesweep,
&sinftimedelay,
&error);
if (traceend < 1 || traceend < tracestart)
{
tracemode = sinftracemode;
tracestart = sinftracestart;
traceend = sinftraceend;
}
if (chanend < 1 || chanend < chanstart)
{
chanstart = sinfchanstart;
chanend = sinfchanend;
}
if (timesweep <= 0.0)
{
timesweep = sinftimesweep;
timedelay = sinftimedelay;
}
}
/* check specified parameters */
if (traceend < 1 || traceend < tracestart)
{
fprintf(outfp,"\nBad trace numbers: %d %d specified...\n", tracestart, traceend);
fprintf(outfp,"\nProgram <%s> Terminated\n", program_name);
exit(error);
}
if (timesweep <= 0.0)
{
fprintf(outfp,"\nBad time sweep: %f specified...\n", timesweep);
fprintf(outfp,"\nProgram <%s> Terminated\n", program_name);
exit(error);
}
/* initialize reading the segy file */
if (mb_segy_read_init(verbose, segyfile,
&mbsegyioptr, &asciiheader, &fileheader, &error) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(outfp,"\nMBIO Error returned from function <mb_segy_read_init>:\n%s\n",message);
fprintf(outfp,"\nSEGY File <%s> not initialized for reading\n",segyfile);
fprintf(outfp,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* calculate implied grid parameters */
strcpy(gridfile,fileroot);
strcat(gridfile,".grd");
strcpy(psdfile,fileroot);
strcat(psdfile,"_psd.txt");
if (chanend >= chanstart)
ntraces = (traceend - tracestart + 1) * (chanend - chanstart + 1);
else
ntraces = traceend - tracestart + 1;
ngridx = ntraces / decimatex;
sampleinterval = 0.000001 * (double) (fileheader.sample_interval);
ngridy = nfft / 2 + 1;
ngridxy = ngridx * ngridy;
dx = decimatex;
xmin = (double) tracestart - 0.5;
xmax = (double) traceend + 0.5;
dy = 1.0 / (2.0 * sampleinterval * ngridy);
ymin = -0.5 * dy;
ymax = (ngridy - 0.5) * dy;
/* get start and end samples */
if (windowmode == MBSEGYPSD_WINDOW_OFF)
{
itstart = 0;
itend = ngridy - 1;
}
else if (windowmode == MBSEGYPSD_WINDOW_ON)
{
itstart = MAX((windowstart) / sampleinterval, 0);
itend = MIN((windowend) / sampleinterval, ngridy - 1);
}
/* allocate memory for grid array */
status = mb_mallocd(verbose,__FILE__,__LINE__, 2 * ngridxy * sizeof(float), (void **)&grid, &error);
status = mb_mallocd(verbose,__FILE__,__LINE__, ngridy * sizeof(double), (void **)&spsd, &error);
status = mb_mallocd(verbose,__FILE__,__LINE__, ngridy * sizeof(double), (void **)&wpsd, &error);
status = mb_mallocd(verbose,__FILE__,__LINE__, ngridy * sizeof(double), (void **)&spsdtot, &error);
status = mb_mallocd(verbose,__FILE__,__LINE__, ngridy * sizeof(double), (void **)&wpsdtot, &error);
/* zero working psd array */
for (iy=0;iy<ngridy;iy++)
{
spsdtot[iy] = 0.0;
wpsdtot[iy] = 0.0;
}
/* output info */
if (verbose >= 0)
{
fprintf(outfp,"\nMBsegypsd Parameters:\n");
fprintf(outfp,"Input segy file: %s\n",segyfile);
fprintf(outfp,"Output fileroot: %s\n",fileroot);
fprintf(outfp,"Input Parameters:\n");
fprintf(outfp," trace mode: %d\n",tracemode);
fprintf(outfp," trace start: %d\n",tracestart);
fprintf(outfp," trace end: %d\n",traceend);
fprintf(outfp," channel start: %d\n",chanstart);
fprintf(outfp," channel end: %d\n",chanend);
fprintf(outfp," trace decimation: %d\n",decimatex);
fprintf(outfp," time sweep: %f seconds\n",timesweep);
fprintf(outfp," time delay: %f seconds\n",timedelay);
fprintf(outfp," sample interval: %f seconds\n",sampleinterval);
fprintf(outfp," window mode: %d\n",windowmode);
fprintf(outfp," window start: %f seconds\n",windowstart);
