author | A.M. Thurnherr <athurnherr@yahoo.com> |
Fri, 05 Aug 2016 10:10:28 -0400 | |
changeset 36 | 515b06dae59c |
parent 32 | 7155adf61d77 |
child 37 | 40d85448debf |
permissions | -rw-r--r-- |
14 | 1 |
#====================================================================== |
36
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
2 |
# R D I _ B B _ R E A D . P L |
14 | 3 |
# doc: Sat Jan 18 14:54:43 2003 |
36
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
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changeset
|
4 |
# dlm: Sat Jul 30 18:34:46 2016 |
14 | 5 |
# (c) 2003 A.M. Thurnherr |
36
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version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
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changeset
|
6 |
# uE-Info: 402 62 NIL 0 0 72 10 2 4 NIL ofnI |
14 | 7 |
#====================================================================== |
8 |
||
9 |
# Read RDI BroadBand Binary Data Files (*.[0-9][0-9][0-9]) |
|
10 |
||
11 |
# HISTORY: |
|
12 |
# Jan 18, 2003: - incepted aboard the Aurora Australis (KAOS) |
|
13 |
# Jan 19, 2003: - continued |
|
14 |
# Jan 20, 2003: - replaced INTENSITY by AMPLITUDE |
|
15 |
# Jan 21, 2003: - changed heading-correction field names |
|
16 |
# Jan 27, 2003: - cosmetics |
|
17 |
# Feb 14, 2003: - moved BT setup into header |
|
18 |
# Mar 15, 2003: - moved 10th xmit voltage into header as BATTERY field |
|
19 |
# - removed again, because values are not meaningful |
|
20 |
# Feb 24, 2004: - continued aboard Nathaniel B. Palmer (Anslope II) |
|
21 |
# - BUG: ensemble # was wrong on error messages |
|
22 |
# Feb 26, 2004: - removed ESW_ERROR and bitmasking of ERROR_STATUS_WORD |
|
23 |
# Feb 27, 2004: - removed some unused (commented-out) baggage |
|
24 |
# Mar 11, 2004: - BUG: renamed ACD -> ADC |
|
25 |
# Mar 18, 2004: - cosmetics |
|
26 |
# Mar 30, 2004: - rewrote to speed up reading; new version takes |
|
27 |
# ~40% less time |
|
28 |
# Sep 14, 2005: - made BT data optional (NUMBER_OF_DATA_TYPES) |
|
29 |
# - added DATA_FORMAT |
|
30 |
# Sep 15, 2005: - debugged |
|
31 |
# - implement checksum to robustly find EOF |
|
32 |
# - renamed to RDI_BB_Read.pl |
|
33 |
# - BUG: had used POSIX::mktime with wrong month def! |
|
34 |
# Oct 30, 2005: - added WH300 FW16.27 file format |
|
35 |
# - added DATA_FORMAT_VARIANT |
|
36 |
# - changed semantics so that first valid ensemble is |
|
37 |
# in E[0] (instead of E[$ensNo-1]) |
|
38 |
# Nov 8, 2005: - replaced UNIXTIME by UNIX_TIME |
|
39 |
# - added SECNO |
|
40 |
# Aug 31: 2006: - added DAYNO |
|
41 |
# Aug 1, 2007: - BUG: typo in monthLength() |
|
42 |
# Sep 18, 2007: - modified readHeader() readDta() WBRhdr() WBRens() to |
|
43 |
# conserve memory (no large arrays as retvals) |
|
44 |
# Jun 4, 2008: - BUG: BB150 code was not considered on Sep 18, 2007 |
|
45 |
# Aug 15, 2010: - downgraded "unexpected number of data types" from error to warning |
|
46 |
# - BUG: WBRcfn had not been set correctly |
|
47 |
# - modified to allow processing files without time info |
|
48 |
# May 12, 2011: - added code to report built-in-test errors |
|
49 |
# Mar 19, 2013: - added support for WH600 data file (58 fixed leader bytes) |
|
50 |
# Mar 20, 2013: - removed DATA_FORMAT stuff |
|
51 |
# - added support for BT data in subset of ensembles |
|
52 |
# Apr 29, 2013: - changed semantics to assume EOF when unexpected number of data types |
|
53 |
# are present in an ensemble |
|
54 |
# Nov 25, 2013: - renamed from [RDI_BB_Read.pl] |
|
55 |
# - begin implementing WBWens() |
|
56 |
# - checkEnsemble() expunged |
|
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 |
|
59 |
# Apr 24, 2014: - added debug statements to log %-GOOD values |
|
60 |
# May 6, 2014: - loosened input format checks |
|
61 |
# May 7, 2014: - removed BT_present flag |
|
21 | 62 |
# Sep 6, 2014: - adapted WBRhdr to >7 data types |
63 |
# Oct 15, 2014: - implemented work-around for readData() not recognizing |
|
64 |
# incomplete ensemble at the end, which seems to imply that there is |
|
65 |
# a garbage final ensemble that passes the checksum test??? |
|
26
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made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
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changeset
|
66 |
# Oct 2, 2015: - added &skip_initial_trash() |
28 | 67 |
# Dec 18, 2015: - added most data types to WBPofs() |
68 |
# - BUG: WBPens() requires round() for scaled values |
|
31 | 69 |
# Jan 9, 2016: - removed system() from writeData() |
70 |
# - BUG: WBRhdr() did not set DATA_SOURCE_ID |
|
29 | 71 |
# - added PRODUCER |
31 | 72 |
# - BUG: writeData() did not work correctly for ECOGIG OC26 moored data (spaces in filename?) |
73 |
# - added support for patching coordinate system |
|
32 | 74 |
# Feb 16, 2016: - added transducer orientation to WBPens() |
75 |
# - BUG: most WBPens() error messages used wrong file name |
|
76 |
# Feb 23, 2016: - changed WBRhdr() to use 2nd ensemble (with correct data-source id) |
|
77 |
# Feb 26, 2016: - added basic BT data to WBPens(); not BT_RL_* and BT_SIGNAL_STRENGTH |
|
36
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
78 |
# Feb 29, 2016: - LEAP DAY: actually got BT data patching to work |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
79 |
# Jul 30, 2016: - BUG: incomplete last ensemble with garbage content was returned on reading |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
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changeset
|
80 |
# WH300 data |
14 | 81 |
|
82 |
# FIRMWARE VERSIONS: |
|
83 |
# It appears that different firmware versions generate different file |
|
84 |
# structures. Currently (Sep 2005) these routines have been tested |
|
85 |
# with the following firmware versions (as reported by [listHdr]): |
|
86 |
# |
|
87 |
# Firmw. DATA_FORMAT(_VARIANT) Owner Cruise FIXED_LEADER_LENGTH |
|
88 |
#------------------------------------------------------------ |
|
89 |
# 05.52 BB150 (1) UH CLIVAR/P16S 42 |
|
90 |
# 16.12 WH300 (1) FSU A0304 53 |
|
91 |
# 16.21 WH300 (1) LDEO NBP0402 53 |
|
92 |
# 16.27 WH300 (2) Nash ? 59 |
|
93 |
||
29 | 94 |
# PD0 FILE FORMAT EXTENSIONS: |
95 |
# |
|
32 | 96 |
# - file creator encoded in DATA_SOURCE_ID |
97 |
# |
|
98 |
# - first ensemble uses default RDI DATA_SOURCE_ID because the LDEO_IX |
|
99 |
# software assumes this |
|
100 |
# |
|
29 | 101 |
# - DATA_SOURCE_ID = 0x7F original TRDI PD0 file |
102 |
# |
|
103 |
# - DATA_SOURCE_ID = 0xA0 | PATCHED_MASK produced by IMP+LADP |
|
104 |
# PATCHED_MASK & 0x04: pitch value has been patched |
|
105 |
# PATCHED_MASK & 0x02: roll value has been patched |
|
106 |
# PATCHED_MASK & 0x01: heading value has been patched |
|
107 |
# - PITCH & ROLL can be missing (0x8000 badval as in velocities) |
|
108 |
# - HEADING can be missing (0xF000 badval, as 0x8000 is valid 327.68 heading) |
|
109 |
# |
|
31 | 110 |
# - DATA_SOURCE_ID = 0xE0 produced by editPD0 |
18 | 111 |
|
14 | 112 |
# NOTES: |
113 |
# - RDI stores data in VAX/Intel byte order (little endian) |
|
114 |
# - the output data structure does not exactly mirror the file data |
|
115 |
# structure; the header is not stored at all and the fixed leader |
|
116 |
# data are not duplicated in every ensemble |
|
117 |
# - in the RDI files some fields that logically belong into the header |
|
118 |
# or the fixed leader (e.g. BT_MIN_CORRELATION) appear in the |
|
119 |
# ensemble data --- these are not read on input |
|
120 |
# - the field names are generally unabbreviated except for |
|
121 |
# BT (= Bottom Track), RL (= Reference Layer), MIN and MAX |
|
122 |
# - all arrays are 0-referenced, but the ensemble number is not! |
|
123 |
# - a list of filenames can be be passed to readData() so that |
|
124 |
# files split onto several memory cards (typically .000 .001 &c) |
|
