author | A.M. Thurnherr <ant@ldeo.columbia.edu> |
Fri, 02 Oct 2015 19:17:46 -0400 | |
changeset 26 | 02776c168135 |
parent 24 | 1a761865f839 |
child 28 | 7c7da52363c2 |
permissions | -rw-r--r-- |
14 | 1 |
#====================================================================== |
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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diff
changeset
|
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# R D I _ B B _ R E A D . P L |
14 | 3 |
# doc: Sat Jan 18 14:54:43 2003 |
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02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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diff
changeset
|
4 |
# dlm: Fri Oct 2 19:17:15 2015 |
14 | 5 |
# (c) 2003 A.M. Thurnherr |
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02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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# uE-Info: 66 47 NIL 0 0 72 2 2 4 NIL ofnI |
14 | 7 |
#====================================================================== |
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||
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# Read RDI BroadBand Binary Data Files (*.[0-9][0-9][0-9]) |
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||
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# HISTORY: |
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# Jan 18, 2003: - incepted aboard the Aurora Australis (KAOS) |
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# Jan 19, 2003: - continued |
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14 |
# Jan 20, 2003: - replaced INTENSITY by AMPLITUDE |
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# Jan 21, 2003: - changed heading-correction field names |
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# Jan 27, 2003: - cosmetics |
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# Feb 14, 2003: - moved BT setup into header |
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# Mar 15, 2003: - moved 10th xmit voltage into header as BATTERY field |
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# - removed again, because values are not meaningful |
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# Feb 24, 2004: - continued aboard Nathaniel B. Palmer (Anslope II) |
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# - BUG: ensemble # was wrong on error messages |
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# Feb 26, 2004: - removed ESW_ERROR and bitmasking of ERROR_STATUS_WORD |
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# Feb 27, 2004: - removed some unused (commented-out) baggage |
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# Mar 11, 2004: - BUG: renamed ACD -> ADC |
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# Mar 18, 2004: - cosmetics |
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# Mar 30, 2004: - rewrote to speed up reading; new version takes |
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# ~40% less time |
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# Sep 14, 2005: - made BT data optional (NUMBER_OF_DATA_TYPES) |
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# - added DATA_FORMAT |
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# Sep 15, 2005: - debugged |
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# - implement checksum to robustly find EOF |
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# - renamed to RDI_BB_Read.pl |
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# - BUG: had used POSIX::mktime with wrong month def! |
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# Oct 30, 2005: - added WH300 FW16.27 file format |
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# - added DATA_FORMAT_VARIANT |
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# - changed semantics so that first valid ensemble is |
|
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# in E[0] (instead of E[$ensNo-1]) |
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# Nov 8, 2005: - replaced UNIXTIME by UNIX_TIME |
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# - added SECNO |
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# Aug 31: 2006: - added DAYNO |
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# Aug 1, 2007: - BUG: typo in monthLength() |
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# Sep 18, 2007: - modified readHeader() readDta() WBRhdr() WBRens() to |
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# conserve memory (no large arrays as retvals) |
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# Jun 4, 2008: - BUG: BB150 code was not considered on Sep 18, 2007 |
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# Aug 15, 2010: - downgraded "unexpected number of data types" from error to warning |
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# - BUG: WBRcfn had not been set correctly |
|
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# - modified to allow processing files without time info |
|
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# May 12, 2011: - added code to report built-in-test errors |
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# Mar 19, 2013: - added support for WH600 data file (58 fixed leader bytes) |
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# Mar 20, 2013: - removed DATA_FORMAT stuff |
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# - added support for BT data in subset of ensembles |
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# Apr 29, 2013: - changed semantics to assume EOF when unexpected number of data types |
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# are present in an ensemble |
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# Nov 25, 2013: - renamed from [RDI_BB_Read.pl] |
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# - begin implementing WBWens() |
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# - checkEnsemble() expunged |
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18 | 57 |
# Mar 3, 2014: - BUG: WBPens() did not handle incomple ensembles at EOF correctly |
58 |
# Mar 4, 2014: - added support for DATA_SOURCE_ID |
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# Apr 24, 2014: - added debug statements to log %-GOOD values |
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# May 6, 2014: - loosened input format checks |
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# May 7, 2014: - removed BT_present flag |
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# Sep 6, 2014: - adapted WBRhdr to >7 data types |
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# Oct 15, 2014: - implemented work-around for readData() not recognizing |
|
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# incomplete ensemble at the end, which seems to imply that there is |
|
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# a garbage final ensemble that passes the checksum test??? |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
66 |
# Oct 2, 2015: - added &skip_initial_trash() |
14 | 67 |
|
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# FIRMWARE VERSIONS: |
|
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# It appears that different firmware versions generate different file |
|
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# structures. Currently (Sep 2005) these routines have been tested |
|
