/*--------------------------------------------------------------------
 *    The MB-system:	fbtinfo.c	7/22/2014
 *    $Id: $
 *
 *    Copyright (c) 2014-2014 by
 *    David W. Caress (caress@mbari.org)
 *      Monterey Bay Aquarium Research Institute
 *      Moss Landing, CA 95039
 *    and Dale N. Chayes (dale@ldeo.columbia.edu)
 *      Lamont-Doherty Earth Observatory
 *      Palisades, NY 10964
 *
 *    This file contains source code modified from source files
 *    distributed as part of MB-System. In contrast to the GPL-licensed
 *    MB-System distributions, the code contained here is licensed
 *    under the Lesser GNU Public license, or LGPL. This means that
 *    compiled versions of these functions, or functions derived from
 *    modifications to this code, may be linked with commercial
 *    applications without imposing any restriction on the sale and
 *    and distribution of those applications.
 *
 *    The full LGPL text may be accessed at http://www.gnu.org/
 *
 *    The release of this code under the LGPL does not change the
 *    the GPL licensing of any code contained in the regular
 *    MB-System distribution.
 *
 *    The source code provided here does not come with any warranties,
 *    nor is it guarenteed to work on your computer or to do
 *    anything useful. The user assumes full responsibility for
 *    the use of this software. In particular, David W. Caress,
 *    Dale N. Chayes, the Lamont-Doherty Earth Observatory of
 *    Columbia University, the Monterey Bay Aquarium Research Institute,
 *    or any other individuals or organizations involved in the
 *    design and maintenance of the MB-System software package
 *    and derived distributions are NOT responsible for any
 *    damage that may follow from correct or incorrect use of this
 *    source code. Moreover, it should be noted that the source
 *    code provided here has NOT been tested after modification
 *    from the related functions that are part of MB-System.
 *
 *    To access MB-System documentation or source code releases see:
 *         http://www.mbari.org/data/mbsystem
 *         http://www.ldeo.columbia.edu/MB-System
 *
 *--------------------------------------------------------------------
 *
 *    The program fbtinfo reads an MB-System "fbt" (fast bathymetry) file
 *    and outputs some basic statistics to stdout.
 *    This is intended as an example of using the LGPL licensed mblgpl_fbt
 *    library to read swath bathymetry stored in "fbt" files as part of
 *    the MB-System processing environment.
 *
 *    The header file mblgpl_fbt.h contains structure and macro definitions
 *    required for this source to compile.
 *
 * Author:	D. W. Caress
 * Date:	July 22, 2014
 * Revised:     November 30, 2014
 *
 *--------------------------------------------------------------------
 */

/* standard include files */
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <string.h>

/* MBLGPL include files */
#include "mblgpl_fbt.h"


static char version_id[] = "$Id: $";

/*--------------------------------------------------------------------*/

int main (int argc, char **argv)
{
	char program_name[] = "fbtinfo";
	char help_message[] =  "The program fbtinfo reads an MB-System fbt (fast bathymetry) file"
                "and outputs some basic statistics to stdout.";
	char usage_message[] = "fbtinfo -Ifbtfile [-V -H]";
	extern char *optarg;
	int	errflg = 0;
	int	c;
	int	help = 0;
	int	flag = 0;

	/* MBLGPL status variables */
	int	status = MBLGPL_SUCCESS;
	int	verbose = 0;
	int	error = MBLGPL_ERROR_NO_ERROR;

	/* MBLGPL read parameters */
	char	fbtfile[1024];
        FILE    *fp = NULL;
        FILE    *stream = NULL;
        struct mblgpl_fbt_struct *ping;
	int	printcomments = MBLGPL_NO;
	int	done;
	int	lonflip = 0;
	int	lonflip_set = MBLGPL_NO;
	int	time_i[7];
	int	time_j[5];
	double	mtodeglon;
	double	mtodeglat;
	double	x, y;
	double	last_longitude = 0.0;
	double	last_latitude = 0.0;
	double	ss_scale;
	double	bath;
	double	ss;