125 |
# can be read --- not sure if this works, actually |
|
126 |
# - the RDI manuals are not entirely clear everywhere; I have made |
|
127 |
# guesses in some cases, but they should not affect the main |
|
128 |
# fields of interest |
|
129 |
# - some fields in the fixed leader are not really fixed in a LADCP |
|
130 |
# setting (e.g. xducer orientation); I'v made an educated guess |
|
131 |
# as to which fields to move to the ENS array |
|
132 |
# - all units except pressure are SI, i.e. in m and m/s |
|
133 |
# - I don't understand the ERROR_STATUS_WORD; here's what 3 different |
|
134 |
# instruments returned: |
|
135 |
# 0x88000100 FSU instrument during A0304 (Firmware 16.12) |
|
136 |
# 0x88008180 LDEO uplooker (slave) during NBP0402 (Firmware 16.21) |
|
137 |
# 0x00008180 LDEO downlooker (master) during NBP0402 (Firmware 16.21) |
|
138 |
# According to the manual (January 2001 version) this would, for example, |
|
139 |
# indicate power failures on both FSU and LDEO slave instruments... |
|
140 |
||
141 |
# &readData() returns perl obj (ref to anonymous hash) with the following |
|
142 |
# structure: |
|
143 |
# |
|
18 | 144 |
# DATA_SOURCE_ID scalar 0x7f (Workhorse, also DVL) |
14 | 145 |
# NUMBER_OF_DATA_TYPES scalar 6 (no BT) or 7 |
146 |
# ENSEMBLE_BYTES scalar ?, number of bytes w/o checksum |
|
147 |
# HEADER_BYTES scalar ? |
|
148 |
# FIXED_LEADER_BYTES scalar 42 for BB150; 53 for WH300, 58 for WH600, 59 for WH300(Nash) |
|
149 |
# VARIABLE_LEADER_BYTES scalar ? |
|
150 |
# VELOCITY_DATA_BYTES scalar ? |
|
151 |
# CORRELATION_DATA_BYTES scalar ? |
|
152 |
# ECHO_INTENSITY_DATA_BYTES scalar ? |
|
153 |
# PERCENT_GOOD_DATA_BYTES scalar ? |
|
154 |
# BT_PRESENT bool NUMBER_OF_DATA_TYPES == 7 |
|
155 |
# BT_DATA_BYTES scalar undefined, ? if BT_PRESENT |
|
156 |
# CPU_FW_VER scalar 0--255 |
|
157 |
# CPU_FW_REV scalar 0--255 |
|
158 |
# BEAM_FREQUENCY scalar 75, 150, 300, 600, 1200, 2400 [kHz] |
|
159 |
# CONVEX_BEAM_PATTERN bool undefined, 1 |
|
160 |
# CONCAVE_BEAM_PATTERN bool undefined, 1 |
|
161 |
# SENSOR_CONFIG scalar 1--3 |
|
162 |
# XDUCER_HEAD_ATTACHED bool undefined, 1 |
|
163 |
# BEAM_ANGLE scalar 15,20,30,undefined=other [deg] |
|
164 |
# N_BEAMS scalar 4--5 |
|
165 |
# N_DEMODS scalar 2--3(???),undefined=n/a |
|
166 |
# N_BINS scalar 1--128 |
|
167 |
# PINGS_PER_ENSEMBLE scalar 0--16384 |
|
168 |
# BIN_LENGTH scalar 0.01--64 [m] |
|
169 |
# BLANKING_DISTANCE scalar 0-99.99 [m] |
|
170 |
# MIN_CORRELATION scalar 0--255 |
|
171 |
# N_CODE_REPETITIONS scalar 0--255 |
|
172 |
# MIN_PERCENT_GOOD scalar 1--100 [%] |
|
173 |
# MAX_ERROR_VELOCITY scalar 0--5 [m/s] |
|
174 |
# TIME_BETWEEN_PINGS scalar 0--? [s] |
|
175 |
# BEAM_COORDINATES bool undefined,1 |
|
176 |
# INSTRUMENT_COORDINATES bool undefined,1 |
|
177 |
# SHIP_COORDINATES bool undefined,1 |
|
178 |
# EARTH_COORDINATES bool undefined,1 |
|
179 |
# PITCH_AND_ROLL_USED bool undefined,1 |
|
180 |
# USE_3_BEAM_ON_LOW_CORR bool undefined,1 |
|
181 |
# BIN_MAPPING_ALLOWED bool undefined,1 |
|
182 |
# HEADING_ALIGNMENT scalar -179.99..180 [deg] |
|
183 |
# HEADING_BIAS scalar -179.99..180 [deg] |
|
184 |
# CALCULATE_SPEED_OF_SOUND bool undefined,1 |
|
185 |
# USE_PRESSURE_SENSOR bool undefined,1 |
|
186 |
# USE_COMPASS bool undefined,1 |
|
187 |
# USE_PITCH_SENSOR bool undefined,1 |
|
188 |
# USE_ROLL_SENSOR bool undefined,1 |
|
189 |
# USE_CONDUCTIVITY_SENSOR bool undefined,1 |
|
190 |
# USE_TEMPERATURE_SENSOR bool undefined,1 |
|
191 |
# SPEED_OF_SOUND_CALCULATED bool undefined,1 |
|
192 |
# PRESSURE_SENSOR_AVAILABLE bool undefined,1 |
|
193 |
# COMPASS_AVAILABLE bool undefined,1 |
|
194 |
# PITCH_SENSOR_AVAILABLE bool undefined,1 |
|
195 |
# ROLL_SENSOR_AVAILABLE bool undefined,1 |
|
196 |
# CONDUCTIVITY_SENSOR_AVAILABLE bool undefined,1 |
|
197 |
# TEMPERATURE_SENSOR_AVAILABLE bool undefined,1 |
|
198 |
# DISTANCE_TO_BIN1_CENTER scalar 0--655.35 [m] |
|
199 |
# TRANSMITTED_PULSE_LENGTH scalar 0--655.35 [m] |
|
200 |
# RL_FIRST_BIN scalar 1--128 |
|
201 |
# RL_LAST_BIN scalar 1--128 |
|
202 |
# FALSE_TARGET_THRESHOLD scalar 0--254, undefined=disabled |
|
203 |
# LOW_LATENCY_SETTING scalar 0--5(???) |
|
204 |
# TRANSMIT_LAG_DISTANCE scalar 0--655.35 [m] |
|
205 |
# CPU_SERIAL_NUMBER scalar undefined, 0--65535 if WH300 |
|
206 |
# NARROW_BANDWIDTH bool undefined,1 (only set if WH300) |
|
207 |
# WIDE_BANDWIDTH bool undefined,1 (only set if WH300) |
|
208 |
# TRANSMIT_POWER scalar undefined, 0--255(high) if WH300 |
|
209 |
# TRANSMIT_POWER_HIGH bool undefined,1 (only set if WH300) |
|
210 |
# BT_PINGS_PER_ENSEMBLE scalar 0--999 |
|
211 |
# BT_DELAY_BEFORE_REACQUIRE scalar 0--999 |
|
212 |
# BT_MIN_CORRELATION scalar 0--255 |
|
213 |
# BT_MIN_EVAL_AMPLITUDE scalar 0--255 |
|
214 |
# BT_MIN_PERCENT_GOOD scalar 0--100 [%] |
|
215 |
# BT_MODE scalar 4,5,6(?) |
|
216 |
# BT_MAX_ERROR_VELOCITY scalar 0--5 [m/s], undef=not screened |
|
217 |
# BT_RL_MIN_SIZE scalar 0--99.9 [m] |
|
218 |
# BT_RL_NEAR scalar 0--999.9 [m] |
|
219 |
# BT_RL_FAR scalar 0--999.9 [m] |
|
220 |
# BT_MAX_TRACKING_DEPTH scalar 8--999.9 [m] |
|
221 |
# ENSEMBLE[ensemble_no-1] array ensemble info |
|
222 |
# XDUCER_FACING_UP bool undefined, 1 |
|
223 |
# XDUCER_FACING_DOWN bool undefined, 1 |
|
224 |
# N_BEAMS_USED scalar 3,4,5(?) |
|
225 |
# NUMBER scalar 1--16777215 |
|
226 |
# BUILT_IN_TEST_ERROR scalar ?,undefined=none |
|
227 |
# SPEED_OF_SOUND scalar 1400--1600 [m/s] |
|
228 |
# XDUCER_DEPTH scalar 0.1--999.9 [m] |
|
18 | 229 |
# HEADING scalar 0--359.99 [deg] --- IMP EXTENSION: undef |
230 |
# PITCH scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef |
|
231 |
# ROLL scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef |
|
14 | 232 |
# SALINITY scalar 0-40 [psu] |
233 |
# TEMPERATURE scalar -5.00--40.00 [deg] |
|
234 |
# MIN_PRE_PING_WAIT_TIME scalar ? [s] |
|
235 |
# HEADING_STDDEV scalar 0-180 [deg] |
|
236 |
# PITCH_STDDEV scalar 0.0-20.0 [deg] |
|
237 |
# ROLL_STDDEV scalar 0.0-20.0 [deg] |
|
238 |
# ADC_XMIT_CURRENT scalar 0--255 |
|
239 |
# ADC_XMIT_VOLTAGE scalar 0--255 |
|
240 |
# ADC_AMBIENT_TEMPERATURE scalar 0--255 |
|
241 |
# ADC_PRESSURE_PLUS scalar 0--255 |
|
242 |
# ADC_PRESSURE_MINUS scalar 0--255 |
|
243 |
# ADC_ATTITUDE_TEMPERATURE scalar 0--255 |
|
244 |
# ADC_ATTITUDE scalar 0--255 |
|
245 |
# ADC_CONTAMINATION scalar 0--255 |
|
246 |
# ERROR_STATUS_WORD scalar undefined, ? (only set if WH300) |
|
247 |
# PRESSURE scalar undefined, ?-? [dbar] (only set if WH300) |
|
248 |
# PRESSURE_STDDEV scalar undefined, ?-? [dbar] (only set if WH300) |
|
249 |
# DATE string MM/DD/YYYY |
|
250 |
# YEAR scalar ? |
|
251 |
# MONTH scalar 1--12 |
|
252 |
# DAY scalar 1--31 |
|
253 |
# TIME string HH:MM:SS.hh |
|
254 |
# HOUR scalar 0--23 |
|
255 |
# MINUTE scalar 0--59 |
|
256 |
# SECONDS scalar 0--59.99 |
|
257 |
# UNIX_TIME scalar 0--? |
|
258 |
# SECNO scalar 0--? (number of seconds since daystart) |
|
259 |
# DAYNO double fractional day number since start of current year (1.0 is midnight Jan 1st) |
|
260 |
# VELOCITY[bin][beam] scalars -32.767--32.768 [m/s], undef=bad |
|
261 |
# CORRELATION[bin][beam] scalars 1--255, undefined=bad |
|
262 |
# ECHO_AMPLITUDE[bin][beam] scalars 0--255 |
|
263 |
# PERCENT_GOOD[bin][beam] scalars 0--255 |
|
264 |
# BT_RANGE[beam] scalars tons [m] |
|
265 |
# BT_VELOCITY[beam] scalars see VELOCITY |
|
266 |
# BT_CORRELATION[beam] scalars see CORRELATION |
|
267 |
# BT_EVAL_AMPLITUDE[beam] scalars 0--255 |
|
268 |
# BT_PERCENT_GOOD[beam] scalars see PERCENT_GOOD |
|
269 |
# BT_RL_VELOCITY[beam] scalars see VELOCITY |
|
270 |
# BT_RL_CORRELATION[beam] scalars see CORRELATION |
|
271 |
# BT_RL_ECHO_AMPLITUDE[beam] scalars see ECHO_AMPLITUDE |
|
272 |
# BT_RL_PERCENT_GOOD[beam] scalars see PERCENT_GOOD |
|
273 |
# BT_SIGNAL_STRENGTH[beam] scalars 0--255 |
|