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# with the following firmware versions (as reported by [listHdr]): |
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# |
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# Firmw. DATA_FORMAT(_VARIANT) Owner Cruise FIXED_LEADER_LENGTH |
|
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#------------------------------------------------------------ |
|
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# 05.52 BB150 (1) UH CLIVAR/P16S 42 |
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# 16.12 WH300 (1) FSU A0304 53 |
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# 16.21 WH300 (1) LDEO NBP0402 53 |
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# 16.27 WH300 (2) Nash ? 59 |
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79 |
||
18 | 80 |
# PD0 IMP FILE FORMAT EXTENSIONS: |
81 |
# - DATA_SOURCE_ID = 0xA0 | PATCHED_MASK (vs. 0x7F for TRDI PD0 files) |
|
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# PATCHED_MASK & 0x04: pitch value has been patched |
|
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# PATCHED_MASK & 0x02: roll value has been patched |
|
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# PATCHED_MASK & 0x01: heading value has been patched |
|
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# - PITCH & ROLL can be missing (0x8000 badval as in velocities) |
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# - HEADING can be missing (0xF000 badval, as 0x8000 is valid 327.68 heading) |
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87 |
||
14 | 88 |
# NOTES: |
89 |
# - RDI stores data in VAX/Intel byte order (little endian) |
|
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# - the output data structure does not exactly mirror the file data |
|
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# structure; the header is not stored at all and the fixed leader |
|
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# data are not duplicated in every ensemble |
|
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# - in the RDI files some fields that logically belong into the header |
|
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# or the fixed leader (e.g. BT_MIN_CORRELATION) appear in the |
|
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# ensemble data --- these are not read on input |
|
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# - the field names are generally unabbreviated except for |
|
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# BT (= Bottom Track), RL (= Reference Layer), MIN and MAX |
|
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# - all arrays are 0-referenced, but the ensemble number is not! |
|
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# - a list of filenames can be be passed to readData() so that |
|
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# files split onto several memory cards (typically .000 .001 &c) |
|
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# can be read --- not sure if this works, actually |
|
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# - the RDI manuals are not entirely clear everywhere; I have made |
|
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# guesses in some cases, but they should not affect the main |
|
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# fields of interest |
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# - some fields in the fixed leader are not really fixed in a LADCP |
|
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# setting (e.g. xducer orientation); I'v made an educated guess |
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# as to which fields to move to the ENS array |
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# - all units except pressure are SI, i.e. in m and m/s |
|
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# - I don't understand the ERROR_STATUS_WORD; here's what 3 different |
|
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# instruments returned: |
|
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# 0x88000100 FSU instrument during A0304 (Firmware 16.12) |
|
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# 0x88008180 LDEO uplooker (slave) during NBP0402 (Firmware 16.21) |
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# 0x00008180 LDEO downlooker (master) during NBP0402 (Firmware 16.21) |
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# According to the manual (January 2001 version) this would, for example, |
|
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# indicate power failures on both FSU and LDEO slave instruments... |
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116 |
||
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# &readData() returns perl obj (ref to anonymous hash) with the following |
|
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# structure: |
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119 |
# |
|
18 | 120 |
# DATA_SOURCE_ID scalar 0x7f (Workhorse, also DVL) |
14 | 121 |
# NUMBER_OF_DATA_TYPES scalar 6 (no BT) or 7 |
122 |
# ENSEMBLE_BYTES scalar ?, number of bytes w/o checksum |
|
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# HEADER_BYTES scalar ? |
|
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# FIXED_LEADER_BYTES scalar 42 for BB150; 53 for WH300, 58 for WH600, 59 for WH300(Nash) |
|
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# VARIABLE_LEADER_BYTES scalar ? |
|
126 |
# VELOCITY_DATA_BYTES scalar ? |
|
127 |
# CORRELATION_DATA_BYTES scalar ? |
|
128 |
# ECHO_INTENSITY_DATA_BYTES scalar ? |
|
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# PERCENT_GOOD_DATA_BYTES scalar ? |
|
130 |
# BT_PRESENT bool NUMBER_OF_DATA_TYPES == 7 |
|
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# BT_DATA_BYTES scalar undefined, ? if BT_PRESENT |
|
132 |
# CPU_FW_VER scalar 0--255 |
|
133 |
# CPU_FW_REV scalar 0--255 |
|
134 |
# BEAM_FREQUENCY scalar 75, 150, 300, 600, 1200, 2400 [kHz] |
|
135 |
# CONVEX_BEAM_PATTERN bool undefined, 1 |
|
136 |
# CONCAVE_BEAM_PATTERN bool undefined, 1 |
|
137 |
# SENSOR_CONFIG scalar 1--3 |
|
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# XDUCER_HEAD_ATTACHED bool undefined, 1 |
|
139 |
# BEAM_ANGLE scalar 15,20,30,undefined=other [deg] |
|
140 |
# N_BEAMS scalar 4--5 |
|
141 |
# N_DEMODS scalar 2--3(???),undefined=n/a |
|
142 |
# N_BINS scalar 1--128 |
|
143 |
# PINGS_PER_ENSEMBLE scalar 0--16384 |
|
144 |
# BIN_LENGTH scalar 0.01--64 [m] |
|
145 |
# BLANKING_DISTANCE scalar 0-99.99 [m] |
|
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# MIN_CORRELATION scalar 0--255 |
|
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# N_CODE_REPETITIONS scalar 0--255 |
|
148 |
# MIN_PERCENT_GOOD scalar 1--100 [%] |
|
149 |
# MAX_ERROR_VELOCITY scalar 0--5 [m/s] |
|
150 |
# TIME_BETWEEN_PINGS scalar 0--? [s] |
|
151 |
# BEAM_COORDINATES bool undefined,1 |
|
152 |
# INSTRUMENT_COORDINATES bool undefined,1 |
|
153 |
# SHIP_COORDINATES bool undefined,1 |
|
154 |
# EARTH_COORDINATES bool undefined,1 |
|
155 |
# PITCH_AND_ROLL_USED bool undefined,1 |
|
156 |
# USE_3_BEAM_ON_LOW_CORR bool undefined,1 |
|
157 |
# BIN_MAPPING_ALLOWED bool undefined,1 |
|
158 |
# HEADING_ALIGNMENT scalar -179.99..180 [deg] |
|
159 |
# HEADING_BIAS scalar -179.99..180 [deg] |
|
160 |
# CALCULATE_SPEED_OF_SOUND bool undefined,1 |
|
161 |
# USE_PRESSURE_SENSOR bool undefined,1 |
|