fprintf(outfp," window end: %f seconds\n",windowend);
fprintf(outfp,"Output Parameters:\n");
fprintf(outfp," grid filename: %s\n",gridfile);
fprintf(outfp," psd filename: %s\n",psdfile);
fprintf(outfp," x grid dimension: %d\n",ngridx);
fprintf(outfp," y grid dimension: %d\n",ngridy);
fprintf(outfp," grid xmin: %f\n",xmin);
fprintf(outfp," grid xmax: %f\n",xmax);
fprintf(outfp," grid ymin: %f\n",ymin);
fprintf(outfp," grid ymax: %f\n",ymax);
fprintf(outfp," NaN values used to flag regions with no data\n");
fprintf(outfp," shotscale: %f\n",shotscale);
fprintf(outfp," frequencyscale: %f\n",frequencyscale);
if (scale2distance == MB_YES)
{
fprintf(outfp," trace numbers scaled to distance in meters\n");
fprintf(outfp," scaled grid xmin %f\n",0.0);
fprintf(outfp," scaled grid xmax: %f\n",shotscale * (xmax - xmin));
}
}
if (verbose > 0)
fprintf(outfp,"\n");
/* proceed if all ok */
if (status == MB_SUCCESS)
{
/* fill grid with NaNs */
for (i=0;i<ngridxy;i++)
grid[i] = NaN;
/* generate the fftw plan */
fftw_in = (fftw_complex *) fftw_malloc(sizeof(fftw_complex) * nfft);
fftw_out = (fftw_complex *) fftw_malloc(sizeof(fftw_complex) * nfft);
plan = fftw_plan_dft_1d(nfft, fftw_in, fftw_out, FFTW_FORWARD, FFTW_MEASURE);
/* read and print data */
nread = 0;
while (error <= MB_ERROR_NO_ERROR)
{
/* reset error */
error = MB_ERROR_NO_ERROR;
/* read a trace */
status = mb_segy_read_trace(verbose, mbsegyioptr,
&traceheader, &trace, &error);
/* now process the trace */
if (status == MB_SUCCESS)
{
/* figure out where this trace is in the grid */
if (tracemode == MBSEGYPSD_USESHOT)
{
tracenum = traceheader.shot_num;
channum = traceheader.shot_tr;
}
else
{
tracenum = traceheader.rp_num;
channum = traceheader.rp_tr;
}
if (chanend >= chanstart)
{
tracecount = (tracenum - tracestart) * (chanend - chanstart + 1)
+ (channum - chanstart);
}
else
{
tracecount = tracenum - tracestart;
}
ix = tracecount / decimatex;
if (traceheader.elev_scalar < 0)
factor = 1.0 / ((float) (-traceheader.elev_scalar));
else
factor = (float) traceheader.elev_scalar;
if (traceheader.src_depth > 0)
{
btime = factor * traceheader.src_depth / 750.0 + 0.001 * traceheader.delay_mils;
dtime = factor * traceheader.src_depth / 750.0;
btimesave = btime;
dtimesave = dtime;
}
else if (traceheader.src_elev > 0)
{
btime = -factor * traceheader.src_elev / 750.0 + 0.001 * traceheader.delay_mils;
dtime = -factor * traceheader.src_elev / 750.0;
btimesave = btime;
dtimesave = dtime;
}
else
{
btime = btimesave;
dtime = dtimesave;
}
if (traceheader.src_wbd > 0)
{
stime = factor * traceheader.src_wbd / 750.0;
stimesave = stime;
}
else
{
stime = stimesave;
}
iys = (btime - timedelay) / sampleinterval;
/* now check if this is a trace of interest */
traceok = MB_YES;
if (tracenum < tracestart
|| tracenum > traceend)
traceok = MB_NO;
else if (chanend >= chanstart
&& (channum < chanstart
|| channum > chanend))
traceok = MB_NO;
else if (tracecount % decimatex != 0)
traceok = MB_NO;
/* get trace min and max */
tracemin = trace[0];
tracemax = trace[0];
for (i=0;i<traceheader.nsamps;i++)
{
tracemin = MIN(tracemin, trace[i]);
tracemax = MAX(tracemin, trace[i]);
}
if ((verbose == 0 && nread % 250 == 0) || (nread % 25 == 0))
{
if (traceok == MB_YES)
fprintf(outfp,"PROCESS ");
else
fprintf(outfp,"IGNORE ");
if (tracemode == MBSEGYPSD_USESHOT)
fprintf(outfp,"read:%d position:%d shot:%d channel:%d ",