274 |
# HIGH_GAIN bool 1, undefined |
|
275 |
# LOW_GAIN bool 1, undefined |
|
276 |
||
277 |
use strict; |
|
278 |
use Time::Local; # timegm() |
|
279 |
||
280 |
#---------------------------------------------------------------------- |
|
281 |
# Time Conversion Subroutines |
|
282 |
#---------------------------------------------------------------------- |
|
283 |
||
284 |
sub monthLength($$) # of days in month |
|
285 |
{ |
|
286 |
my($Y,$M) = @_; |
|
287 |
||
288 |
return 31 if ($M==1 || $M==3 || $M==5 || $M==7 || |
|
289 |
$M==8 || $M==10 || $M==12); |
|
290 |
return 30 if ($M==4 || $M==6 || $M==9 || $M==11); |
|
291 |
return 28 if ($Y%4 != 0); |
|
292 |
return 29 if ($Y%100 != 0); |
|
293 |
return 28 if ($Y%400 > 0); |
|
294 |
return 29; |
|
295 |
} |
|
296 |
||
297 |
{ my($epoch,$lM,$lD,$lY,$ldn); # static scope |
|
298 |
||
299 |
sub dayNo($$$$$$) |
|
300 |
{ |
|
301 |
my($Y,$M,$D,$h,$m,$s) = @_; |
|
302 |
my($dn); |
|
303 |
||
304 |
if ($Y==$lY && $M==$lM && $D==$lD) { # same day as last samp |
|
305 |
$dn = $ldn; |
|
306 |
} else { # new day |
|
307 |
$epoch = $Y unless defined($epoch); # 1st call |
|
308 |
$lY = $Y; $lM = $M; $lD = $D; # store |
|
309 |
||
310 |
for ($dn=0,my($cY)=$epoch; $cY<$Y; $cY++) { # multiple years |
|
311 |
$dn += 337 + &monthLength($Y,$M); |
|
312 |
} |
|
313 |
||
314 |
$dn += $D; # day in month |
|
315 |
while (--$M > 0) { # preceding months |
|
316 |
$dn += &monthLength($Y,$M); |
|
317 |
} |
|
318 |
||
319 |
$ldn = $dn; # store |
|
320 |
} |
|
321 |
return $dn + $h/24 + $m/24/60 + $s/24/3600; |
|
322 |
} |
|
323 |
||
324 |
} # static scope |
|
325 |
||
326 |
#---------------------------------------------------------------------- |
|
327 |
# Read Data |
|
328 |
#---------------------------------------------------------------------- |
|
329 |
||
330 |
my($WBRcfn,$WBPcfn); # current file names for reading/patching |
|
331 |
my($BIT_errors) = 0; # built-in-test errors |
|
332 |
||
333 |
my($FmtErr) = "%s: illegal %s Id 0x%04x at ensemble %d"; |
|
334 |
||
335 |
#---------------------------------------------------------------------- |
|
26
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|
336 |
# skip to first valid ensemble (skip over initial garbage) |
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|
337 |
#---------------------------------------------------------------------- |
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diff
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|
338 |
|
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|
339 |
sub skip_initial_trash(@) |
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|
340 |
{ |
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|
341 |
my($quiet) = @_; |
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|
342 |
my($buf,$dta); |
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diff
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|
343 |
|
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|
344 |
my($found) = 0; # zero consecutive 0x7f found |
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|
345 |
my($skipped) = 0; |
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|
346 |
while ($found < 2) { |
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|
347 |
sysread(WBRF,$buf,1) == 1 || last; |
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|
348 |
($dta) = unpack('C',$buf); |
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|
349 |
if ($dta == 0x7f) { |
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|
350 |
$found++; |
31 | 351 |
} elsif ($found==1 && ($dta==0xE0 || ($dta&0xF0==0xA0 && $dta&0x0F<8))) { |
352 |
$found++; |
|
26
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|
353 |
} elsif ($found == 0) { |
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|
354 |
$skipped++; |
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|
355 |
} else { |
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|
356 |
$skipped += $found; |
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|
357 |
$found = 0; |
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|
358 |
} |
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|
359 |
} |
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|
360 |
die("$WBRcfn: no valid ensemble header found [$!]\n") |
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|
361 |
if ($found < 2); |
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|
362 |
printf(STDERR "WARNING: %d bytes of initial garbage\n",$skipped) |
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|
363 |
if ($skipped > 0 && !$quiet); |
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|
364 |
return sysseek(WBRF,-2,1); |
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|
365 |
} |
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|
366 |
|
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|
367 |
#---------------------------------------------------------------------- |
14 | 368 |
# readHeader(file_name,^dta) WBRhdr(^data) |
369 |
# - read header data |
|
370 |
# - also includes some data from 1st ens |
|
371 |
#---------------------------------------------------------------------- |
|
372 |
||
373 |
sub readHeader(@) |
|
374 |
{ |
|
375 |
my($fn,$dta) = @_; |
|
376 |
$WBRcfn = $fn; |
|
377 |
open(WBRF,$WBRcfn) || die("$WBRcfn: $!"); |
|
378 |
WBRhdr($dta); |
|
379 |
} |
|
380 |
||
381 |
sub WBRhdr($) |
|
382 |
{ |
|
383 |
my($dta) = @_; |
|
26
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|
384 |
my($start_ens,$buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs); |
14 | 385 |
my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5); |
386 |
||
387 |
#-------------------- |
|
388 |
# HEADER |
|
389 |
#-------------------- |
|
390 |
||
32 | 391 |
skip_initial_trash(); |
392 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
|
393 |
($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES}) |
|
394 |
= unpack('CCvCC',$buf); |
|
36
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|
395 |
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header (hid)",$hid,0)); |
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|
396 |
$did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header (did)",$did,0)); |
32 | 397 |
|
398 |
$start_ens = sysseek(WBRF,$dta->{ENSEMBLE_BYTES}-6+2,1) || die("$WBRcfn: $!"); |
|
14 | 399 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
400 |
($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES}) |
|
401 |
= unpack('CCvCC',$buf); |
|
36
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diff
changeset
|
402 |
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header (hid2)",$hid,0)); |
29 | 403 |
$dta->{DATA_SOURCE_ID} = $did; |
404 |
if ($did == 0x7f) { |
|
405 |
$dta->{PRODUCER} = 'TRDI ADCP'; |
|
31 | 406 |
} elsif (($did&0xF0) == 0xA0) { |
407 |
$dta->{PRODUCER} = 'IMP+LADCP (Thurnherr software)'; |
|
408 |
} elsif (($did&0xF0) == 0xE0) { |
|
409 |
$dta->{PRODUCER} = 'editPD0 (Thurnherr software)'; |
|
29 | 410 |
} else { |
31 | 411 |
$dta->{PRODUCER} = sprintf('unknown (0x%02X)'); |
29 | 412 |
} |
413 |
||
21 | 414 |
printf(STDERR "WARNING: unexpected number of data types (%d)\n", |
14 | 415 |
$dta->{NUMBER_OF_DATA_TYPES}) |
416 |
unless ($dta->{NUMBER_OF_DATA_TYPES} == 6 || |
|
417 |
$dta->{NUMBER_OF_DATA_TYPES} == 7); |
|
21 | 418 |
## $dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} == 7); |
419 |
$dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} >= 7); |
|
14 | 420 |
|
421 |
sysread(WBRF,$buf,2*$dta->{NUMBER_OF_DATA_TYPES}) |
|
422 |
== 2*$dta->{NUMBER_OF_DATA_TYPES} |
|
423 |
|| die("$WBRcfn: $!"); |
|
424 |
@WBRofs = unpack("v$dta->{NUMBER_OF_DATA_TYPES}",$buf); |
|
425 |
||
426 |
$dta->{HEADER_BYTES} = $WBRofs[0]; |
|
427 |
$dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0]; |
|