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# USE_COMPASS bool undefined,1 |
|
163 |
# USE_PITCH_SENSOR bool undefined,1 |
|
164 |
# USE_ROLL_SENSOR bool undefined,1 |
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165 |
# USE_CONDUCTIVITY_SENSOR bool undefined,1 |
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# USE_TEMPERATURE_SENSOR bool undefined,1 |
|
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# SPEED_OF_SOUND_CALCULATED bool undefined,1 |
|
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# PRESSURE_SENSOR_AVAILABLE bool undefined,1 |
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# COMPASS_AVAILABLE bool undefined,1 |
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# PITCH_SENSOR_AVAILABLE bool undefined,1 |
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171 |
# ROLL_SENSOR_AVAILABLE bool undefined,1 |
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172 |
# CONDUCTIVITY_SENSOR_AVAILABLE bool undefined,1 |
|
173 |
# TEMPERATURE_SENSOR_AVAILABLE bool undefined,1 |
|
174 |
# DISTANCE_TO_BIN1_CENTER scalar 0--655.35 [m] |
|
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# TRANSMITTED_PULSE_LENGTH scalar 0--655.35 [m] |
|
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# RL_FIRST_BIN scalar 1--128 |
|
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# RL_LAST_BIN scalar 1--128 |
|
178 |
# FALSE_TARGET_THRESHOLD scalar 0--254, undefined=disabled |
|
179 |
# LOW_LATENCY_SETTING scalar 0--5(???) |
|
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# TRANSMIT_LAG_DISTANCE scalar 0--655.35 [m] |
|
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# CPU_SERIAL_NUMBER scalar undefined, 0--65535 if WH300 |
|
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# NARROW_BANDWIDTH bool undefined,1 (only set if WH300) |
|
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# WIDE_BANDWIDTH bool undefined,1 (only set if WH300) |
|
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# TRANSMIT_POWER scalar undefined, 0--255(high) if WH300 |
|
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# TRANSMIT_POWER_HIGH bool undefined,1 (only set if WH300) |
|
186 |
# BT_PINGS_PER_ENSEMBLE scalar 0--999 |
|
187 |
# BT_DELAY_BEFORE_REACQUIRE scalar 0--999 |
|
188 |
# BT_MIN_CORRELATION scalar 0--255 |
|
189 |
# BT_MIN_EVAL_AMPLITUDE scalar 0--255 |
|
190 |
# BT_MIN_PERCENT_GOOD scalar 0--100 [%] |
|
191 |
# BT_MODE scalar 4,5,6(?) |
|
192 |
# BT_MAX_ERROR_VELOCITY scalar 0--5 [m/s], undef=not screened |
|
193 |
# BT_RL_MIN_SIZE scalar 0--99.9 [m] |
|
194 |
# BT_RL_NEAR scalar 0--999.9 [m] |
|
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# BT_RL_FAR scalar 0--999.9 [m] |
|
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# BT_MAX_TRACKING_DEPTH scalar 8--999.9 [m] |
|
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# ENSEMBLE[ensemble_no-1] array ensemble info |
|
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# XDUCER_FACING_UP bool undefined, 1 |
|
199 |
# XDUCER_FACING_DOWN bool undefined, 1 |
|
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# N_BEAMS_USED scalar 3,4,5(?) |
|
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# NUMBER scalar 1--16777215 |
|
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# BUILT_IN_TEST_ERROR scalar ?,undefined=none |
|
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# SPEED_OF_SOUND scalar 1400--1600 [m/s] |
|
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# XDUCER_DEPTH scalar 0.1--999.9 [m] |
|
18 | 205 |
# HEADING scalar 0--359.99 [deg] --- IMP EXTENSION: undef |
206 |
# PITCH scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef |
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# ROLL scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef |
|
14 | 208 |
# SALINITY scalar 0-40 [psu] |
209 |
# TEMPERATURE scalar -5.00--40.00 [deg] |
|
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# MIN_PRE_PING_WAIT_TIME scalar ? [s] |
|
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# HEADING_STDDEV scalar 0-180 [deg] |
|
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# PITCH_STDDEV scalar 0.0-20.0 [deg] |
|
213 |
# ROLL_STDDEV scalar 0.0-20.0 [deg] |
|
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# ADC_XMIT_CURRENT scalar 0--255 |
|
215 |
# ADC_XMIT_VOLTAGE scalar 0--255 |
|
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# ADC_AMBIENT_TEMPERATURE scalar 0--255 |
|
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# ADC_PRESSURE_PLUS scalar 0--255 |
|
218 |
# ADC_PRESSURE_MINUS scalar 0--255 |
|
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# ADC_ATTITUDE_TEMPERATURE scalar 0--255 |
|
220 |
# ADC_ATTITUDE scalar 0--255 |
|
221 |
# ADC_CONTAMINATION scalar 0--255 |
|
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# ERROR_STATUS_WORD scalar undefined, ? (only set if WH300) |
|
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# PRESSURE scalar undefined, ?-? [dbar] (only set if WH300) |
|
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# PRESSURE_STDDEV scalar undefined, ?-? [dbar] (only set if WH300) |
|
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# DATE string MM/DD/YYYY |
|
226 |
# YEAR scalar ? |
|
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# MONTH scalar 1--12 |
|
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# DAY scalar 1--31 |
|
229 |
# TIME string HH:MM:SS.hh |
|
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# HOUR scalar 0--23 |
|
231 |
# MINUTE scalar 0--59 |
|
232 |
# SECONDS scalar 0--59.99 |
|
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# UNIX_TIME scalar 0--? |
|
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# SECNO scalar 0--? (number of seconds since daystart) |
|
235 |
# DAYNO double fractional day number since start of current year (1.0 is midnight Jan 1st) |
|
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# VELOCITY[bin][beam] scalars -32.767--32.768 [m/s], undef=bad |
|
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# CORRELATION[bin][beam] scalars 1--255, undefined=bad |
|
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# ECHO_AMPLITUDE[bin][beam] scalars 0--255 |
|
239 |
# PERCENT_GOOD[bin][beam] scalars 0--255 |
|
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# BT_RANGE[beam] scalars tons [m] |
|
241 |
# BT_VELOCITY[beam] scalars see VELOCITY |
|
242 |
# BT_CORRELATION[beam] scalars see CORRELATION |
|
243 |
# BT_EVAL_AMPLITUDE[beam] scalars 0--255 |
|
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# BT_PERCENT_GOOD[beam] scalars see PERCENT_GOOD |
|
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# BT_RL_VELOCITY[beam] scalars see VELOCITY |
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# BT_RL_CORRELATION[beam] scalars see CORRELATION |
|
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# BT_RL_ECHO_AMPLITUDE[beam] scalars see ECHO_AMPLITUDE |
|
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# BT_RL_PERCENT_GOOD[beam] scalars see PERCENT_GOOD |
|
249 |
# BT_SIGNAL_STRENGTH[beam] scalars 0--255 |
|
250 |
# HIGH_GAIN bool 1, undefined |
|
251 |
# LOW_GAIN bool 1, undefined |
|
252 |
||
253 |
use strict; |
|
254 |
use Time::Local; # timegm() |
|
255 |
||
256 |
#---------------------------------------------------------------------- |
|
257 |
# Time Conversion Subroutines |
|
258 |
#---------------------------------------------------------------------- |
|
259 |
||
260 |
sub monthLength($$) # of days in month |