nread,tracecount,tracenum,channum);
else
fprintf(outfp,"read:%d position:%d rp:%d channel:%d ",
nread,tracecount,tracenum,channum);
fprintf(outfp,"%4.4d/%3.3d %2.2d:%2.2d:%2.2d.%3.3d samples:%d interval:%d usec minmax: %f %f\n",
traceheader.year,traceheader.day_of_yr,
traceheader.hour,traceheader.min,traceheader.sec,traceheader.mils,
traceheader.nsamps,traceheader.si_micros,
tracemin, tracemax);
}
/* now actually process traces of interest */
if (traceok == MB_YES)
{
/* zero working psd array */
for (iy=0;iy<ngridy;iy++)
{
spsd[iy] = 0.0;
wpsd[iy] = 0.0;
}
/* get bounds of trace in depth window mode */
if (windowmode == MBSEGYPSD_WINDOW_DEPTH)
{
itstart = (int)((dtime + windowstart - timedelay) / sampleinterval);
itstart = MAX(itstart, 0);
itend = (int)((dtime + windowend - timedelay) / sampleinterval);
itend = MIN(itend, ngridy - 1);
}
else if (windowmode == MBSEGYPSD_WINDOW_SEAFLOOR)
{
itstart = MAX((stime + windowstart - timedelay) / sampleinterval, 0);
itend = MIN((stime + windowend - timedelay) / sampleinterval, ngridy - 1);
}
/* loop over the data calculating fft in nfft long sections */
nsection = (itend - itstart + 1) / nfft;
if (((itend - itstart + 1) % nfft) > 0)
nsection++;
for (j=0;j<nsection;j++)
{
/* initialize normalization factors */
normraw = 0.0;
normtaper = 0.0;
normfft = 0.0;
/* extract data section to be fft'd with taper */
kstart = itstart + j * nfft;
kend = MIN(kstart + nfft, itend);
for (i=0;i<nfft;i++)
{
k = itstart + j * nfft + i;
if (k <= kend)
{
sint = sin(M_PI * ((double)(k - kstart)) / ((double)(kend - kstart)));
taper = sint * sint;
fftw_in[i][0] = taper * trace[k];
normraw += trace[k] * trace[k];
normtaper += fftw_in[i][0] * fftw_in[i][0];
}
else
fftw_in[i][0] = 0.0;
/*if (ix < 500)
fftw_in[i][0] = sin(2.0 * M_PI * 1000.0 * i * sampleinterval)
+ sin(2.0 * M_PI * 3000.0 * i * sampleinterval)
+ sin(2.0 * M_PI * 6000.0 * i * sampleinterval);*/
fftw_in[i][1] = 0.0;
}
soundpressurelevel = 20.0 * log10(normraw / nfft);
/*fprintf(stderr,"Sound Pressure Level: %f dB re 1 uPa\n",soundpressurelevel);*/
/* execute the fft */
fftw_execute(plan);
/* get normalization factor - require variance of transform to equal variance of input */
for (i=1;i<nfft;i++)
{
normfft += fftw_out[i][0] * fftw_out[i][0] + fftw_out[i][1] * fftw_out[i][1];
}
norm = normraw / normfft;
/* apply normalization factor */
for (i=1;i<nfft;i++)
{
fftw_out[i][0] = norm * fftw_out[i][0];
fftw_out[i][1] = norm * fftw_out[i][1];
}
/* calculate psd from result of transform */
spsd[0] += fftw_out[0][0] * fftw_out[0][0] + fftw_out[0][1] * fftw_out[0][1];
wpsd[0] += 1.0;
/* fprintf(stderr,"FFT result: i:%d %f %f %f\n",
0,fftw_out[0][0],fftw_out[0][1],fftw_out[0][0] * fftw_out[0][0] + fftw_out[0][1] * fftw_out[0][1]);*/
for (i=1;i<nfft/2;i++)
{
spsd[i] += 2.0 * (fftw_out[i][0] * fftw_out[i][0] + fftw_out[i][1] * fftw_out[i][1]);
wpsd[i] += 1.0;
/* fprintf(stderr,"FFT result: i:%d %f %f %f\n",
i,fftw_out[i][0],fftw_out[i][1],2.0 * fftw_out[i][0] * fftw_out[i][0] + fftw_out[i][1] * fftw_out[i][1]);*/
}
if (nfft % 2 == 0)
{
spsd[i] += fftw_out[nfft/2][0] * fftw_out[nfft/2][0] + fftw_out[nfft/2][1] * fftw_out[nfft/2][1];
wpsd[i] += 1.0;
/* fprintf(stderr,"FFT result: i:%d %f %f %f\n",
nfft/2,fftw_out[nfft/2][0],fftw_out[nfft/2][1],fftw_out[nfft/2][0] * fftw_out[nfft/2][0] + fftw_out[nfft/2][1] * fftw_out[nfft/2][1]); */
}
}
/* output psd for this trace to the grid */