428 |
$dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1]; |
|
429 |
$dta->{VELOCITY_DATA_BYTES} = $WBRofs[3] - $WBRofs[2]; |
|
430 |
$dta->{CORRELATION_DATA_BYTES} = $WBRofs[4] - $WBRofs[3]; |
|
431 |
$dta->{ECHO_INTENSITY_DATA_BYTES} = $WBRofs[5] - $WBRofs[4]; |
|
432 |
if ($dta->{BT_PRESENT}) { |
|
433 |
$dta->{PERCENT_GOOD_DATA_BYTES} = $WBRofs[6] - $WBRofs[5]; |
|
434 |
$dta->{BT_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[6]; |
|
435 |
} else { |
|
436 |
$dta->{PERCENT_GOOD_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[5]; |
|
437 |
} |
|
438 |
||
439 |
if ($dta->{FIXED_LEADER_BYTES} == 42) { # Eric Firing's old instrument I used in 2004 |
|
440 |
$dta->{INSTRUMENT_TYPE} = 'BB150'; |
|
441 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 53) { # old firmware: no serial numbers |
|
442 |
$dta->{INSTRUMENT_TYPE} = 'Workhorse'; |
|
443 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 59) { # new firmware: with serial numbers |
|
444 |
$dta->{INSTRUMENT_TYPE} = 'Workhorse'; |
|
445 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 58) { # DVL |
|
446 |
$dta->{INSTRUMENT_TYPE} = 'Explorer'; |
|
447 |
} |
|
448 |
||
449 |
# for ($i=0; $i<$dta->{NUMBER_OF_DATA_TYPES}; $i++) { |
|
450 |
# printf(STDERR "\nWBRofs[$i] = %d",$WBRofs[$i]); |
|
451 |
# } |
|
452 |
||
453 |
#---------------------------------- |
|
454 |
# Check Data Format of 1st Ensemble |
|
455 |
#---------------------------------- |
|
456 |
||
26
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parents:
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diff
changeset
|
457 |
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!"); |
14 | 458 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
459 |
$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
|
460 |
$id == 0x0080 || printf(STDERR $FmtErr."\n",$WBRcfn,"Variable Leader",$id,1); |
14 | 461 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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parents:
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diff
changeset
|
462 |
sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!"); |
14 | 463 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
464 |
$id = unpack('v',$buf); |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
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diff
changeset
|
465 |
$id == 0x0100 || printf(STDERR $FmtErr."\n",$WBRcfn,"Velocity Data",$id,1); |
14 | 466 |
|
26
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made RDI_BB_IO work with files containing leading garbage
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diff
changeset
|
467 |
sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!"); |
14 | 468 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
469 |
$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
|
470 |
$id == 0x0200 || printf(STDERR $FmtErr."\n",$WBRcfn,"Correlation Data",$id,1); |
14 | 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 |
sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!"); |
14 | 473 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
474 |
$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
|
475 |
$id == 0x0300 || printf(STDERR $FmtErr."\n",$WBRcfn,"Echo Intensity",$id,1); |
14 | 476 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
477 |
sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!"); |
14 | 478 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
479 |
$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
|
480 |
$id == 0x0400 || printf(STDERR $FmtErr."\n",$WBRcfn,"Percent-Good Data",$id,1); |
14 | 481 |
|
21 | 482 |
my($BT_dt); |
14 | 483 |
if ($dta->{BT_PRESENT}) { |
21 | 484 |
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
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
485 |
sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!"); |
21 | 486 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
487 |
$id = unpack('v',$buf); |
|
488 |
last if ($id == 0x0600); |
|
489 |
} |
|
490 |
||
491 |
if ($BT_dt == $dta->{NUMBER_OF_DATA_TYPES}) { |
|
492 |
printf(STDERR "WARNING: no BT data found\n");die; |
|
493 |
undef($dta->{BT_PRESENT}); |
|
494 |
} |
|
14 | 495 |
} |
496 |
||
497 |
#-------------------- |
|
498 |
# FIXED LEADER |
|
499 |
#-------------------- |
|
500 |
||
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
501 |
sysseek(WBRF,$start_ens+$WBRofs[0],0) || die("$WBRcfn: $!"); |
14 | 502 |
sysread(WBRF,$buf,42) == 42 || die("$WBRcfn: $!"); |
503 |
($id,$dta->{CPU_FW_VER},$dta->{CPU_FW_REV},$B1,$B2,$dummy,$dummy,$dummy, |
|
504 |
$dta->{N_BINS},$dta->{PINGS_PER_ENSEMBLE},$dta->{BIN_LENGTH}, |
|
505 |
$dta->{BLANKING_DISTANCE},$dummy,$dta->{MIN_CORRELATION}, |
|
506 |
$dta->{N_CODE_REPETITIONS},$dta->{MIN_PERCENT_GOOD}, |
|
507 |
$dta->{MAX_ERROR_VELOCITY},$dta->{TIME_BETWEEN_PINGS},$B3,$B4,$B5, |
|
508 |
$dta->{HEADING_ALIGNMENT},$dta->{HEADING_BIAS},$B6,$B7, |
|
509 |
$dta->{DISTANCE_TO_BIN1_CENTER},$dta->{TRANSMITTED_PULSE_LENGTH}, |
|
510 |
$dta->{REF_LAYER_FIRST_BIN},$dta->{REF_LAYER_LAST_BIN}, |
|
511 |
$dta->{FALSE_TARGET_THRESHOLD},$dta->{LOW_LATENCY_SETTING}, |
|
512 |
$dta->{TRANSMIT_LAG_DISTANCE}) = |
|
513 |
unpack('vCCCCC3CvvvCCCCvCCCCvvCCvvCCCCv',$buf); |
|
514 |
||
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
515 |
$id == 0x0000 || printf(STDERR $FmtErr."\n",$WBRcfn,"Fixed Leader",$id,0); |
14 | 516 |
|
517 |
$dta->{BEAM_FREQUENCY} = 2**($B1 & 0x07) * 75; |
|
518 |
$dta->{CONVEX_BEAM_PATTERN} = 1 if ($B1 & 0x08); |
|
519 |
$dta->{CONCAVE_BEAM_PATTERN} = 1 if (!($B1 & 0x08)); |
|
520 |
$dta->{SENSOR_CONFIG} = ($B1 & 0x30) >> 4; |
|
521 |
$dta->{XDUCER_HEAD_ATTACHED} = 1 if ($B1 & 0x40); |
|
522 |
||
523 |
if (($B2 & 0x03) == 0x00) { $dta->{BEAM_ANGLE} = 15; } |
|
524 |
elsif (($B2 & 0x03) == 0x01) { $dta->{BEAM_ANGLE} = 20; } |
|
525 |
elsif (($B2 & 0x03) == 0x02) { $dta->{BEAM_ANGLE} = 30; } |
|
526 |
if (($B2 & 0xF0) == 0x40) { $dta->{N_BEAMS} = 4; } |
|
527 |
elsif (($B2 & 0xF0) == 0x50) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 3; } |
|
528 |
elsif (($B2 & 0xF0) == 0xF0) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 2; } |
|
529 |
||
530 |
$dta->{BIN_LENGTH} /= 100; |
|
531 |
$dta->{BLANKING_DISTANCE} /= 100; |
|
532 |
||
533 |
$dta->{MAX_ERROR_VELOCITY} /= 1000; |
|
534 |
$dta->{TIME_BETWEEN_PINGS} *= 60; |
|
535 |
$dta->{TIME_BETWEEN_PINGS} += $B3 + $B4/100; |
|
536 |
||
537 |
$dta->{BEAM_COORDINATES} = 1 if (($B5 & 0x18) == 0x00); |
|
538 |
$dta->{INSTRUMENT_COORDINATES} = 1 if (($B5 & 0x18) == 0x08); |
|
539 |
$dta->{SHIP_COORDINATES} = 1 if (($B5 & 0x18) == 0x10); |
|
540 |
$dta->{EARTH_COORDINATES} = 1 if (($B5 & 0x18) == 0x18); |
|
541 |
$dta->{PITCH_AND_ROLL_USED} = 1 if ($B5 & 0x04); |
|
542 |
$dta->{USE_3_BEAM_ON_LOW_CORR} = 1 if ($B5 & 0x02); |
|
543 |
$dta->{BIN_MAPPING_ALLOWED} = 1 if ($B5 & 0x01); |
|
544 |
||
545 |
$dta->{HEADING_ALIGNMENT} = |
|
546 |
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ? |
|
547 |
$dta->{HEADING_ALIGNMENT} / 100 : undef; |
|
548 |
$dta->{HEADING_BIAS} = |
|
549 |
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ? |
|
550 |
$dta->{HEADING_BIAS} / 100 : undef; |
|
551 |
||
552 |
$dta->{CALCULATE_SPEED_OF_SOUND} = 1 if ($B6 & 0x40); |
|
553 |
$dta->{USE_PRESSURE_SENSOR} = 1 if ($B6 & 0x20); |
|
554 |
$dta->{USE_COMPASS} = 1 if ($B6 & 0x10); |
|
555 |
$dta->{USE_PITCH_SENSOR} = 1 if ($B6 & 0x08); |
|
556 |
$dta->{USE_ROLL_SENSOR} = 1 if ($B6 & 0x04); |
|
557 |
$dta->{USE_CONDUCTIVITY_SENSOR} = 1 if ($B6 & 0x02); |
|
558 |
$dta->{USE_TEMPERATURE_SENSOR} = 1 if ($B6 & 0x01); |
|
559 |
||
560 |
$dta->{SPEED_OF_SOUND_CALCULATED} = 1 if ($B7 & 0x40); |
|
561 |
$dta->{PRESSURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x20); |
|
562 |
$dta->{COMPASS_AVAILABLE} = 1 if ($B7 & 0x10); |
|
563 |