|
261 |
{ |
|
262 |
my($Y,$M) = @_; |
|
263 |
||
264 |
return 31 if ($M==1 || $M==3 || $M==5 || $M==7 || |
|
265 |
$M==8 || $M==10 || $M==12); |
|
266 |
return 30 if ($M==4 || $M==6 || $M==9 || $M==11); |
|
267 |
return 28 if ($Y%4 != 0); |
|
268 |
return 29 if ($Y%100 != 0); |
|
269 |
return 28 if ($Y%400 > 0); |
|
270 |
return 29; |
|
271 |
} |
|
272 |
||
273 |
{ my($epoch,$lM,$lD,$lY,$ldn); # static scope |
|
274 |
||
275 |
sub dayNo($$$$$$) |
|
276 |
{ |
|
277 |
my($Y,$M,$D,$h,$m,$s) = @_; |
|
278 |
my($dn); |
|
279 |
||
280 |
if ($Y==$lY && $M==$lM && $D==$lD) { # same day as last samp |
|
281 |
$dn = $ldn; |
|
282 |
} else { # new day |
|
283 |
$epoch = $Y unless defined($epoch); # 1st call |
|
284 |
$lY = $Y; $lM = $M; $lD = $D; # store |
|
285 |
||
286 |
for ($dn=0,my($cY)=$epoch; $cY<$Y; $cY++) { # multiple years |
|
287 |
$dn += 337 + &monthLength($Y,$M); |
|
288 |
} |
|
289 |
||
290 |
$dn += $D; # day in month |
|
291 |
while (--$M > 0) { # preceding months |
|
292 |
$dn += &monthLength($Y,$M); |
|
293 |
} |
|
294 |
||
295 |
$ldn = $dn; # store |
|
296 |
} |
|
297 |
return $dn + $h/24 + $m/24/60 + $s/24/3600; |
|
298 |
} |
|
299 |
||
300 |
} # static scope |
|
301 |
||
302 |
#---------------------------------------------------------------------- |
|
303 |
# Read Data |
|
304 |
#---------------------------------------------------------------------- |
|
305 |
||
306 |
my($WBRcfn,$WBPcfn); # current file names for reading/patching |
|
307 |
my($BIT_errors) = 0; # built-in-test errors |
|
308 |
||
309 |
my($FmtErr) = "%s: illegal %s Id 0x%04x at ensemble %d"; |
|
310 |
||
311 |
#---------------------------------------------------------------------- |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
312 |
# skip to first valid ensemble (skip over initial garbage) |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
313 |
#---------------------------------------------------------------------- |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
314 |
|
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
315 |
sub skip_initial_trash(@) |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
316 |
{ |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
317 |
my($quiet) = @_; |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
318 |
my($buf,$dta); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
319 |
|
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
320 |
my($found) = 0; # zero consecutive 0x7f found |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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changeset
|
321 |
my($skipped) = 0; |
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made RDI_BB_IO work with files containing leading garbage
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|
322 |
while ($found < 2) { |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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diff
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|
323 |
sysread(WBRF,$buf,1) == 1 || last; |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
324 |
($dta) = unpack('C',$buf); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
325 |
if ($dta == 0x7f) { |
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|
326 |
$found++; |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
327 |
} elsif ($found == 0) { |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
328 |
$skipped++; |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
329 |
} else { |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
330 |
$skipped += $found; |
02776c168135
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|
331 |
$found = 0; |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
332 |
} |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
333 |
} |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
334 |
die("$WBRcfn: no valid ensemble header found [$!]\n") |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
335 |
if ($found < 2); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
336 |
printf(STDERR "WARNING: %d bytes of initial garbage\n",$skipped) |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
337 |
if ($skipped > 0 && !$quiet); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
338 |
return sysseek(WBRF,-2,1); |
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|
339 |
} |
02776c168135
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|
340 |
|
02776c168135
made RDI_BB_IO work with files containing leading garbage
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|
341 |
#---------------------------------------------------------------------- |
14 | 342 |
# readHeader(file_name,^dta) WBRhdr(^data) |
343 |
# - read header data |
|
344 |
# - also includes some data from 1st ens |
|
345 |
#---------------------------------------------------------------------- |
|
346 |
||
347 |
sub readHeader(@) |
|
348 |
{ |
|
349 |
my($fn,$dta) = @_; |
|
350 |
$WBRcfn = $fn; |
|
351 |
open(WBRF,$WBRcfn) || die("$WBRcfn: $!"); |
|
352 |
WBRhdr($dta); |
|
353 |
} |
|
354 |
||
355 |
sub WBRhdr($) |
|
356 |
{ |
|
357 |
my($dta) = @_; |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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diff
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|
358 |
my($start_ens,$buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs); |
14 | 359 |
my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5); |
360 |
||
361 |
#-------------------- |
|
362 |
# HEADER |
|
363 |
#-------------------- |
|
364 |
||
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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diff
changeset
|
365 |
$start_ens = skip_initial_trash(); |
14 | 366 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
367 |
($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES}) |
|
368 |
= unpack('CCvCC',$buf); |
|
369 |
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0)); |
|
26
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|
370 |
## $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0)); # IMP uses this |
21 | 371 |
printf(STDERR "WARNING: unexpected number of data types (%d)\n", |
14 | 372 |
$dta->{NUMBER_OF_DATA_TYPES}) |
373 |
unless ($dta->{NUMBER_OF_DATA_TYPES} == 6 || |
|
374 |
$dta->{NUMBER_OF_DATA_TYPES} == 7); |
|
21 | 375 |
## $dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} == 7); |
376 |
$dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} >= 7); |
|
14 | 377 |
|
378 |
sysread(WBRF,$buf,2*$dta->{NUMBER_OF_DATA_TYPES}) |
|
379 |
== 2*$dta->{NUMBER_OF_DATA_TYPES} |
|
380 |
|| die("$WBRcfn: $!"); |
|
381 |
@WBRofs = unpack("v$dta->{NUMBER_OF_DATA_TYPES}",$buf); |
|
382 |
||
383 |
$dta->{HEADER_BYTES} = $WBRofs[0]; |
|
384 |
$dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0]; |
|
385 |
$dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1]; |
|
386 |
$dta->{VELOCITY_DATA_BYTES} = $WBRofs[3] - $WBRofs[2]; |
|
387 |
$dta->{CORRELATION_DATA_BYTES} = $WBRofs[4] - $WBRofs[3]; |
|
388 |
$dta->{ECHO_INTENSITY_DATA_BYTES} = $WBRofs[5] - $WBRofs[4]; |
|
389 |
if ($dta->{BT_PRESENT}) { |
|
390 |
$dta->{PERCENT_GOOD_DATA_BYTES} = $WBRofs[6] - $WBRofs[5]; |
|
391 |
$dta->{BT_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[6]; |
|
392 |
} else { |
|
393 |
$dta->{PERCENT_GOOD_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[5]; |
|
394 |
} |
|
395 |
||
396 |
if ($dta->{FIXED_LEADER_BYTES} == 42) { # Eric Firing's old instrument I used in 2004 |
|
397 |