	/* limit variables */
	int	beams_bath_max = 0;
	int	beams_amp_max = 0;
	int	pixels_ss_max = 0;
	double	lonmin = 0.0;
	double	lonmax = 0.0;
	double	latmin = 0.0;
	double	latmax = 0.0;
	double	sdpmin = 0.0;
	double	sdpmax = 0.0;
	double	altmin = 0.0;
	double	altmax = 0.0;
	double	bathmin = 0.0;
	double	bathmax = 0.0;
	double	ampmin = 0.0;
	double	ampmax = 0.0;
	double	ssmin = 0.0;
	double	ssmax = 0.0;
	double	bathbeg = 0.0;
	double	bathend = 0.0;
	double	lonbeg = 0.0;
	double	latbeg = 0.0;
	double	lonend = 0.0;
	double	latend = 0.0;
	double	spdbeg = 0.0;
	double	hdgbeg = 0.0;
	double	sdpbeg = 0.0;
	double	altbeg = 0.0;
	double	spdend = 0.0;
	double	hdgend = 0.0;
	double	sdpend = 0.0;
	double	altend = 0.0;
	double	timbeg = 0.0;
	double	timend = 0.0;
	int	timbeg_i[7];
	int	timend_i[7];
	int	timbeg_j[5];
	int	timend_j[5];
	double	distot = 0.0;
	double	timtot = 0.0;
	double	spdavg = 0.0;
	int	irec = 0;
	int	ntdbeams = 0;
	int	ngdbeams = 0;
	int	nzdbeams = 0;
	int	nfdbeams = 0;
	int	ntabeams = 0;
	int	ngabeams = 0;
	int	nzabeams = 0;
	int	nfabeams = 0;
	int	ntsbeams = 0;
	int	ngsbeams = 0;
	int	nzsbeams = 0;
	int	nfsbeams = 0;
	double	ngd_percent;
	double	nzd_percent;
	double	nfd_percent;
	double	nga_percent;
	double	nza_percent;
	double	nfa_percent;
	double	ngs_percent;
	double	nzs_percent;
	double	nfs_percent;
	int	beginnav = MBLGPL_NO;
	int	beginsdp = MBLGPL_NO;
	int	beginalt = MBLGPL_NO;
	int	beginbath = MBLGPL_NO;
	int	beginamp = MBLGPL_NO;
	int	beginss = MBLGPL_NO;
	
	int 	i;

	/* set default input to stdin */
	memset(fbtfile, 0, sizeof(fbtfile));

	/* process argument list */
	  while ((c = getopt(argc, argv, "VvHhCcI:i:")) != -1)
	  switch (c)
		{
		case 'C':
		case 'c':
			printcomments = MBLGPL_YES;
			break;
		case 'H':
		case 'h':
			help++;
			break;
		case 'I':
		case 'i':
			sscanf (optarg,"%s", fbtfile);
			flag++;
			break;
		case 'V':
		case 'v':
			verbose++;
			break;
		case '?':
			errflg++;
		}

	/* set output stream */
	if (verbose <= 1)
		stream = stdout;
	else
		stream = stderr;

	/* if error flagged then print it and exit */
	if (errflg)
		{
		fprintf(stream,"usage: %s\n", usage_message);
		fprintf(stream,"\nProgram <%s> Terminated\n",
			program_name);
		error = MBLGPL_ERROR_BAD_USAGE;
		exit(error);
		}

	/* print starting message */
	if (verbose == 1 || help)
		{
		fprintf(stream,"\nProgram %s\n",program_name);
		fprintf(stream,"Version %s\n",version_id);
		}

	/* print starting debug statements */
	if (verbose >= 2)
		{
		fprintf(stream,"\ndbg2  Program <%s>\n",program_name);
		fprintf(stream,"dbg2  Version %s\n",version_id);
		fprintf(stream,"dbg2  Control Parameters:\n");
		fprintf(stream,"dbg2       verbose:    %d\n",verbose);
		fprintf(stream,"dbg2       help:       %d\n",help);
		fprintf(stream,"dbg2       file:       %s\n",fbtfile);
		}

	/* if help desired then print it and exit */
	if (help)
		{
		fprintf(stream,"\n%s\n",help_message);
		fprintf(stream,"\nusage: %s\n", usage_message);
		exit(error);
		}

	/* set program status */
	status = MBLGPL_SUCCESS;
	
	/* allocate and initialize the storage for fbt swath data */
	status = mblgpl_fbt_alloc(verbose, &ping, &error);
	if (status != MBLGPL_SUCCESS)
		{
		fprintf(stream, "Error allocating memory\n");
		fprintf(stream,"\nProgram <%s> Terminated\n", program_name);
		exit(error);
		}
		
	/* open the fbt file for reading */
	if ((fp = fopen(fbtfile, "r")) == NULL)
		{
		fprintf(stream, "Error opening fbt file: %s\n", fbtfile);
		fprintf(stream,"\nProgram <%s> Terminated\n", program_name);
		exit(error);
		}