$dta->{PITCH_SENSOR_AVAILABLE} = 1 if ($B7 & 0x08); |
|
564 |
$dta->{ROLL_SENSOR_AVAILABLE} = 1 if ($B7 & 0x04); |
|
565 |
$dta->{CONDUCTIVITY_SENSOR_AVAILABLE} = 1 if ($B7 & 0x02); |
|
566 |
$dta->{TEMPERATURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x01); |
|
567 |
||
568 |
$dta->{DISTANCE_TO_BIN1_CENTER} /= 100; |
|
569 |
$dta->{TRANSMITTED_PULSE_LENGTH} /= 100; |
|
570 |
||
571 |
$dta->{FALSE_TARGET_THRESHOLD} = undef |
|
572 |
if ($dta->{FALSE_TARGET_THRESHOLD} == 255); |
|
573 |
$dta->{TRANSMIT_LAG_DISTANCE} /= 100; |
|
574 |
||
575 |
if ($dta->{INSTRUMENT_TYPE} eq 'Workhorse') { |
|
576 |
sysread(WBRF,$buf,11) == 11 || die("$WBRcfn: $!"); |
|
577 |
($W1,$W2,$W3,$W4,$W5,$dta->{TRANSMIT_POWER}) = |
|
578 |
unpack('vvvvvC',$buf); |
|
579 |
||
580 |
$dta->{CPU_SERIAL_NUMBER} = sprintf("%04X%04X%04X%04X",$W1,$W2,$W3,$W4); |
|
581 |
||
582 |
$dta->{NARROW_BANDWIDTH} = ($W5 == 1); |
|
583 |
$dta->{WIDE_BANDWIDTH} = ($W5 == 0); |
|
584 |
$dta->{TRANSMIT_POWER_HIGH} = ($dta->{TRANSMIT_POWER} == 255); |
|
585 |
||
586 |
if ($dta->{FIXED_LEADER_BYTES} == 59) { # new style with serial number |
|
587 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
|
588 |
($dummy,$dta->{SERIAL_NUMBER},$dummy) = # last bytes is beam angle, but that info has |
|
589 |
unpack('CVC',$buf); # already been provided above |
|
590 |
} |
|
591 |
} |
|
592 |
||
593 |
if ($dta->{INSTRUMENT_TYPE} eq 'Explorer') { |
|
594 |
sysread(WBRF,$buf,16) == 16 || die("$WBRcfn: $!"); |
|
595 |
($dummy,$dummy,$W5,$dummy,$dta->{SERIAL_NUMBER}) = |
|
596 |
unpack('VVvvV',$buf); |
|
597 |
$dta->{NARROW_BANDWIDTH} = ($W5 == 1); |
|
598 |
$dta->{WIDE_BANDWIDTH} = ($W5 == 0); |
|
599 |
} |
|
600 |
||
601 |
#----------------------- |
|
602 |
# 1st ENSEMBLE, BT Setup |
|
603 |
#----------------------- |
|
604 |
||
605 |
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
|
606 |
sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!"); |
14 | 607 |
sysread(WBRF,$buf,12) == 12 || die("$WBRcfn: $!"); |
608 |
($id,$dta->{BT_PINGS_PER_ENSEMBLE},$dta->{BT_DELAY_BEFORE_REACQUIRE}, |
|
609 |
$dta->{BT_MIN_CORRELATION},$dta->{BT_MIN_EVAL_AMPLITUDE}, |
|
610 |
$dta->{BT_MIN_PERCENT_GOOD},$dta->{BT_MODE}, |
|
611 |
$dta->{BT_MAX_ERROR_VELOCITY}) = unpack('vvvCCCCv',$buf); |
|
612 |
||
613 |
$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
|
614 |
printf(STDERR $FmtErr."\n",$WBRcfn,"Bottom Track",$id,0,tell(WBRF)); |
14 | 615 |
|
616 |
$dta->{BT_MAX_ERROR_VELOCITY} = |
|
617 |
$dta->{BT_MAX_ERROR_VELOCITY} ? $dta->{BT_MAX_ERROR_VELOCITY} / 1000 |
|
618 |
: undef; |
|
619 |
||
620 |
sysseek(WBRF,28,1) || die("$WBRcfn: $!"); |
|
621 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
|
622 |
($dta->{BT_RL_MIN_SIZE},$dta->{BT_RL_NEAR},$dta->{BT_RL_FAR}) |
|
623 |
= unpack('vvv',$buf); |
|
624 |
||
625 |
$dta->{BT_RL_MIN_SIZE} /= 10; |
|
626 |
$dta->{BT_RL_NEAR} /= 10; |
|
627 |
$dta->{BT_RL_FAR} /= 10; |
|
628 |
||
629 |
sysseek(WBRF,20,1) || die("$WBRcfn: $!"); # skip data |
|
630 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
|
631 |
$dta->{BT_MAX_TRACKING_DEPTH} = unpack('v',$buf) / 10; |
|
632 |
} |
|
633 |
||
634 |
return $dta; |
|
635 |
} |
|
636 |
||
637 |
#---------------------------------------------------------------------- |
|
638 |
# readData(file_name,^data) WBRens(nbins,fixed_leader_bytes,^data) |
|
639 |
# - read all ensembles |
|
640 |
#---------------------------------------------------------------------- |
|
641 |
||
642 |
sub readData(@) |
|
643 |
{ |
|
644 |
my($fn,$dta) = @_; |
|
645 |
$WBRcfn = $fn; |
|
646 |
open(WBRF,$WBRcfn) || die("$WBRcfn: $!"); |
|
647 |
WBRhdr($dta); |
|
648 |
WBRens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES}, |
|
649 |
\@{$dta->{ENSEMBLE}}); |
|
650 |
print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n") |
|
651 |
if ($BIT_errors); |
|
652 |
} |
|
653 |
||
654 |
sub WBRens($$$) |
|
655 |
{ |
|
656 |
my($nbins,$fixed_leader_bytes,$E) = @_; |
|
657 |
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBRofs); |
|
18 | 658 |
my($ens,$ensNo,$dayStart,$ens_length,$hid,$did,$ndt); |
14 | 659 |
|
26
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
660 |
sysseek(WBRF,0,0) || die("$WBRcfn: $!"); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
661 |
$start_ens = skip_initial_trash(1); |
02776c168135
made RDI_BB_IO work with files containing leading garbage
A.M. Thurnherr <ant@ldeo.columbia.edu>
parents:
24
diff
changeset
|
662 |
for ($ens=0; 1; $ens++,$start_ens+=$ens_length+2) { |
14 | 663 |
# print(STDERR "ens = $ens\n"); |
664 |
# print(STDERR "start_ens = $start_ens\n"); |
|
665 |
||
666 |
#---------------------------------------- |
|
667 |
# Get ensemble length and # of data types |
|
668 |
#---------------------------------------- |
|
669 |
||
670 |
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!"); |
|
671 |
sysread(WBRF,$buf,6) == 6 || last; |
|
672 |
($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf); |
|
673 |
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0)); |
|
29 | 674 |
${$E}[$ens]->{DATA_SOURCE_ID} = $did; |
675 |
if ($did == 0x7f) { |
|
676 |
${$E}[$ens]->{PRODUCER} = 'TRDI ADCP'; |
|
677 |
} elsif ($did&0xF0 == 0xA0) { |
|
678 |
${$E}[$ens]->{PRODUCER} = 'IMP+LADCP (Thurnherr software)'; |
|
31 | 679 |
} elsif ($did&0xF0 == 0xE0) { |
29 | 680 |
${$E}[$ens]->{PRODUCER} = 'editPD0 (Thurnherr software)'; |
681 |
} else { |
|
682 |
${$E}[$ens]->{PRODUCER} = 'unknown'; |
|
683 |
} |
|
684 |
||
18 | 685 |
## printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last |
686 |
## unless ($ndt == 6 || $ndt == 7); |
|
14 | 687 |
sysread(WBRF,$buf,2*$ndt) == 2*$ndt || die("$WBRcfn: $!"); |
688 |
@WBRofs = unpack("v$ndt",$buf); |
|
689 |
$fixed_leader_bytes = $WBRofs[1] - $WBRofs[0]; |
|
690 |
# print(STDERR "@WBRofs\n"); |
|
691 |
||
692 |
#------------------------------- |
|
693 |
# Make Sure Ensemble is Complete |
|
694 |
#------------------------------- |
|
695 |
||
696 |
# UH BB150 writes incomplete ensembles (i.e. short read |
|
697 |
# indicates EOF). FSU WH300 has bogus data in incomplete |
|
698 |
# final ensemble. |
|
699 |
||
700 |
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!"); |
|
36
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
701 |
unless ((sysread(WBRF,$buf,$ens_length) == $ens_length) && |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
702 |
(sysread(WBRF,$cs,2) == 2)) { |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
703 |
pop(@{$E}); |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
704 |
last; |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
705 |
} |
14 | 706 |
|
36
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
707 |
pop(@{$E}),last unless (unpack('%16C*',$buf) == unpack('v',$cs)); |
14 | 708 |
|
709 |
#------------------------------ |
|
710 |
# Variable Leader |
|
711 |
#------------------------------ |
|
712 |
||
713 |
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!"); |
|
714 |
sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!"); |
|
715 |
($id,$ensNo) = unpack("vv",$buf); |
|
716 |
||
717 |
$id == 0x0080 || |
|
718 |
die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo+1)); |
|
719 |
||
720 |
if ($fixed_leader_bytes==42 || $fixed_leader_bytes==58) { # BB150 & Explorer DVL |
|
721 |
sysread(WBRF,$buf,7) == 7 || die("$WBRcfn: $!"); |
|
722 |
(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH}, |
|
723 |
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE}, |
|
724 |
${$E}[$ens]->{SECONDS},$B4) = unpack('CCCCCCC',$buf); |
|
725 |
${$E}[$ens]->{SECONDS} += $B4/100; |
|
726 |
${$E}[$ens]->{YEAR} += (${$E}[$ens]->{YEAR} > 80) ? 1900 : 2000; |
|
727 |
} else { |
|
728 |
sysseek(WBRF,7,1) || die("$WBRcfn: $!"); # use Y2K RTC instead |
|
729 |
} |
|
730 |
||
731 |
sysread(WBRF,$buf,1) == 1 || die("$WBRcfn: $!"); |
|
732 |