$dta->{INSTRUMENT_TYPE} = 'BB150'; |
|
398 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 53) { # old firmware: no serial numbers |
|
399 |
$dta->{INSTRUMENT_TYPE} = 'Workhorse'; |
|
400 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 59) { # new firmware: with serial numbers |
|
401 |
$dta->{INSTRUMENT_TYPE} = 'Workhorse'; |
|
402 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 58) { # DVL |
|
403 |
$dta->{INSTRUMENT_TYPE} = 'Explorer'; |
|
404 |
} |
|
405 |
||
406 |
# for ($i=0; $i<$dta->{NUMBER_OF_DATA_TYPES}; $i++) { |
|
407 |
# printf(STDERR "\nWBRofs[$i] = %d",$WBRofs[$i]); |
|
408 |
# } |
|
409 |
||
410 |
#---------------------------------- |
|
411 |
# Check Data Format of 1st Ensemble |
|
412 |
#---------------------------------- |
|
413 |
||
26
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made RDI_BB_IO work with files containing leading garbage
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parents:
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diff
changeset
|
414 |
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!"); |
14 | 415 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
416 |
$id = unpack('v',$buf); |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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changeset
|
417 |
$id == 0x0080 || printf(STDERR $FmtErr."\n",$WBRcfn,"Variable Leader",$id,1); |
14 | 418 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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diff
changeset
|
419 |
sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!"); |
14 | 420 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
421 |
$id = unpack('v',$buf); |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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diff
changeset
|
422 |
$id == 0x0100 || printf(STDERR $FmtErr."\n",$WBRcfn,"Velocity Data",$id,1); |
14 | 423 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
424 |
sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!"); |
14 | 425 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
426 |
$id = unpack('v',$buf); |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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diff
changeset
|
427 |
$id == 0x0200 || printf(STDERR $FmtErr."\n",$WBRcfn,"Correlation Data",$id,1); |
14 | 428 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
429 |
sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!"); |
14 | 430 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
431 |
$id = unpack('v',$buf); |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
432 |
$id == 0x0300 || printf(STDERR $FmtErr."\n",$WBRcfn,"Echo Intensity",$id,1); |
14 | 433 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
434 |
sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!"); |
14 | 435 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
436 |
$id = unpack('v',$buf); |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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diff
changeset
|
437 |
$id == 0x0400 || printf(STDERR $FmtErr."\n",$WBRcfn,"Percent-Good Data",$id,1); |
14 | 438 |
|
21 | 439 |
my($BT_dt); |
14 | 440 |
if ($dta->{BT_PRESENT}) { |
21 | 441 |
for ($BT_dt=6; $BT_dt<$dta->{NUMBER_OF_DATA_TYPES}; $BT_dt++) { # scan until BT found |
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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diff
changeset
|
442 |
sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!"); |
21 | 443 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
444 |
$id = unpack('v',$buf); |
|
445 |
last if ($id == 0x0600); |
|
446 |
} |
|
447 |
||
448 |
if ($BT_dt == $dta->{NUMBER_OF_DATA_TYPES}) { |
|
449 |
printf(STDERR "WARNING: no BT data found\n");die; |
|
450 |
undef($dta->{BT_PRESENT}); |
|
451 |
} |
|
14 | 452 |
} |
453 |
||
454 |
#-------------------- |
|
455 |
# FIXED LEADER |
|
456 |
#-------------------- |
|
457 |
||
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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diff
changeset
|
458 |
sysseek(WBRF,$start_ens+$WBRofs[0],0) || die("$WBRcfn: $!"); |
14 | 459 |
sysread(WBRF,$buf,42) == 42 || die("$WBRcfn: $!"); |
460 |
($id,$dta->{CPU_FW_VER},$dta->{CPU_FW_REV},$B1,$B2,$dummy,$dummy,$dummy, |
|
461 |
$dta->{N_BINS},$dta->{PINGS_PER_ENSEMBLE},$dta->{BIN_LENGTH}, |
|
462 |
$dta->{BLANKING_DISTANCE},$dummy,$dta->{MIN_CORRELATION}, |
|
463 |
$dta->{N_CODE_REPETITIONS},$dta->{MIN_PERCENT_GOOD}, |
|
464 |
$dta->{MAX_ERROR_VELOCITY},$dta->{TIME_BETWEEN_PINGS},$B3,$B4,$B5, |
|
465 |
$dta->{HEADING_ALIGNMENT},$dta->{HEADING_BIAS},$B6,$B7, |
|
466 |
$dta->{DISTANCE_TO_BIN1_CENTER},$dta->{TRANSMITTED_PULSE_LENGTH}, |
|
467 |
$dta->{REF_LAYER_FIRST_BIN},$dta->{REF_LAYER_LAST_BIN}, |
|
468 |
$dta->{FALSE_TARGET_THRESHOLD},$dta->{LOW_LATENCY_SETTING}, |
|
469 |
$dta->{TRANSMIT_LAG_DISTANCE}) = |
|
470 |
unpack('vCCCCC3CvvvCCCCvCCCCvvCCvvCCCCv',$buf); |
|
471 |
||
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
472 |
$id == 0x0000 || printf(STDERR $FmtErr."\n",$WBRcfn,"Fixed Leader",$id,0); |
14 | 473 |
|
474 |
$dta->{BEAM_FREQUENCY} = 2**($B1 & 0x07) * 75; |
|
475 |
$dta->{CONVEX_BEAM_PATTERN} = 1 if ($B1 & 0x08); |
|
476 |
$dta->{CONCAVE_BEAM_PATTERN} = 1 if (!($B1 & 0x08)); |
|
477 |
$dta->{SENSOR_CONFIG} = ($B1 & 0x30) >> 4; |
|
478 |
$dta->{XDUCER_HEAD_ATTACHED} = 1 if ($B1 & 0x40); |
|
479 |
||
480 |
if (($B2 & 0x03) == 0x00) { $dta->{BEAM_ANGLE} = 15; } |
|
481 |
elsif (($B2 & 0x03) == 0x01) { $dta->{BEAM_ANGLE} = 20; } |
|
482 |
elsif (($B2 & 0x03) == 0x02) { $dta->{BEAM_ANGLE} = 30; } |
|
483 |
if (($B2 & 0xF0) == 0x40) { $dta->{N_BEAMS} = 4; } |
|
484 |
elsif (($B2 & 0xF0) == 0x50) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 3; } |
|
485 |
elsif (($B2 & 0xF0) == 0xF0) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 2; } |
|
486 |
||
487 |
$dta->{BIN_LENGTH} /= 100; |
|
488 |
$dta->{BLANKING_DISTANCE} /= 100; |
|
489 |
||
490 |
$dta->{MAX_ERROR_VELOCITY} /= 1000; |
|
491 |
$dta->{TIME_BETWEEN_PINGS} *= 60; |
|
492 |
$dta->{TIME_BETWEEN_PINGS} += $B3 + $B4/100; |
|
493 |
||
494 |
$dta->{BEAM_COORDINATES} = 1 if (($B5 & 0x18) == 0x00); |
|
495 |
$dta->{INSTRUMENT_COORDINATES} = 1 if (($B5 & 0x18) == 0x08); |
|
496 |
$dta->{SHIP_COORDINATES} = 1 if (($B5 & 0x18) == 0x10); |
|
497 |
$dta->{EARTH_COORDINATES} = 1 if (($B5 & 0x18) == 0x18); |
|
498 |
$dta->{PITCH_AND_ROLL_USED} = 1 if ($B5 & 0x04); |
|
499 |
$dta->{USE_3_BEAM_ON_LOW_CORR} = 1 if ($B5 & 0x02); |
|
500 |
$dta->{BIN_MAPPING_ALLOWED} = 1 if ($B5 & 0x01); |
|
501 |
||
502 |
$dta->{HEADING_ALIGNMENT} = |
|
503 |
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ? |
|
504 |
$dta->{HEADING_ALIGNMENT} / 100 : undef; |
|
505 |
$dta->{HEADING_BIAS} = |
|
506 |
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ? |
|
507 |
$dta->{HEADING_BIAS} / 100 : undef; |
|
508 |
||
509 |
$dta->{CALCULATE_SPEED_OF_SOUND} = 1 if ($B6 & 0x40); |
|
510 |
$dta->{USE_PRESSURE_SENSOR} = 1 if ($B6 & 0x20); |
|
511 |
$dta->{USE_COMPASS} = 1 if ($B6 & 0x10); |
|
512 |
$dta->{USE_PITCH_SENSOR} = 1 if ($B6 & 0x08); |
|
513 |
$dta->{USE_ROLL_SENSOR} = 1 if ($B6 & 0x04); |
|
514 |
$dta->{USE_CONDUCTIVITY_SENSOR} = 1 if ($B6 & 0x02); |
|
515 |
$dta->{USE_TEMPERATURE_SENSOR} = 1 if ($B6 & 0x01); |
|
516 |
||
517 |
$dta->{SPEED_OF_SOUND_CALCULATED} = 1 if ($B7 & 0x40); |
|
518 |
$dta->{PRESSURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x20); |
|
519 |
$dta->{COMPASS_AVAILABLE} = 1 if ($B7 & 0x10); |