	/* prepare to print out comments */
	if (printcomments == MBLGPL_YES)
		fprintf(stream, "\nComments:\n");

	/* loop over reading through the file */
	done = MBLGPL_NO;
	while (done == MBLGPL_NO)
		{
		/* read the next ping */
		status = mblgpl_read_fbt(verbose, fp, ping, &error);
		
		/* process a successful read of comment */
		if (status == MBLGPL_YES
			&& ping->kind == MBLGPL_DATA_COMMENT)
			{
			if (printcomments == MBLGPL_YES)
				fprintf(stream, "%s\n", ping->comment);
			}
			
		/* reset a nonfatal error */
		else if (error < 0)
			{
			error = MBLGPL_ERROR_NO_ERROR;
			status = MBLGPL_SUCCESS;
			}
			
		/* done when end of file reached */
		else if (error > 0)
			{
			done = MBLGPL_YES;
			error = MBLGPL_ERROR_NO_ERROR;
			status = MBLGPL_SUCCESS;
			}
		
		/* process a successful read of survey data */
		else if (status == MBLGPL_YES
			&& ping->kind == MBLGPL_DATA_DATA)
			{
			/* increment counters */
			irec++;
			// fprintf(stream, "ping: time_d:%f nav:%f %f %f %f number of beams:%d\n",
			//	ping->time_d, ping->longitude, ping->latitude, ping->sonardepth,
			//	ping->heading, ping->beams_bath);

			/* take note of min and maxes */
			if (error == MBLGPL_ERROR_NO_ERROR)
				{
				/* update data counts */
				ntdbeams += ping->beams_bath;
				ntabeams += ping->beams_amp;
				ntsbeams += ping->pixels_ss;
				
				/* get time_i and time_j from time_d */
				mblgpl_get_date(verbose, ping->time_d, time_i);
				mblgpl_get_jtime(verbose, time_i, time_j);

				/* set lonflip if needed */
				if (lonflip_set == MBLGPL_NO
				    && (ping->longitude != 0.0 || ping->latitude != 0.0))
					{
					lonflip_set = MBLGPL_YES;
					if (ping->longitude < -270.0)
					    lonflip = 0;
					else if (ping->longitude >= -270.0 && ping->longitude < -90.0)
					    lonflip = -1;
					else if (ping->longitude >= -90.0 && ping->longitude < 90.0)
					    lonflip = 0;
					else if (ping->longitude >= 90.0 && ping->longitude < 270.0)
					    lonflip = 1;
					else if (ping->longitude >= 270.0)
					    lonflip = 0;
					}
				    
				/* apply lonflip to navigation */
				if (lonflip_set == MBLGPL_YES)
					{
					if (lonflip == -1)
						{
						if (ping->longitude > 0.0)
							ping->longitude -= 360.0;
						}
					else if (lonflip == 1)
						{
						if (ping->longitude < 0.0)
							ping->longitude += 360.0;
						}
					else if (lonflip == 0)
						{
						if (ping->longitude < -180.0)
							ping->longitude += 360.0;
						if (ping->longitude > 180.0)
							ping->longitude -= 360.0;
						}
					}
					
				/* calculate distance */
				if (irec > 1)
					{
					mblgpl_coor_scale(verbose, ping->latitude,
								&mtodeglon, &mtodeglat);
					x = (ping->longitude - last_longitude) / mtodeglon;
					y = (ping->latitude - last_latitude) / mtodeglat;
					distot += sqrt(x * x + y * y) / 1000.0;
					}
				last_longitude = ping->longitude;
				last_latitude = ping->latitude;
					
				/* get max numbers of beams and pixels */
				beams_bath_max = MAX(beams_bath_max, ping->beams_bath);
				beams_amp_max = MAX(beams_amp_max, ping->beams_amp);
				pixels_ss_max = MAX(pixels_ss_max, ping->pixels_ss);