/*fprintf(stderr,"N:%d Normalization: %f %f %f ratios: %f %f %f %f\n",
nfft,normraw,normtaper,normfft,normraw/normfft,normfft/normraw,normtaper/normfft,normfft/normtaper);*/
for (iy=0;iy<ngridy;iy++)
{
k = (ngridy - 1 - iy) * ngridx + ix;
if (wpsd[iy] > 0.0)
{
if (logscale == MB_NO)
grid[k] = spsd[iy] / wpsd[iy];
else
grid[k] = 20.0 * log10(spsd[iy] / wpsd[iy]);
spsdtot[iy] += grid[k];
wpsdtot[iy] += 1.0;
/*fprintf(stderr,"ix:%d iy:%d k:%d spsd:%f wpsd:%f f:%f p:%f\n",
ix,iy,k,spsd[iy],wpsd[iy],ymax * iy / ngridy,grid[k]);*/
gridmintot = MIN(grid[k], gridmintot);
gridmaxtot = MAX(grid[k], gridmaxtot);
}
}
}
}
/* now process the trace */
if (status == MB_SUCCESS)
nread++;
}
/* deallocate fftw arrays and plan */
fftw_destroy_plan(plan);
fftw_free(fftw_in);
fftw_free(fftw_out);
}
/* write out the grid */
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
strcpy(projection, "GenericLinear");
if (scale2distance == MB_YES)
{
strcpy(xlabel, "Distance (m)");
strcpy(ylabel, "Frequency (Hz)");
xmax *= shotscale;
xmin *= shotscale;
dx *= shotscale;
}
else
{
strcpy(xlabel, "Trace Number");
strcpy(ylabel, "Frequency (Hz)");
dx = (double) decimatex;
}
if (logscale == MB_YES)
strcpy(zlabel, "dB/Hz");
else
strcpy(zlabel, "Intensity/Hz");
sprintf(title, "Power Spectral Density Grid from %s", segyfile);
status = write_cdfgrd(verbose, gridfile, grid,
ngridx, ngridy,
xmin, xmax, ymin, ymax,
gridmintot, gridmaxtot, dx, dy,
xlabel, ylabel, zlabel, title,
projection, argc, argv, &error);
/* output average power spectra */
if ((fp = fopen(psdfile, "w")) != NULL)
{
for (iy=0;iy<ngridy;iy++)
{
if (wpsdtot[iy] > 0.0)
{
spsdtot[iy] = spsdtot[iy] / wpsdtot[iy];
}
fprintf(fp, "%f %f\n", dy * iy, spsdtot[iy]);
}
fclose(fp);
}
/* close the segy file */
status = mb_segy_close(verbose,&mbsegyioptr,&error);
/* deallocate memory for grid array */
if (worktrace != NULL)
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&worktrace, &error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&grid, &error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&spsd, &error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&wpsd, &error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&spsdtot, &error);
status = mb_freed(verbose,__FILE__,__LINE__,(void **)&wpsdtot, &error);
/* run mbm_grdplot */
xwidth = MIN(0.01 * (double) ngridx, 55.0);
ywidth = MIN(0.01 * (double) ngridy, 28.0);
sprintf(plot_cmd, "mbm_grdplot -I%s -JX%f/%f -G1 -S -V -L\"File %s - %s:%s\"",
gridfile, xwidth, ywidth, gridfile, title, zlabel);
if (verbose)
{
fprintf(outfp, "\nexecuting mbm_grdplot...\n%s\n",
plot_cmd);
}
plot_status = system(plot_cmd);
if (plot_status == -1)
{
fprintf(outfp, "\nError executing mbm_grdplot on grid file %s\n", gridfile);
}
/* run mbm_xyplot */
xwidth = 9.0;
ywidth = 7.0;
sprintf(plot_cmd, "mbm_xyplot -I%s -JX%f/%f -V -L\"File %s - %s:%s\"",
psdfile, xwidth, ywidth, psdfile, title, zlabel);
if (verbose)
{
fprintf(outfp, "\nexecuting mbm_xyplot...\n%s\n",
plot_cmd);
}
plot_status = system(plot_cmd);
if (plot_status == -1)
{
fprintf(outfp, "\nError executing mbm_xyplot on psd file %s\n", psdfile);
}
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* print output debug statements */
if (verbose >= 2)
{
fprintf(outfp,"\ndbg2 Program <%s> completed\n",
program_name);
fprintf(outfp,"dbg2 Ending status:\n");
fprintf(outfp,"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);
}