|
520 |
$dta->{PITCH_SENSOR_AVAILABLE} = 1 if ($B7 & 0x08); |
|
521 |
$dta->{ROLL_SENSOR_AVAILABLE} = 1 if ($B7 & 0x04); |
|
522 |
$dta->{CONDUCTIVITY_SENSOR_AVAILABLE} = 1 if ($B7 & 0x02); |
|
523 |
$dta->{TEMPERATURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x01); |
|
524 |
||
525 |
$dta->{DISTANCE_TO_BIN1_CENTER} /= 100; |
|
526 |
$dta->{TRANSMITTED_PULSE_LENGTH} /= 100; |
|
527 |
||
528 |
$dta->{FALSE_TARGET_THRESHOLD} = undef |
|
529 |
if ($dta->{FALSE_TARGET_THRESHOLD} == 255); |
|
530 |
$dta->{TRANSMIT_LAG_DISTANCE} /= 100; |
|
531 |
||
532 |
if ($dta->{INSTRUMENT_TYPE} eq 'Workhorse') { |
|
533 |
sysread(WBRF,$buf,11) == 11 || die("$WBRcfn: $!"); |
|
534 |
($W1,$W2,$W3,$W4,$W5,$dta->{TRANSMIT_POWER}) = |
|
535 |
unpack('vvvvvC',$buf); |
|
536 |
||
537 |
$dta->{CPU_SERIAL_NUMBER} = sprintf("%04X%04X%04X%04X",$W1,$W2,$W3,$W4); |
|
538 |
||
539 |
$dta->{NARROW_BANDWIDTH} = ($W5 == 1); |
|
540 |
$dta->{WIDE_BANDWIDTH} = ($W5 == 0); |
|
541 |
$dta->{TRANSMIT_POWER_HIGH} = ($dta->{TRANSMIT_POWER} == 255); |
|
542 |
||
543 |
if ($dta->{FIXED_LEADER_BYTES} == 59) { # new style with serial number |
|
544 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
|
545 |
($dummy,$dta->{SERIAL_NUMBER},$dummy) = # last bytes is beam angle, but that info has |
|
546 |
unpack('CVC',$buf); # already been provided above |
|
547 |
} |
|
548 |
} |
|
549 |
||
550 |
if ($dta->{INSTRUMENT_TYPE} eq 'Explorer') { |
|
551 |
sysread(WBRF,$buf,16) == 16 || die("$WBRcfn: $!"); |
|
552 |
($dummy,$dummy,$W5,$dummy,$dta->{SERIAL_NUMBER}) = |
|
553 |
unpack('VVvvV',$buf); |
|
554 |
$dta->{NARROW_BANDWIDTH} = ($W5 == 1); |
|
555 |
$dta->{WIDE_BANDWIDTH} = ($W5 == 0); |
|
556 |
} |
|
557 |
||
558 |
#----------------------- |
|
559 |
# 1st ENSEMBLE, BT Setup |
|
560 |
#----------------------- |
|
561 |
||
562 |
if ($dta->{BT_PRESENT}) { |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
563 |
sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!"); |
14 | 564 |
sysread(WBRF,$buf,12) == 12 || die("$WBRcfn: $!"); |
565 |
($id,$dta->{BT_PINGS_PER_ENSEMBLE},$dta->{BT_DELAY_BEFORE_REACQUIRE}, |
|
566 |
$dta->{BT_MIN_CORRELATION},$dta->{BT_MIN_EVAL_AMPLITUDE}, |
|
567 |
$dta->{BT_MIN_PERCENT_GOOD},$dta->{BT_MODE}, |
|
568 |
$dta->{BT_MAX_ERROR_VELOCITY}) = unpack('vvvCCCCv',$buf); |
|
569 |
||
570 |
$id == 0x0600 || |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
571 |
printf(STDERR $FmtErr."\n",$WBRcfn,"Bottom Track",$id,0,tell(WBRF)); |
14 | 572 |
|
573 |
$dta->{BT_MAX_ERROR_VELOCITY} = |
|
574 |
$dta->{BT_MAX_ERROR_VELOCITY} ? $dta->{BT_MAX_ERROR_VELOCITY} / 1000 |
|
575 |
: undef; |
|
576 |
||
577 |
sysseek(WBRF,28,1) || die("$WBRcfn: $!"); |
|
578 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
|
579 |
($dta->{BT_RL_MIN_SIZE},$dta->{BT_RL_NEAR},$dta->{BT_RL_FAR}) |
|
580 |
= unpack('vvv',$buf); |
|
581 |
||
582 |
$dta->{BT_RL_MIN_SIZE} /= 10; |
|
583 |
$dta->{BT_RL_NEAR} /= 10; |
|
584 |
$dta->{BT_RL_FAR} /= 10; |
|
585 |
||
586 |
sysseek(WBRF,20,1) || die("$WBRcfn: $!"); # skip data |
|
587 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
|
588 |
$dta->{BT_MAX_TRACKING_DEPTH} = unpack('v',$buf) / 10; |
|
589 |
} |
|
590 |
||
591 |
return $dta; |
|
592 |
} |
|
593 |
||
594 |
#---------------------------------------------------------------------- |
|
595 |
# readData(file_name,^data) WBRens(nbins,fixed_leader_bytes,^data) |
|
596 |
# - read all ensembles |
|
597 |
#---------------------------------------------------------------------- |
|
598 |
||
599 |
sub readData(@) |
|
600 |
{ |
|
601 |
my($fn,$dta) = @_; |
|
602 |
$WBRcfn = $fn; |
|
603 |
open(WBRF,$WBRcfn) || die("$WBRcfn: $!"); |
|
604 |
WBRhdr($dta); |
|
605 |
WBRens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES}, |
|
606 |
\@{$dta->{ENSEMBLE}}); |
|
607 |
print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n") |
|
608 |
if ($BIT_errors); |
|
609 |
} |
|
610 |
||
611 |
sub WBRens($$$) |
|
612 |
{ |
|
613 |
my($nbins,$fixed_leader_bytes,$E) = @_; |
|
614 |
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBRofs); |
|
18 | 615 |
my($ens,$ensNo,$dayStart,$ens_length,$hid,$did,$ndt); |
14 | 616 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
617 |
sysseek(WBRF,0,0) || die("$WBRcfn: $!"); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
618 |
$start_ens = skip_initial_trash(1); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
619 |
for ($ens=0; 1; $ens++,$start_ens+=$ens_length+2) { |
14 | 620 |
# print(STDERR "ens = $ens\n"); |
621 |
# print(STDERR "start_ens = $start_ens\n"); |
|
622 |
||
623 |
#---------------------------------------- |
|
624 |
# Get ensemble length and # of data types |
|
625 |
#---------------------------------------- |
|
626 |
||
627 |
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!"); |
|
628 |
sysread(WBRF,$buf,6) == 6 || last; |
|
629 |
($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf); |
|
630 |
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0)); |
|
18 | 631 |
## $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0)); |
632 |
## printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last |
|
633 |
## unless ($ndt == 6 || $ndt == 7); |
|
14 | 634 |
sysread(WBRF,$buf,2*$ndt) == 2*$ndt || die("$WBRcfn: $!"); |
635 |
@WBRofs = unpack("v$ndt",$buf); |
|
636 |
$fixed_leader_bytes = $WBRofs[1] - $WBRofs[0]; |
|
637 |
# print(STDERR "@WBRofs\n"); |
|
638 |
||
639 |
#------------------------------- |
|
640 |
# Make Sure Ensemble is Complete |
|
641 |
#------------------------------- |
|
642 |
||
643 |
# UH BB150 writes incomplete ensembles (i.e. short read |
|
644 |
# indicates EOF). FSU WH300 has bogus data in incomplete |
|
645 |
# final ensemble. |
|
646 |
||
647 |
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!"); |
|
648 |
sysread(WBRF,$buf,$ens_length) == $ens_length || last; |
|
649 |
||
650 |
sysread(WBRF,$cs,2) == 2 || last; |
|
651 |
last unless (unpack('%16C*',$buf) == unpack('v',$cs)); |
|
652 |
||
653 |
#------------------------------ |
|
654 |
# Variable Leader |
|
655 |
#------------------------------ |
|
656 |
||
18 | 657 |
${$E}[$ens]->{DATA_SOURCE_ID} = $did; # IMP extension |
658 |
||
14 | 659 |
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!"); |
660 |
sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!"); |
|
661 |
($id,$ensNo) = unpack("vv",$buf); |
|
662 |
||
663 |
$id == 0x0080 || |
|
664 |
die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo+1)); |
|
665 |
||
666 |
if ($fixed_leader_bytes==42 || $fixed_leader_bytes==58) { # BB150 & Explorer DVL |
|
667 |
sysread(WBRF,$buf,7) == 7 || die("$WBRcfn: $!"); |
|
668 |
(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH}, |
|
669 |
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE}, |
|
670 |
${$E}[$ens]->{SECONDS},$B4) = unpack('CCCCCCC',$buf); |
|
671 |
${$E}[$ens]->{SECONDS} += $B4/100; |
|
672 |
${$E}[$ens]->{YEAR} += (${$E}[$ens]->{YEAR} > 80) ? 1900 : 2000; |
|
673 |
} else { |
|
674 |
sysseek(WBRF,7,1) || die("$WBRcfn: $!"); # use Y2K RTC instead |
|
675 |
} |
|
676 |
||
677 |
sysread(WBRF,$buf,1) == 1 || die("$WBRcfn: $!"); |
|
678 |
$ensNo += unpack('C',$buf) << 16; |
|
679 |
${$E}[$ens]->{NUMBER} = $ensNo; |
|
680 |
||
681 |
sysread(WBRF,$buf,30) == 30 || die("$WBRcfn: $!"); |
|
682 |
(${$E}[$ens]->{BUILT_IN_TEST_ERROR},${$E}[$ens]->{SPEED_OF_SOUND}, |
|
683 |
${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING}, |
|
684 |
${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL}, |