				/* get beginning values */
				if (irec == 1)
					{
					if (ping->beams_bath > 0)
						{
						if (mblgpl_beam_ok(ping->beamflag[ping->beams_bath/2]))
							bathbeg = ping->bath[ping->beams_bath/2];
						else
							bathbeg = ping->altitude + ping->sonardepth;
						}
					lonbeg = ping->longitude;
					latbeg = ping->latitude;
					timbeg = ping->time_d;
					for (i=0;i<7;i++)
						timbeg_i[i] = time_i[i];
					spdbeg = ping->speed;
					hdgbeg = ping->heading;
					sdpbeg = ping->sonardepth;
					altbeg = ping->altitude;
					}
				else if (lonbeg == 0.0 && latbeg == 0.0
					&& ping->longitude != 0.0 && ping->latitude != 0.0)
					{
					lonbeg = ping->longitude;
					if (ping->beams_bath > 0)
						{
						if (mblgpl_beam_ok(ping->beamflag[ping->beams_bath/2]))
							bathbeg = ping->bath[ping->beams_bath/2];
						else
							bathbeg = ping->altitude + ping->sonardepth;
						}
					latbeg = ping->latitude;
					if (spdbeg == 0.0 && ping->speed != 0.0)
						spdbeg = ping->speed;
					if (hdgbeg == 0.0 && ping->heading != 0.0)
						hdgbeg = ping->heading;
					if (sdpbeg == 0.0 && ping->sonardepth != 0.0)
						sdpbeg = ping->sonardepth;
					if (altbeg == 0.0 && ping->altitude != 0.0)
						altbeg = ping->altitude;
					}

				/* reset ending values each time */
				if (ping->beams_bath > 0)
					{
					if (mblgpl_beam_ok(ping->beamflag[ping->beams_bath/2]))
						bathend = ping->bath[ping->beams_bath/2];
					else
						bathend = ping->altitude + ping->sonardepth;
					}
				lonend = ping->longitude;
				latend = ping->latitude;
				spdend = ping->speed;
				hdgend = ping->heading;
				sdpend = ping->sonardepth;
				altend = ping->altitude;
				timend = ping->time_d;
				for (i=0;i<7;i++)
					timend_i[i] = time_i[i];

				/* get starting mins and maxs */
				if (beginnav == MBLGPL_NO)
					{
					lonmin = ping->longitude;
					lonmax = ping->longitude;
					latmin = ping->latitude;
					latmax = ping->latitude;
					beginnav = MBLGPL_YES;
					}
				if (beginsdp == MBLGPL_NO && ping->sonardepth > 0.0)
					{
					sdpmin = ping->sonardepth;
					sdpmax = ping->sonardepth;
					beginsdp = MBLGPL_YES;
					}
				if (beginalt == MBLGPL_NO && ping->altitude > 0.0)
					{
					altmin = ping->altitude;
					altmax = ping->altitude;
					beginalt = MBLGPL_YES;
					}
				if (beginbath == MBLGPL_NO && ping->beams_bath > 0)
					for (i=0;i<ping->beams_bath;i++)
						if (mblgpl_beam_ok(ping->beamflag[i]))
							{
							bath = ping->depth_scale * ping->bath[i] + ping->sonardepth;
							bathmin = bath;
							bathmax = bath;
							beginbath = MBLGPL_YES;
							}
				if (beginamp == MBLGPL_NO && ping->beams_amp > 0)
					for (i=0;i<ping->beams_amp;i++)
						if (mblgpl_beam_ok(ping->beamflag[i]))
							{
							ampmin = ping->amp[i];
							ampmax = ping->amp[i];
							beginamp = MBLGPL_YES;
							}
				ss_scale = pow(2.0, (double)(ping->ss_scalepower));
				if (beginss == MBLGPL_NO && ping->pixels_ss > 0)
					for (i=0;i<ping->pixels_ss;i++)
						if (ping->ss[i] > MBLGPL_SIDESCAN_NULL)
							{
							ss = ss_scale * ping->ss[i];
							ssmin = ss;
							ssmax = ss;
							beginss = MBLGPL_YES;
							}