$ensNo += unpack('C',$buf) << 16; |
|
733 |
${$E}[$ens]->{NUMBER} = $ensNo; |
|
734 |
||
735 |
sysread(WBRF,$buf,30) == 30 || die("$WBRcfn: $!"); |
|
736 |
(${$E}[$ens]->{BUILT_IN_TEST_ERROR},${$E}[$ens]->{SPEED_OF_SOUND}, |
|
737 |
${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING}, |
|
738 |
${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL}, |
|
739 |
${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE}, |
|
740 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME},$B1,$B2, |
|
741 |
${$E}[$ens]->{HEADING_STDDEV},${$E}[$ens]->{PITCH_STDDEV}, |
|
742 |
${$E}[$ens]->{ROLL_STDDEV},${$E}[$ens]->{ADC_XMIT_CURRENT}, |
|
743 |
${$E}[$ens]->{ADC_XMIT_VOLTAGE},${$E}[$ens]->{ADC_AMBIENT_TEMPERATURE}, |
|
744 |
${$E}[$ens]->{ADC_PRESSURE_PLUS},${$E}[$ens]->{ADC_PRESSURE_MINUS}, |
|
745 |
${$E}[$ens]->{ADC_ATTITUDE_TEMPERATURE},${$E}[$ens]->{ADC_ATTITUDE}, |
|
746 |
${$E}[$ens]->{ADC_CONTAMINATION}) |
|
747 |
= unpack('vvvvvvvvCCCCCCCCCCCCCC',$buf); |
|
748 |
||
749 |
${$E}[$ens]->{BUILT_IN_TEST_ERROR} = undef |
|
750 |
unless (${$E}[$ens]->{BUILT_IN_TEST_ERROR}); |
|
751 |
$BIT_errors++ if (${$E}[$ens]->{BUILT_IN_TEST_ERROR}); |
|
752 |
||
753 |
${$E}[$ens]->{XDUCER_DEPTH} /= 10; |
|
18 | 754 |
|
755 |
#------------------------------------------------- |
|
756 |
# IMP EXTENSION: PITCH/ROLL/HEADING CAN BE MISSING |
|
757 |
#------------------------------------------------- |
|
758 |
||
759 |
${$E}[$ens]->{HEADING} = (${$E}[$ens]->{HEADING} == 0xF000) |
|
760 |
? undef |
|
761 |
: ${$E}[$ens]->{HEADING} / 100; |
|
762 |
${$E}[$ens]->{PITCH} = (${$E}[$ens]->{PITCH} == 0x8000) |
|
763 |
? undef |
|
764 |
: unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100; |
|
765 |
${$E}[$ens]->{ROLL} = (${$E}[$ens]->{ROLL} == 0x8000) |
|
766 |
? undef |
|
767 |
: unpack('s',pack('S',${$E}[$ens]->{ROLL})) / 100; |
|
768 |
||
769 |
${$E}[$ens]->{TEMPERATURE} = unpack('s',pack('S',${$E}[$ens]->{TEMPERATURE})) / 100; |
|
14 | 770 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} *= 60; |
771 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} += $B1 + $B2/100; |
|
772 |
${$E}[$ens]->{PITCH_STDDEV} /= 10; |
|
773 |
${$E}[$ens]->{ROLL_STDDEV} /= 10; |
|
774 |
||
775 |
if ($fixed_leader_bytes==53 || $fixed_leader_bytes==59) { # Workhorse instruments |
|
776 |
sysread(WBRF,$buf,23) == 23 || die("$WBRcfn: $!"); |
|
777 |
(${$E}[$ens]->{ERROR_STATUS_WORD}, |
|
778 |
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV}, |
|
779 |
$dummy,${$E}[$ens]->{YEAR},$B3,${$E}[$ens]->{MONTH}, |
|
780 |
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE}, |
|
781 |
${$E}[$ens]->{SECONDS},$B4) |
|
782 |
= unpack('VvVVCCCCCCCCC',$buf); |
|
783 |
||
784 |
${$E}[$ens]->{PRESSURE} /= 1000; |
|
785 |
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000; |
|
786 |
${$E}[$ens]->{YEAR} *= 100; ${$E}[$ens]->{YEAR} += $B3; |
|
787 |
${$E}[$ens]->{SECONDS} += $B4/100; |
|
788 |
} |
|
789 |
||
36
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
790 |
# THE FOLLOWING LINE OF CODE WAS REMOVED 7/30/2016 WHEN I ADDED A POP |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
791 |
# TO THE last STATEMENT ABOVE (INCOMPLETE ENSEMBLE) |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
792 |
# pop(@{$E}),last if (${$E}[$ens]->{MONTH}>12); # 10/15/2014; IWISE#145 UL ??? |
21 | 793 |
|
14 | 794 |
if ($fixed_leader_bytes == 58) { # Explorer DVL |
795 |
sysread(WBRF,$buf,14) == 14 || die("$WBRcfn: $!"); |
|
796 |
(${$E}[$ens]->{ERROR_STATUS_WORD}, |
|
797 |
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV}) |
|
798 |
= unpack('VvVV',$buf); |
|
799 |
${$E}[$ens]->{PRESSURE} /= 1000; |
|
800 |
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000; |
|
801 |
} |
|
802 |
||
803 |
${$E}[$ens]->{DATE} |
|
804 |
= sprintf("%02d/%02d/%d",${$E}[$ens]->{MONTH}, |
|
805 |
${$E}[$ens]->{DAY}, |
|
806 |
${$E}[$ens]->{YEAR}); |
|
807 |
${$E}[$ens]->{TIME} |
|
808 |
= sprintf("%02d:%02d:%05.02f",${$E}[$ens]->{HOUR}, |
|
809 |
${$E}[$ens]->{MINUTE}, |
|
810 |
${$E}[$ens]->{SECONDS}); |
|
811 |
${$E}[$ens]->{DAYNO} |
|
812 |
= &dayNo(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},${$E}[$ens]->{DAY}, |
|
813 |
${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},${$E}[$ens]->{SECONDS}); |
|
814 |
||
815 |
# when analyzing an STA file from an OS75 SADCP (Poseidion), |
|
816 |
# I noticed that there is no time information. This causes |
|
817 |
# timegm to bomb. |
|
818 |
if (${$E}[$ens]->{MONTH} == 0) { # no time info |
|
819 |
${$E}[$ens]->{UNIX_TIME} = 0; |
|
820 |
${$E}[$ens]->{SECNO} = 0; |
|
821 |
} else { |
|
822 |
${$E}[$ens]->{UNIX_TIME} |
|
823 |
= timegm(0,${$E}[$ens]->{MINUTE}, |
|
824 |
${$E}[$ens]->{HOUR}, |
|
825 |
${$E}[$ens]->{DAY}, |
|
826 |
${$E}[$ens]->{MONTH}-1, # timegm jan==0!!! |
|
827 |
${$E}[$ens]->{YEAR}) |
|
828 |
+ ${$E}[$ens]->{SECONDS}; |
|
829 |
||
830 |
$dayStart = timegm(0,0,0,${$E}[$ens]->{DAY}, |
|
831 |
${$E}[$ens]->{MONTH}-1, |
|
832 |
${$E}[$ens]->{YEAR}) |
|
833 |
unless defined($dayStart); |
|
834 |
${$E}[$ens]->{SECNO} = ${$E}[$ens]->{UNIX_TIME} - $dayStart; |
|
835 |
} |
|
836 |
||
837 |
sysseek(WBRF,$start_ens+$WBRofs[0]+4,0) # System Config / Fixed Leader |
|
838 |
|| die("$WBRcfn: $!"); |
|
839 |
||
840 |
sysread(WBRF,$buf,5) == 5 || die("$WBRcfn: $!"); |
|
841 |
($B1,$dummy,$dummy,$dummy,${$E}[$ens]->{N_BEAMS_USED}) |
|
842 |
= unpack('CCCCC',$buf); |
|
843 |
${$E}[$ens]->{XDUCER_FACING_UP} = 1 if ($B1 & 0x80); |
|
844 |
${$E}[$ens]->{XDUCER_FACING_DOWN} = 1 unless ($B1 & 0x80); |
|
845 |
||
846 |
#-------------------- |
|
847 |
# Velocity Data |
|
848 |
#-------------------- |
|
849 |
||
850 |
my($ndata) = $nbins * 4; |
|
851 |
||
852 |
sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!"); |
|
853 |
sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!"); |
|
854 |
($id,@dta) = unpack("vv$ndata",$buf); |
|
855 |
||
856 |
$id == 0x0100 || |
|
857 |
die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,$ens)); |
|
858 |
||
859 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
860 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
861 |
${$E}[$ens]->{VELOCITY}[$bin][$beam] = |
|
862 |
unpack('s',pack('S',$dta[$i])) / 1000 |
|
863 |
if ($dta[$i] != 0x8000); |
|
864 |
} |
|
865 |
} |
|
866 |
||
867 |
#-------------------- |
|
868 |
# Correlation Data |
|
869 |
#-------------------- |
|
870 |
||
871 |
sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!"); |
|
872 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!"); |
|
873 |
($id,@dta) = unpack("vC$ndata",$buf); |
|
874 |
||
875 |
$id == 0x0200 || |
|
876 |
die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,$ens)); |
|
877 |
||
878 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
879 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
880 |
${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i] |
|
881 |
if ($dta[$i]); |
|
882 |
} |
|
883 |
} |
|
884 |
||
885 |
#-------------------- |
|
886 |
# Echo Intensity Data |
|
887 |
#-------------------- |
|
888 |
||
889 |
sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!"); |
|
890 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!"); |
|
891 |
($id,@dta) = unpack("vC$ndata",$buf); |
|
892 |
||
893 |
$id == 0x0300 || |
|
894 |
die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ens)); |
|
895 |
||
896 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
897 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
898 |
${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i]; |
|
899 |
} |
|
900 |
} |
|
901 |
||
902 |
#-------------------- |
|
903 |
# Percent Good Data |
|
904 |
#-------------------- |
|
905 |
||
906 |
sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!"); |
|
907 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!"); |
|
908 |
($id,@dta) = unpack("vC$ndata",$buf); |
|