|
685 |
${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE}, |
|
686 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME},$B1,$B2, |
|
687 |
${$E}[$ens]->{HEADING_STDDEV},${$E}[$ens]->{PITCH_STDDEV}, |
|
688 |
${$E}[$ens]->{ROLL_STDDEV},${$E}[$ens]->{ADC_XMIT_CURRENT}, |
|
689 |
${$E}[$ens]->{ADC_XMIT_VOLTAGE},${$E}[$ens]->{ADC_AMBIENT_TEMPERATURE}, |
|
690 |
${$E}[$ens]->{ADC_PRESSURE_PLUS},${$E}[$ens]->{ADC_PRESSURE_MINUS}, |
|
691 |
${$E}[$ens]->{ADC_ATTITUDE_TEMPERATURE},${$E}[$ens]->{ADC_ATTITUDE}, |
|
692 |
${$E}[$ens]->{ADC_CONTAMINATION}) |
|
693 |
= unpack('vvvvvvvvCCCCCCCCCCCCCC',$buf); |
|
694 |
||
695 |
${$E}[$ens]->{BUILT_IN_TEST_ERROR} = undef |
|
696 |
unless (${$E}[$ens]->{BUILT_IN_TEST_ERROR}); |
|
697 |
$BIT_errors++ if (${$E}[$ens]->{BUILT_IN_TEST_ERROR}); |
|
698 |
||
699 |
${$E}[$ens]->{XDUCER_DEPTH} /= 10; |
|
18 | 700 |
|
701 |
#------------------------------------------------- |
|
702 |
# IMP EXTENSION: PITCH/ROLL/HEADING CAN BE MISSING |
|
703 |
#------------------------------------------------- |
|
704 |
||
705 |
${$E}[$ens]->{HEADING} = (${$E}[$ens]->{HEADING} == 0xF000) |
|
706 |
? undef |
|
707 |
: ${$E}[$ens]->{HEADING} / 100; |
|
708 |
${$E}[$ens]->{PITCH} = (${$E}[$ens]->{PITCH} == 0x8000) |
|
709 |
? undef |
|
710 |
: unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100; |
|
711 |
${$E}[$ens]->{ROLL} = (${$E}[$ens]->{ROLL} == 0x8000) |
|
712 |
? undef |
|
713 |
: unpack('s',pack('S',${$E}[$ens]->{ROLL})) / 100; |
|
714 |
||
715 |
${$E}[$ens]->{TEMPERATURE} = unpack('s',pack('S',${$E}[$ens]->{TEMPERATURE})) / 100; |
|
14 | 716 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} *= 60; |
717 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} += $B1 + $B2/100; |
|
718 |
${$E}[$ens]->{PITCH_STDDEV} /= 10; |
|
719 |
${$E}[$ens]->{ROLL_STDDEV} /= 10; |
|
720 |
||
721 |
if ($fixed_leader_bytes==53 || $fixed_leader_bytes==59) { # Workhorse instruments |
|
722 |
sysread(WBRF,$buf,23) == 23 || die("$WBRcfn: $!"); |
|
723 |
(${$E}[$ens]->{ERROR_STATUS_WORD}, |
|
724 |
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV}, |
|
725 |
$dummy,${$E}[$ens]->{YEAR},$B3,${$E}[$ens]->{MONTH}, |
|
726 |
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE}, |
|
727 |
${$E}[$ens]->{SECONDS},$B4) |
|
728 |
= unpack('VvVVCCCCCCCCC',$buf); |
|
729 |
||
730 |
${$E}[$ens]->{PRESSURE} /= 1000; |
|
731 |
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000; |
|
732 |
${$E}[$ens]->{YEAR} *= 100; ${$E}[$ens]->{YEAR} += $B3; |
|
733 |
${$E}[$ens]->{SECONDS} += $B4/100; |
|
734 |
} |
|
735 |
||
21 | 736 |
pop(@{$E}),last if (${$E}[$ens]->{MONTH}>12); # 10/15/2014; IWISE#145 UL ??? |
737 |
||
14 | 738 |
if ($fixed_leader_bytes == 58) { # Explorer DVL |
739 |
sysread(WBRF,$buf,14) == 14 || die("$WBRcfn: $!"); |
|
740 |
(${$E}[$ens]->{ERROR_STATUS_WORD}, |
|
741 |
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV}) |
|
742 |
= unpack('VvVV',$buf); |
|
743 |
${$E}[$ens]->{PRESSURE} /= 1000; |
|
744 |
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000; |
|
745 |
} |
|
746 |
||
747 |
${$E}[$ens]->{DATE} |
|
748 |
= sprintf("%02d/%02d/%d",${$E}[$ens]->{MONTH}, |
|
749 |
${$E}[$ens]->{DAY}, |
|
750 |
${$E}[$ens]->{YEAR}); |
|
751 |
${$E}[$ens]->{TIME} |
|
752 |
= sprintf("%02d:%02d:%05.02f",${$E}[$ens]->{HOUR}, |
|
753 |
${$E}[$ens]->{MINUTE}, |
|
754 |
${$E}[$ens]->{SECONDS}); |
|
755 |
${$E}[$ens]->{DAYNO} |
|
756 |
= &dayNo(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},${$E}[$ens]->{DAY}, |
|
757 |
${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},${$E}[$ens]->{SECONDS}); |
|
758 |
||
759 |
# when analyzing an STA file from an OS75 SADCP (Poseidion), |
|
760 |
# I noticed that there is no time information. This causes |
|
761 |
# timegm to bomb. |
|
762 |
if (${$E}[$ens]->{MONTH} == 0) { # no time info |
|
763 |
${$E}[$ens]->{UNIX_TIME} = 0; |
|
764 |
${$E}[$ens]->{SECNO} = 0; |
|
765 |
} else { |
|
766 |
${$E}[$ens]->{UNIX_TIME} |
|
767 |
= timegm(0,${$E}[$ens]->{MINUTE}, |
|
768 |
${$E}[$ens]->{HOUR}, |
|
769 |
${$E}[$ens]->{DAY}, |
|
770 |
${$E}[$ens]->{MONTH}-1, # timegm jan==0!!! |
|
771 |
${$E}[$ens]->{YEAR}) |
|
772 |
+ ${$E}[$ens]->{SECONDS}; |
|
773 |
||
774 |
$dayStart = timegm(0,0,0,${$E}[$ens]->{DAY}, |
|
775 |
${$E}[$ens]->{MONTH}-1, |
|
776 |
${$E}[$ens]->{YEAR}) |
|
777 |
unless defined($dayStart); |
|
778 |
${$E}[$ens]->{SECNO} = ${$E}[$ens]->{UNIX_TIME} - $dayStart; |
|
779 |
} |
|
780 |
||
781 |
sysseek(WBRF,$start_ens+$WBRofs[0]+4,0) # System Config / Fixed Leader |
|
782 |
|| die("$WBRcfn: $!"); |
|
783 |
||
784 |
sysread(WBRF,$buf,5) == 5 || die("$WBRcfn: $!"); |
|
785 |
($B1,$dummy,$dummy,$dummy,${$E}[$ens]->{N_BEAMS_USED}) |
|
786 |
= unpack('CCCCC',$buf); |
|
787 |
${$E}[$ens]->{XDUCER_FACING_UP} = 1 if ($B1 & 0x80); |
|
788 |
${$E}[$ens]->{XDUCER_FACING_DOWN} = 1 unless ($B1 & 0x80); |
|
789 |
||
790 |
#-------------------- |
|
791 |
# Velocity Data |
|
792 |
#-------------------- |
|
793 |
||
794 |
my($ndata) = $nbins * 4; |
|
795 |
||
796 |
sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!"); |
|
797 |
sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!"); |
|
798 |
($id,@dta) = unpack("vv$ndata",$buf); |
|
799 |
||
800 |
$id == 0x0100 || |
|
801 |
die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,$ens)); |
|
802 |
||
803 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
804 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
805 |
${$E}[$ens]->{VELOCITY}[$bin][$beam] = |
|
806 |
unpack('s',pack('S',$dta[$i])) / 1000 |
|
807 |
if ($dta[$i] != 0x8000); |
|
808 |
} |
|
809 |
} |
|
810 |
||
811 |
#-------------------- |
|
812 |
# Correlation Data |
|
813 |
#-------------------- |
|
814 |
||
815 |
sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!"); |
|
816 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!"); |
|
817 |
($id,@dta) = unpack("vC$ndata",$buf); |
|
818 |
||
819 |
$id == 0x0200 || |
|
820 |
die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,$ens)); |
|
821 |
||
822 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
823 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
824 |
${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i] |
|
825 |
if ($dta[$i]); |
|
826 |
} |
|
827 |
} |
|
828 |
||
829 |
#-------------------- |
|
830 |
# Echo Intensity Data |
|
831 |
#-------------------- |
|
832 |
||
833 |
sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!"); |
|
834 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!"); |
|
835 |
($id,@dta) = unpack("vC$ndata",$buf); |
|
836 |
||
837 |
$id == 0x0300 || |
|
838 |
die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ens)); |
|
839 |
||
840 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
841 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
842 |
${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i]; |
|
843 |
} |
|
844 |
} |
|
845 |
||
846 |
#-------------------- |
|
847 |
# Percent Good Data |
|
848 |
#-------------------- |
|
849 |
||
850 |
sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!"); |
|
851 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!"); |
|
852 |
($id,@dta) = unpack("vC$ndata",$buf); |
|
853 |
||
854 |
$id == 0x0400 || |
|
855 |
die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,$ens)); |
|
856 |
||
857 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
18 | 858 |
# printf(STDERR "%-GOOD($bin): "); |
14 | 859 |
for ($beam=0; $beam<4; $beam++,$i++) { |
18 | 860 |
# printf(STDERR "$dta[$i] "); |
14 | 861 |