				/* get mins and maxs */
				if (beginnav == MBLGPL_YES)
					{
					lonmin = MIN(lonmin, ping->longitude);
					lonmax = MAX(lonmax, ping->longitude);
					latmin = MIN(latmin, ping->latitude);
					latmax = MAX(latmax, ping->latitude);
					}
				if (beginsdp == MBLGPL_YES)
					{
					sdpmin = MIN(sdpmin, ping->sonardepth);
					sdpmax = MAX(sdpmax, ping->sonardepth);
					}
				if (beginalt == MBLGPL_YES)
					{
					altmin = MIN(altmin, ping->altitude);
					altmax = MAX(altmax, ping->altitude);
					}
				for (i=0;i<ping->beams_bath;i++)
					{
					if (mblgpl_beam_ok(ping->beamflag[i]))
						{
						bath = ping->depth_scale * ping->bath[i] + ping->sonardepth;
						bathmin = MIN(bathmin, bath);
						bathmax = MAX(bathmax, bath);
						ngdbeams++;
						}
					else if (ping->beamflag[i] == MBLGPL_FLAG_NULL)
						nzdbeams++;
					else
						nfdbeams++;
					}
				for (i=0;i<ping->beams_amp;i++)
					{
					if (mblgpl_beam_ok(ping->beamflag[i]))
						{
						ampmin = MIN(ampmin, ping->amp[i]);
						ampmax = MAX(ampmax, ping->amp[i]);
						ngabeams++;
						}
					else if (ping->beamflag[i] == MBLGPL_FLAG_NULL)
						nzabeams++;
					else
						nfabeams++;
					}
				for (i=0;i<ping->pixels_ss;i++)
					{
					if (ping->ss[i] > MBLGPL_SIDESCAN_NULL)
						{
						ss = ss_scale * ping->ss[i];
						ssmin = MIN(ssmin, ss);
						ssmax = MAX(ssmax, ss);
						ngsbeams++;
						}
					else if (ping->ss[i] == 0.0)
						nzsbeams++;
					else
						nfsbeams++;
					}
				}
			} /* end processing good survey ping */
		} /* end reading loop */

	/* calculate percentages of data */
	if (ntdbeams > 0)
		{
		ngd_percent = 100.0*ngdbeams/ntdbeams;
		nzd_percent = 100.0*nzdbeams/ntdbeams;
		nfd_percent = 100.0*nfdbeams/ntdbeams;
		}
	else
		{
		ngd_percent = 0.0;
		nzd_percent = 0.0;
		nfd_percent = 0.0;
		}
	if (ntabeams > 0)
		{
		nga_percent = 100.0*ngabeams/ntabeams;
		nza_percent = 100.0*nzabeams/ntabeams;
		nfa_percent = 100.0*nfabeams/ntabeams;
		}
	else
		{
		nga_percent = 0.0;
		nza_percent = 0.0;
		nfa_percent = 0.0;
		}
	if (ntsbeams > 0)
		{
		ngs_percent = 100.0*ngsbeams/ntsbeams;
		nzs_percent = 100.0*nzsbeams/ntsbeams;
		nfs_percent = 100.0*nfsbeams/ntsbeams;
		}
	else
		{
		ngs_percent = 0.0;
		nzs_percent = 0.0;
		nfs_percent = 0.0;
		}

	/* now print out the results */
	timtot = (timend - timbeg)/3600.0;
	if (timtot > 0.0)
		spdavg = distot/timtot;
	mblgpl_get_jtime(verbose,timbeg_i,timbeg_j);
	mblgpl_get_jtime(verbose,timend_i,timend_j);