909 |
||
910 |
$id == 0x0400 || |
|
911 |
die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,$ens)); |
|
912 |
||
913 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
18 | 914 |
# printf(STDERR "%-GOOD($bin): "); |
14 | 915 |
for ($beam=0; $beam<4; $beam++,$i++) { |
18 | 916 |
# printf(STDERR "$dta[$i] "); |
14 | 917 |
${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i]; |
918 |
} |
|
18 | 919 |
# printf(STDERR "\n"); |
14 | 920 |
} |
921 |
||
18 | 922 |
#----------------------------------------- |
14 | 923 |
# Bottom-Track Data |
18 | 924 |
# - scan through remaining data types |
925 |
#----------------------------------------- |
|
14 | 926 |
|
18 | 927 |
my($nxt); |
928 |
for ($nxt=6; $nxt<$ndt; $nxt++) { # scan until BT found |
|
929 |
sysseek(WBRF,$start_ens+$WBRofs[$nxt],0) || die("$WBRcfn: $!"); |
|
14 | 930 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
931 |
$id = unpack('v',$buf); |
|
18 | 932 |
last if ($id == 0x0600); |
933 |
} |
|
934 |
||
935 |
next if ($nxt == $ndt); # no BT found => next ens |
|
936 |
||
32 | 937 |
sysseek(WBRF,14,1) || die("$WBRcfn: $!"); # BT range, velocity, corr, %-good, ... |
18 | 938 |
sysread(WBRF,$buf,28) == 28 || die("$WBRcfn: $!"); |
939 |
@dta = unpack('v4v4C4C4C4',$buf); |
|
940 |
for ($beam=0; $beam<4; $beam++) { |
|
32 | 941 |
${$E}[$ens]->{BT_RANGE}[$beam] = $dta[$beam] / 100 # lower 2 bytes only! |
942 |
if ($dta[$beam]); # (see below for high bytes) |
|
18 | 943 |
} |
944 |
for ($beam=0; $beam<4; $beam++) { |
|
945 |
${$E}[$ens]->{BT_VELOCITY}[$beam] = |
|
946 |
unpack('s',pack('S',$dta[4+$beam])) / 1000 |
|
947 |
if ($dta[4+$beam] != 0x8000); |
|
948 |
} |
|
949 |
for ($beam=0; $beam<4; $beam++) { |
|
950 |
${$E}[$ens]->{BT_CORRELATION}[$beam] = $dta[8+$beam] |
|
951 |
if ($dta[8+$beam]); |
|
952 |
} |
|
32 | 953 |
for ($beam=0; $beam<4; $beam++) { # BT filter parameter |
18 | 954 |
${$E}[$ens]->{BT_EVAL_AMPLITUDE}[$beam] = $dta[12+$beam]; |
955 |
} |
|
956 |
for ($beam=0; $beam<4; $beam++) { |
|
957 |
${$E}[$ens]->{BT_PERCENT_GOOD}[$beam] = $dta[16+$beam]; |
|
958 |
} |
|
959 |
||
32 | 960 |
sysseek(WBRF,6,1) || die("$WBRcfn: $!"); # BT ref level stuff |
18 | 961 |
sysread(WBRF,$buf,20) == 20 || die("$WBRcfn: $!"); |
962 |
@dta = unpack('v4C4C4C4',$buf); |
|
963 |
for ($beam=0; $beam<4; $beam++) { |
|
964 |
${$E}[$ens]->{BT_RL_VELOCITY}[$beam] = |
|
965 |
unpack('s',pack('S',$dta[$beam])) / 1000 |
|
966 |
if ($dta[$beam] != 0x8000); |
|
967 |
} |
|
968 |
for ($beam=0; $beam<4; $beam++) { |
|
969 |
${$E}[$ens]->{BT_RL_CORRELATION}[$beam] = $dta[4+$beam] |
|
970 |
if ($dta[4+$beam]); |
|
971 |
} |
|
972 |
for ($beam=0; $beam<4; $beam++) { |
|
973 |
${$E}[$ens]->{BT_RL_ECHO_AMPLITUDE}[$beam] = $dta[8+$beam]; |
|
974 |
} |
|
975 |
for ($beam=0; $beam<4; $beam++) { |
|
976 |
${$E}[$ens]->{BT_RL_PERCENT_GOOD}[$beam] = $dta[12+$beam]; |
|
977 |
} |
|
978 |
||
32 | 979 |
sysseek(WBRF,2,1) || die("$WBRcfn: $!"); # BT signal strength & BT range high bytes |
18 | 980 |
sysread(WBRF,$buf,9) == 9 || die("$WBRcfn: $!"); |
981 |
@dta = unpack('C4CC4',$buf); |
|
982 |
for ($beam=0; $beam<4; $beam++) { |
|
983 |
${$E}[$ens]->{BT_SIGNAL_STRENGTH}[$beam] = $dta[$beam]; |
|
984 |
} |
|
985 |
${$E}[$ens]->{HIGH_GAIN} if ($dta[4]); |
|
986 |
${$E}[$ens]->{LOW_GAIN} unless ($dta[4]); |
|
32 | 987 |
for ($beam=0; $beam<4; $beam++) { # high bytes (1 byte per beam) |
18 | 988 |
${$E}[$ens]->{BT_RANGE}[$beam] += $dta[5+$beam] * 655.36 |
989 |
if ($dta[5+$beam]); |
|
990 |
} |
|
14 | 991 |
} # ens loop |
992 |
} |
|
993 |
||
994 |
#---------------------------------------------------------------------- |
|
28 | 995 |
# writeData(output_file_name,^data) WBPens(nbins,fixed_leader_bytes,^data) |
996 |
# - writeData() copies file previously read with readData() to output_file_name |
|
997 |
# - WBPens() patches new PD0 file with ^data |
|
998 |
# - ^data is modified!!!! |
|
999 |
# - output file must already exist and have correct structure |
|
1000 |
# - only subset of data structure is patched: |
|
1001 |
# - Header: Data Source Id |
|
1002 |
# - Var Ldr: Soundspeed, Depth, Heading, Pitch, Roll, Temp, Salin |
|
1003 |
# - Data: Velocity, Correlation, Echo Amp, %-Good, |
|
14 | 1004 |
#---------------------------------------------------------------------- |
1005 |
||
1006 |
sub writeData(@) |
|
1007 |
{ |
|
1008 |
my($fn,$dta) = @_; |
|
1009 |
||
1010 |
die("writeData() needs \$WBRcfn from previous readData()") |
|
31 | 1011 |
unless (length($WBRcfn) > 0); |
1012 |
||
1013 |
sysseek(WBRF,0,0) || die("$WBRcfn: $!"); # rewind input file |
|
1014 |
$WBPcfn = $fn; # set patch file name for error messages |
|
1015 |
open(WBPF,"+>$WBPcfn") || die("$WBPcfn: $!"); # open patch file for r/w |
|
14 | 1016 |
|
31 | 1017 |
while (1) { # copy input file to patch file |
1018 |
my($buf); |
|
1019 |
my($nread) = sysread(WBRF,$buf,100*1024); |
|
1020 |
die("$WBRcfn: $!\n") if ($nread < 0); |
|
1021 |
last if ($nread == 0); |
|
1022 |
my($nwritten) = syswrite(WBPF,$buf,100*1024); |
|
1023 |
die("$WBPcfn: $! ($nwritten of $nread written)\n") |
|
1024 |
unless ($nwritten = $nread); |
|
1025 |
} |
|
1026 |
sysseek(WBPF,0,0) || die("$WBPcfn: $!"); # rewind patch file |
|
1027 |
||
1028 |
WBPens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},$dta); |
|
14 | 1029 |
} |
1030 |
||
28 | 1031 |
sub round(@) |
1032 |
{ |
|
1033 |
return $_[0] >= 0 ? int($_[0] + 0.5) |
|
1034 |
: int($_[0] - 0.5); |
|
1035 |
} |
|
1036 |
||
1037 |
||
14 | 1038 |
sub WBPens($$$) |
1039 |
{ |
|
31 | 1040 |
my($nbins,$fixed_leader_bytes,$dta) = @_; |
14 | 1041 |
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBPofs); |
18 | 1042 |
my($ens,$ensNo,$dayStart,$ens_length,$hid,$ndt); |
14 | 1043 |
|
31 | 1044 |
for ($ens=$start_ens=0; $ens<=$#{$dta->{ENSEMBLE}}; $ens++,$start_ens+=$ens_length+2) { |
14 | 1045 |
|
18 | 1046 |
#------------------------------ |
1047 |
# Patch Header (Data Source Id) |
|
1048 |
#------------------------------ |
|
14 | 1049 |
|
1050 |
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!"); |
|
18 | 1051 |
sysread(WBPF,$buf,1) || die("$WBPcfn: unexpected EOF"); |
1052 |
($hid) = unpack('C',$buf); |
|
1053 |
$hid == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Header",$hid,$ens)); |
|
1054 |
||
31 | 1055 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{DATA_SOURCE_ID}); |
18 | 1056 |
my($nw) = syswrite(WBPF,$buf,1); |
1057 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1058 |
||
1059 |
sysread(WBPF,$buf,4) == 4 || die("$WBPcfn: unexpected EOF"); |
|
1060 |
($ens_length,$dummy,$ndt) = unpack('vCC',$buf); |
|
14 | 1061 |
printf(STDERR "\n$WBPcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last |
1062 |
unless ($ndt == 6 || $ndt == 7); |
|
18 | 1063 |
|
14 | 1064 |
sysread(WBPF,$buf,2*$ndt) == 2*$ndt || die("$WBPcfn: $!"); |
1065 |
@WBPofs = unpack("v$ndt",$buf); |
|
1066 |
$fixed_leader_bytes = $WBPofs[1] - $WBPofs[0]; |
|
31 | 1067 |
|
1068 |
#-------------------- |
|
1069 |
# Fixed Leader |
|
1070 |
#-------------------- |
|
14 | 1071 |
|
32 | 1072 |
sysseek(WBPF,$start_ens+$WBPofs[0]+4,0) # system config (transducer orientation) |
1073 |
|| die("$WBPcfn: $!"); |
|
1074 |
sysread(WBPF,$buf,1) == 1 || die("$WBPcfn: $!"); |
|
1075 |
$B1 = unpack('C',$buf); |
|
1076 |
$B1 |= 0x80 if ($dta->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
|
1077 |
$B1 &= 0x7F if ($dta->{ENSEMBLE}[$ens]->{XDUCER_FACING_DOWN}); |
|
1078 |
$buf = pack('C',$B1); |
|
1079 |
sysseek(WBPF,$start_ens+$WBPofs[0]+4,0) |
|
1080 |
|| die("$WBPcfn: $!"); |
|
1081 |
syswrite(WBPF,$buf,1) == 1 || die("$WBPcfn: $!"); |
|
1082 |
||
1083 |
sysseek(WBPF,$start_ens+$WBPofs[0]+25,0) || die("$WBPcfn: $!"); # EX / coord-transformation |
|
31 | 1084 |
sysread(WBPF,$buf,1) == 1 || die("$WBPcfn: $!"); |
1085 |
my($EX) = unpack('C',$buf); |
|
1086 |