${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i]; |
862 |
} |
|
18 | 863 |
# printf(STDERR "\n"); |
14 | 864 |
} |
865 |
||
18 | 866 |
#----------------------------------------- |
14 | 867 |
# Bottom-Track Data |
18 | 868 |
# - scan through remaining data types |
869 |
#----------------------------------------- |
|
14 | 870 |
|
18 | 871 |
my($nxt); |
872 |
for ($nxt=6; $nxt<$ndt; $nxt++) { # scan until BT found |
|
873 |
sysseek(WBRF,$start_ens+$WBRofs[$nxt],0) || die("$WBRcfn: $!"); |
|
14 | 874 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
875 |
$id = unpack('v',$buf); |
|
18 | 876 |
last if ($id == 0x0600); |
877 |
} |
|
878 |
||
879 |
next if ($nxt == $ndt); # no BT found => next ens |
|
880 |
||
881 |
sysseek(WBRF,14,1) || die("$WBRcfn: $!"); # BT config |
|
882 |
||
883 |
sysread(WBRF,$buf,28) == 28 || die("$WBRcfn: $!"); |
|
884 |
@dta = unpack('v4v4C4C4C4',$buf); |
|
885 |
||
886 |
for ($beam=0; $beam<4; $beam++) { |
|
887 |
${$E}[$ens]->{BT_RANGE}[$beam] = $dta[$beam] / 100 |
|
888 |
if ($dta[$beam]); |
|
889 |
} |
|
890 |
for ($beam=0; $beam<4; $beam++) { |
|
891 |
${$E}[$ens]->{BT_VELOCITY}[$beam] = |
|
892 |
unpack('s',pack('S',$dta[4+$beam])) / 1000 |
|
893 |
if ($dta[4+$beam] != 0x8000); |
|
894 |
} |
|
895 |
for ($beam=0; $beam<4; $beam++) { |
|
896 |
${$E}[$ens]->{BT_CORRELATION}[$beam] = $dta[8+$beam] |
|
897 |
if ($dta[8+$beam]); |
|
898 |
} |
|
899 |
for ($beam=0; $beam<4; $beam++) { |
|
900 |
${$E}[$ens]->{BT_EVAL_AMPLITUDE}[$beam] = $dta[12+$beam]; |
|
901 |
} |
|
902 |
for ($beam=0; $beam<4; $beam++) { |
|
903 |
${$E}[$ens]->{BT_PERCENT_GOOD}[$beam] = $dta[16+$beam]; |
|
904 |
} |
|
905 |
||
906 |
sysseek(WBRF,6,1) || die("$WBRcfn: $!"); # BT config |
|
907 |
||
908 |
sysread(WBRF,$buf,20) == 20 || die("$WBRcfn: $!"); |
|
909 |
@dta = unpack('v4C4C4C4',$buf); |
|
910 |
||
911 |
for ($beam=0; $beam<4; $beam++) { |
|
912 |
${$E}[$ens]->{BT_RL_VELOCITY}[$beam] = |
|
913 |
unpack('s',pack('S',$dta[$beam])) / 1000 |
|
914 |
if ($dta[$beam] != 0x8000); |
|
915 |
} |
|
916 |
for ($beam=0; $beam<4; $beam++) { |
|
917 |
${$E}[$ens]->{BT_RL_CORRELATION}[$beam] = $dta[4+$beam] |
|
918 |
if ($dta[4+$beam]); |
|
919 |
} |
|
920 |
for ($beam=0; $beam<4; $beam++) { |
|
921 |
${$E}[$ens]->{BT_RL_ECHO_AMPLITUDE}[$beam] = $dta[8+$beam]; |
|
922 |
} |
|
923 |
for ($beam=0; $beam<4; $beam++) { |
|
924 |
${$E}[$ens]->{BT_RL_PERCENT_GOOD}[$beam] = $dta[12+$beam]; |
|
925 |
} |
|
926 |
||
927 |
sysseek(WBRF,2,1) || die("$WBRcfn: $!"); # BT config |
|
928 |
||
929 |
sysread(WBRF,$buf,9) == 9 || die("$WBRcfn: $!"); |
|
930 |
@dta = unpack('C4CC4',$buf); |
|
931 |
||
932 |
for ($beam=0; $beam<4; $beam++) { |
|
933 |
${$E}[$ens]->{BT_SIGNAL_STRENGTH}[$beam] = $dta[$beam]; |
|
934 |
} |
|
935 |
${$E}[$ens]->{HIGH_GAIN} if ($dta[4]); |
|
936 |
${$E}[$ens]->{LOW_GAIN} unless ($dta[4]); |
|
937 |
for ($beam=0; $beam<4; $beam++) { |
|
938 |
${$E}[$ens]->{BT_RANGE}[$beam] += $dta[5+$beam] * 655.36 |
|
939 |
if ($dta[5+$beam]); |
|
940 |
} |
|
14 | 941 |
} # ens loop |
942 |
} |
|
943 |
||
944 |
#---------------------------------------------------------------------- |
|
945 |
# WBPens(nbins,fixed_leader_bytes,^data) |
|
946 |
# - patch PD0 file with new data |
|
947 |
# - file must already exist and have correct structure |
|
948 |
# - currently only does part of variable leader data, esp. attitude |
|
949 |
#---------------------------------------------------------------------- |
|
950 |
||
951 |
sub writeData(@) |
|
952 |
{ |
|
953 |
my($fn,$dta) = @_; |
|
954 |
||
955 |
die("writeData() needs \$WBRcfn from previous readData()") |
|
956 |
unless (-r $WBRcfn); |
|
957 |
$WBPcfn = $fn; |
|
958 |
system("cp $WBRcfn $WBPcfn"); |
|
959 |
||
960 |
open(WBPF,"+<$WBPcfn") || die("$WBPcfn: $!"); |
|
961 |
WBPens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES}, |
|
962 |
\@{$dta->{ENSEMBLE}}); |
|
963 |
} |
|
964 |
||
965 |
sub WBPens($$$) |
|
966 |
{ |
|
967 |
my($nbins,$fixed_leader_bytes,$E) = @_; |
|
968 |
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBPofs); |
|
18 | 969 |
my($ens,$ensNo,$dayStart,$ens_length,$hid,$ndt); |
14 | 970 |
|
18 | 971 |
for ($ens=$start_ens=0; $ens<=$#{$E}; $ens++,$start_ens+=$ens_length+2) { |
14 | 972 |
|
18 | 973 |
#------------------------------ |
974 |
# Patch Header (Data Source Id) |
|
975 |
#------------------------------ |
|
14 | 976 |
|
977 |
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!"); |
|
18 | 978 |
sysread(WBPF,$buf,1) || die("$WBPcfn: unexpected EOF"); |
979 |
($hid) = unpack('C',$buf); |
|
980 |
$hid == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Header",$hid,$ens)); |
|
981 |
||
982 |
$buf = pack('C',${$E}[$ens]->{DATA_SOURCE_ID}); |
|
983 |
my($nw) = syswrite(WBPF,$buf,1); |
|
984 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
985 |
||
986 |
sysread(WBPF,$buf,4) == 4 || die("$WBPcfn: unexpected EOF"); |
|
987 |
($ens_length,$dummy,$ndt) = unpack('vCC',$buf); |
|
14 | 988 |
printf(STDERR "\n$WBPcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last |
989 |
unless ($ndt == 6 || $ndt == 7); |
|
18 | 990 |
|
14 | 991 |
sysread(WBPF,$buf,2*$ndt) == 2*$ndt || die("$WBPcfn: $!"); |
992 |
@WBPofs = unpack("v$ndt",$buf); |
|
993 |
$fixed_leader_bytes = $WBPofs[1] - $WBPofs[0]; |
|
994 |
||
995 |
#------------------------------ |
|
996 |
# Variable Leader |
|
997 |
#------------------------------ |
|
998 |
||
999 |
sysseek(WBPF,$start_ens+$WBPofs[1]+12,0) || die("$WBPcfn: $!"); |
|
1000 |
||
1001 |
${$E}[$ens]->{XDUCER_DEPTH} *= 10; |
|
18 | 1002 |
|
1003 |
# IMP EXTENSIONS |
|
1004 |
#--------------- |
|
1005 |
${$E}[$ens]->{HEADING} = defined(${$E}[$ens]->{HEADING}) |
|
1006 |
? ${$E}[$ens]->{HEADING} * 100 |
|
1007 |
: 0xF000; |
|
1008 |
${$E}[$ens]->{PITCH} = defined(${$E}[$ens]->{PITCH}) |
|
1009 |
? unpack('S',pack('s',${$E}[$ens]->{PITCH}*100)) |
|
1010 |
: 0x8000; |
|
1011 |
${$E}[$ens]->{ROLL} = defined(${$E}[$ens]->{ROLL}) |
|
1012 |
? unpack('S',pack('s',${$E}[$ens]->{ROLL}*100)) |
|
1013 |
: 0x8000; |
|
1014 |
||
14 | 1015 |
${$E}[$ens]->{TEMPERATURE} = |
1016 |
unpack('S',pack('s',${$E}[$ens]->{TEMPERATURE}*100)); |
|
1017 |
||
1018 |
sysseek(WBPF,2,1); # skip built-in test which reads as 0 but is usually undef |
|
1019 |
# this was found not to matter, but there is no reason to edit |
|
1020 |
# my($b1); # this field |
|
1021 |
# sysread(WBPF,$b1,14); |
|
1022 |
# sysseek(WBPF,-14,1); |
|
1023 |
# my($sos,$xd,$hdg,$pit,$rol,$sal,$tem) = unpack('vvvvvvv',$b1); |
|
1024 |
||
1025 |
$buf = pack('vvvvvvv', |
|
1026 |
${$E}[$ens]->{SPEED_OF_SOUND}, |
|
1027 |
${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING}, |
|
1028 |
${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL}, |
|
1029 |
${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE}); |
|
1030 |
||
1031 |
my($nw) = syswrite(WBPF,$buf,14); |
|
1032 |
$nw == 14 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1033 |
||
1034 |
#---------------- |
|
1035 |
# Update Checksum |
|
1036 |
#---------------- |
|
1037 |
||
1038 |
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!"); |
|
1039 |
sysread(WBPF,$buf,$ens_length) == $ens_length || die("$WBPcfn: $!"); |
|
1040 |
$cs = unpack('%16C*',$buf); |
|
1041 |
$buf = pack('v',$cs); |
|
1042 |
$nw = syswrite(WBPF,$buf,2); |
|
1043 |
$nw == 2 || die("$WBPcfn: $nw bytes written, ens=$ens ($!)"); |
|
1044 |
||
1045 |
} # ens loop |
|
1046 |
} |
|
1047 |
||
1048 |
1; # return true for all the world to see |