	fprintf(stream,"\nMB-System fbt file:    %s\n",fbtfile);
	fprintf(stream,"\nData Totals:\n");
	fprintf(stream,"Number of Records:                    %8d\n",irec);
	fprintf(stream,"Bathymetry Data (%d beams):\n",beams_bath_max);
	fprintf(stream,"  Number of Beams:         %8d\n", ntdbeams);
	fprintf(stream,"  Number of Good Beams:    %8d     %5.2f%%\n",ngdbeams, ngd_percent);
	fprintf(stream,"  Number of Zero Beams:    %8d     %5.2f%%\n",nzdbeams, nzd_percent);
	fprintf(stream,"  Number of Flagged Beams: %8d     %5.2f%%\n",nfdbeams, nfd_percent);
	fprintf(stream,"Amplitude Data (%d beams):\n",beams_amp_max);
	fprintf(stream,"  Number of Beams:         %8d\n",ntabeams);
	fprintf(stream,"  Number of Good Beams:    %8d     %5.2f%%\n",ngabeams, nga_percent);
	fprintf(stream,"  Number of Zero Beams:    %8d     %5.2f%%\n",nzabeams, nza_percent);
	fprintf(stream,"  Number of Flagged Beams: %8d     %5.2f%%\n",nfabeams, nfa_percent);
	fprintf(stream,"Sidescan Data (%d pixels):\n",pixels_ss_max);
	fprintf(stream,"  Number of Pixels:        %8d\n",ntsbeams);
	fprintf(stream,"  Number of Good Pixels:   %8d     %5.2f%%\n",ngsbeams, ngs_percent);
	fprintf(stream,"  Number of Zero Pixels:   %8d     %5.2f%%\n",nzsbeams, nzs_percent);
	fprintf(stream,"  Number of Flagged Pixels:%8d     %5.2f%%\n",nfsbeams, nfs_percent);
	fprintf(stream,"\nNavigation Totals:\n");
	fprintf(stream,"Total Time:         %10.4f hours\n",timtot);
	fprintf(stream,"Total Track Length: %10.4f km\n",distot);
	fprintf(stream,"Average Speed:      %10.4f km/hr (%7.4f knots)\n",spdavg,spdavg/1.85);
	fprintf(stream,"\nStart of Data:\n");
	fprintf(stream,"Time:  %2.2d %2.2d %4.4d %2.2d:%2.2d:%2.2d.%6.6d  JD%d (%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d)\n",
		timbeg_i[1],timbeg_i[2],timbeg_i[0],timbeg_i[3],
		timbeg_i[4],timbeg_i[5],timbeg_i[6],timbeg_j[1],
		timbeg_i[0],timbeg_i[1],timbeg_i[2],timbeg_i[3],timbeg_i[4],timbeg_i[5],timbeg_i[6]);
	fprintf(stream,"Lon: %15.9f     Lat: %15.9f     Depth: %10.4f meters\n",lonbeg,latbeg,bathbeg);
	fprintf(stream,"Speed: %7.4f km/hr (%7.4f knots)  Heading:%9.4f degrees\n",spdbeg,spdbeg/1.85,hdgbeg);
	fprintf(stream,"Sonar Depth:%10.4f m  Sonar Altitude:%10.4f m\n",sdpbeg,altbeg);
	fprintf(stream,"\nEnd of Data:\n");
	fprintf(stream,"Time:  %2.2d %2.2d %4.4d %2.2d:%2.2d:%2.2d.%6.6d  JD%d (%4.4d-%2.2d-%2.2dT%2.2d:%2.2d:%2.2d.%6.6d)\n",
		timend_i[1],timend_i[2],timend_i[0],timend_i[3],
		timend_i[4],timend_i[5],timend_i[6],timend_j[1],
		timend_i[0],timend_i[1],timend_i[2],timend_i[3],timend_i[4],timend_i[5],timend_i[6]);
	fprintf(stream,"Lon: %15.9f     Lat: %15.9f     Depth: %10.4f meters\n",lonend,latend,bathend);
	fprintf(stream,"Speed: %7.4f km/hr (%7.4f knots)  Heading:%9.4f degrees\n",
		spdend,spdend/1.85,hdgend);
	fprintf(stream,"Sonar Depth:%10.4f m  Sonar Altitude:%10.4f m\n",
		sdpend,altend);
	fprintf(stream,"\nLimits:\n");
	fprintf(stream,"Minimum Longitude:   %15.9f   Maximum Longitude:   %15.9f\n",lonmin,lonmax);
	fprintf(stream,"Minimum Latitude:    %15.9f   Maximum Latitude:    %15.9f\n",latmin,latmax);
	fprintf(stream,"Minimum Sonar Depth: %10.4f   Maximum Sonar Depth: %10.4f\n",sdpmin,sdpmax);
	fprintf(stream,"Minimum Altitude:    %10.4f   Maximum Altitude:    %10.4f\n",altmin,altmax);
	if (ngdbeams > 0 || verbose >= 1)
		fprintf(stream,"Minimum Depth:       %10.4f   Maximum Depth:       %10.4f\n",
			bathmin,bathmax);
	if (ngabeams > 0 || verbose >= 1)
		fprintf(stream,"Minimum Amplitude:   %10.4f   Maximum Amplitude:   %10.4f\n",
			ampmin,ampmax);
	if (ngsbeams > 0 || verbose >= 1)
		fprintf(stream,"Minimum Sidescan:    %10.4f   Maximum Sidescan:    %10.4f\n",
			ssmin,ssmax);

	
	/* deallocate the storage for fbt swath data */
	status = mblgpl_fbt_deall(verbose, &ping, &error);
	if (status != MBLGPL_SUCCESS)
		{
		fprintf(stream, "Error deallocating memory\n");
		fprintf(stream,"\nProgram <%s> Terminated\n", program_name);
		exit(error);
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stream,"\ndbg2  Program <%s> completed\n", program_name);
		fprintf(stream,"dbg2  Ending status:\n");
		fprintf(stream,"dbg2       status:  %d\n",status);
		}

	/* end it all */
	exit(error);
}
/*--------------------------------------------------------------------*/