if ($dta->{BEAM_COORDINATES}) { |
|
1087 |
$EX &= ~0x18; |
|
1088 |
} elsif ($dta->{EARTH_COORDINATES}) { |
|
1089 |
$EX |= 0x18; |
|
1090 |
} else { |
|
1091 |
die("$WBPcfn: only beam- and earth coordinates are supported (implementation restriction)\n"); |
|
1092 |
} |
|
1093 |
$buf = pack('C',$EX); |
|
1094 |
sysseek(WBPF,$start_ens+$WBPofs[0]+25,0) || die("$WBPcfn: $!"); |
|
1095 |
syswrite(WBPF,$buf,1) == 1 || die("$WBPcfn: $!"); |
|
1096 |
||
14 | 1097 |
#------------------------------ |
1098 |
# Variable Leader |
|
1099 |
#------------------------------ |
|
31 | 1100 |
|
1101 |
sysseek(WBPF,$start_ens+$WBPofs[1]+14,0) || die("$WBPcfn: $!"); # jump to SPEED_OF_SOUND |
|
14 | 1102 |
|
31 | 1103 |
$dta->{ENSEMBLE}[$ens]->{XDUCER_DEPTH} = round($dta->{ENSEMBLE}[$ens]->{XDUCER_DEPTH}*10); |
18 | 1104 |
|
32 | 1105 |
#--------------------------------- |
1106 |
# NB: IMP allows for missing value |
|
1107 |
#--------------------------------- |
|
28 | 1108 |
|
31 | 1109 |
$dta->{ENSEMBLE}[$ens]->{HEADING} = defined($dta->{ENSEMBLE}[$ens]->{HEADING}) |
1110 |
? round($dta->{ENSEMBLE}[$ens]->{HEADING}*100) |
|
18 | 1111 |
: 0xF000; |
31 | 1112 |
$dta->{ENSEMBLE}[$ens]->{PITCH} = defined($dta->{ENSEMBLE}[$ens]->{PITCH}) |
1113 |
? unpack('S',pack('s',round($dta->{ENSEMBLE}[$ens]->{PITCH}*100))) |
|
18 | 1114 |
: 0x8000; |
31 | 1115 |
$dta->{ENSEMBLE}[$ens]->{ROLL} = defined($dta->{ENSEMBLE}[$ens]->{ROLL}) |
1116 |
? unpack('S',pack('s',round($dta->{ENSEMBLE}[$ens]->{ROLL}*100))) |
|
18 | 1117 |
: 0x8000; |
1118 |
||
31 | 1119 |
$dta->{ENSEMBLE}[$ens]->{TEMPERATURE} = |
1120 |
unpack('S',pack('s',round($dta->{ENSEMBLE}[$ens]->{TEMPERATURE}*100))); |
|
14 | 1121 |
|
1122 |
$buf = pack('vvvvvvv', |
|
31 | 1123 |
$dta->{ENSEMBLE}[$ens]->{SPEED_OF_SOUND}, |
1124 |
$dta->{ENSEMBLE}[$ens]->{XDUCER_DEPTH},$dta->{ENSEMBLE}[$ens]->{HEADING}, |
|
1125 |
$dta->{ENSEMBLE}[$ens]->{PITCH},$dta->{ENSEMBLE}[$ens]->{ROLL}, |
|
1126 |
$dta->{ENSEMBLE}[$ens]->{SALINITY},$dta->{ENSEMBLE}[$ens]->{TEMPERATURE}); |
|
14 | 1127 |
|
1128 |
my($nw) = syswrite(WBPF,$buf,14); |
|
1129 |
$nw == 14 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1130 |
||
28 | 1131 |
|
1132 |
#-------------------- |
|
1133 |
# Velocity Data |
|
1134 |
#-------------------- |
|
1135 |
||
32 | 1136 |
sysseek(WBPF,$start_ens+$WBPofs[2]+2,0) || die("$WBPcfn: $!"); # skip velocity data id (assume it is correct) |
28 | 1137 |
for ($bin=0; $bin<$nbins; $bin++) { |
1138 |
for ($beam=0; $beam<4; $beam++) { |
|
31 | 1139 |
$dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam] = defined($dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam]) |
1140 |
? round($dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam]*1000) |
|
28 | 1141 |
: 0x8000; |
31 | 1142 |
$buf = pack('v',unpack('S',pack('s',$dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam]))); |
28 | 1143 |
my($nw) = syswrite(WBPF,$buf,2); |
1144 |
$nw == 2 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1145 |
} |
|
1146 |
} |
|
1147 |
||
1148 |
#-------------------- |
|
1149 |
# Correlation Data |
|
1150 |
#-------------------- |
|
1151 |
||
32 | 1152 |
sysseek(WBPF,$start_ens+$WBPofs[3]+2,0) || die("$WBPcfn: $!"); |
28 | 1153 |
for ($bin=0; $bin<$nbins; $bin++) { |
1154 |
for ($beam=0; $beam<4; $beam++) { |
|
31 | 1155 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{CORRELATION}[$bin][$beam]); |
28 | 1156 |
my($nw) = syswrite(WBPF,$buf,1); |
1157 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1158 |
} |
|
1159 |
} |
|
1160 |
||
1161 |
#-------------------- |
|
1162 |
# Echo Intensity Data |
|
1163 |
#-------------------- |
|
1164 |
||
32 | 1165 |
sysseek(WBPF,$start_ens+$WBPofs[4]+2,0) || die("$WBPcfn: $!"); |
28 | 1166 |
|
1167 |
for ($bin=0; $bin<$nbins; $bin++) { |
|
1168 |
for ($beam=0; $beam<4; $beam++) { |
|
31 | 1169 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam]); |
28 | 1170 |
my($nw) = syswrite(WBPF,$buf,1); |
1171 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1172 |
} |
|
1173 |
} |
|
1174 |
||
1175 |
#-------------------- |
|
1176 |
# Percent Good Data |
|
1177 |
#-------------------- |
|
1178 |
||
32 | 1179 |
sysseek(WBPF,$start_ens+$WBPofs[5]+2,0) || die("$WBPcfn: $!"); |
28 | 1180 |
|
1181 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) { |
|
1182 |
for ($beam=0; $beam<4; $beam++,$i++) { |
|
31 | 1183 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$bin][$beam]); |
28 | 1184 |
my($nw) = syswrite(WBPF,$buf,1); |
1185 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1186 |
} |
|
1187 |
} |
|
1188 |
||
1189 |
#----------------------------------------- |
|
1190 |
# Bottom-Track Data |
|
1191 |
# - scan through remaining data types |
|
1192 |
#----------------------------------------- |
|
1193 |
||
1194 |
my($nxt); |
|
1195 |
for ($nxt=6; $nxt<$ndt; $nxt++) { # scan until BT found |
|
32 | 1196 |
sysseek(WBPF,$start_ens+$WBPofs[$nxt],0) || die("$WBPcfn: $!"); |
36
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
32
diff
changeset
|
1197 |
sysread(WBPF,$buf,2) == 2 || die("$WBPcfn: $! [ens=$ens]"); |
28 | 1198 |
$id = unpack('v',$buf); |
1199 |
last if ($id == 0x0600); |
|
1200 |
} |
|
1201 |
||
1202 |
unless ($nxt == $ndt) { # BT found |
|
32 | 1203 |
sysseek(WBPF,14,1) || die("$WBPcfn: $!"); # skip BT config |
1204 |
for ($beam=0; $beam<4; $beam++) { # BT range low bytes (2 per beam) |
|
1205 |
$buf = pack('v',round($dta->{ENSEMBLE}[$ens]->{BT_RANGE}[$beam] * 100) & 0xFFFF); |
|
1206 |
my($nw) = syswrite(WBPF,$buf,2); |
|
1207 |
$nw == 2 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1208 |
} |
|
1209 |
||
1210 |
for ($beam=0; $beam<4; $beam++) { # BT velocities |
|
1211 |
$buf = pack('v',unpack('S',pack('s', |
|
1212 |
defined($dta->{ENSEMBLE}[$ens]->{BT_VELOCITY}[$beam]) |
|
1213 |
? round($dta->{ENSEMBLE}[$ens]->{BT_VELOCITY}[$beam]*1000) |
|
1214 |
: 0x8000))); |
|
1215 |
my($nw) = syswrite(WBPF,$buf,2); |
|
1216 |
$nw == 2 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1217 |
} |
|
1218 |
||
1219 |
for ($beam=0; $beam<4; $beam++) { # BT correlation |
|
1220 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{BT_CORRELATION}[$beam]); |
|
1221 |
my($nw) = syswrite(WBPF,$buf,1); |
|
1222 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1223 |
} |
|
1224 |
||
1225 |
for ($beam=0; $beam<4; $beam++) { # BT evaluation amp of matching filter |
|
1226 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{BT_EVAL_AMPLITUDE}[$beam]); |
|
1227 |
my($nw) = syswrite(WBPF,$buf,1); |
|
1228 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1229 |
} |
|
1230 |
||
1231 |
for ($beam=0; $beam<4; $beam++) { # BT percent good |
|
1232 |
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{BT_PERCENT_GOOD}[$beam]); |
|
1233 |
my($nw) = syswrite(WBPF,$buf,1); |
|
1234 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1235 |
} |
|
28 | 1236 |
|
32 | 1237 |
sysseek(WBPF,33,1) || die("$WBPcfn: $!"); # BT range high bytes (1 per beam) |
1238 |
for ($beam=0; $beam<4; $beam++) { |
|
1239 |
$buf = pack('C',(round($dta->{ENSEMBLE}[$ens]->{BT_RANGE}[$beam]*100) & 0xFF0000) >> 16); |
|
1240 |
my($nw) = syswrite(WBPF,$buf,1); |
|
1241 |
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)"); |
|
1242 |
} |
|
1243 |
||
1244 |
} # if BT found |
|
28 | 1245 |
|
14 | 1246 |
#---------------- |
1247 |
# Update Checksum |
|
1248 |
#---------------- |
|
1249 |
||
1250 |
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!"); |
|
1251 |
sysread(WBPF,$buf,$ens_length) == $ens_length || die("$WBPcfn: $!"); |
|
1252 |
$cs = unpack('%16C*',$buf); |
|
1253 |
$buf = pack('v',$cs); |
|
1254 |
$nw = syswrite(WBPF,$buf,2); |
|
1255 |
$nw == 2 || die("$WBPcfn: $nw bytes written, ens=$ens ($!)"); |
|
1256 |
||
1257 |
} # ens loop |
|
1258 |
} |
|
1259 |
||
1260 |
1; # return true for all the world to see |