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#======================================================================
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# R D I _ P D 0 _ I O . P L
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# doc: Sat Jan 18 14:54:43 2003
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# dlm: Tue Nov 26 01:29:26 2013
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# (c) 2003 A.M. Thurnherr
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# uE-Info: 873 10 NIL 0 0 72 74 2 4 NIL ofnI
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#======================================================================
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# Read RDI BroadBand Binary Data Files (*.[0-9][0-9][0-9])
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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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# 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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# 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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# NOTES:
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# - 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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# &readData() returns perl obj (ref to anonymous hash) with the following
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# structure:
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#
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# NUMBER_OF_DATA_TYPES scalar 6 (no BT) or 7
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# 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 ?
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# VELOCITY_DATA_BYTES scalar ?
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# CORRELATION_DATA_BYTES scalar ?
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# ECHO_INTENSITY_DATA_BYTES scalar ?
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# PERCENT_GOOD_DATA_BYTES scalar ?
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# BT_PRESENT bool NUMBER_OF_DATA_TYPES == 7
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# BT_DATA_BYTES scalar undefined, ? if BT_PRESENT
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# CPU_FW_VER scalar 0--255
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# CPU_FW_REV scalar 0--255
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# BEAM_FREQUENCY scalar 75, 150, 300, 600, 1200, 2400 [kHz]
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# CONVEX_BEAM_PATTERN bool undefined, 1
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# CONCAVE_BEAM_PATTERN bool undefined, 1
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# SENSOR_CONFIG scalar 1--3
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# XDUCER_HEAD_ATTACHED bool undefined, 1
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# BEAM_ANGLE scalar 15,20,30,undefined=other [deg]
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# N_BEAMS scalar 4--5
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# N_DEMODS scalar 2--3(???),undefined=n/a
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# N_BINS scalar 1--128
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# PINGS_PER_ENSEMBLE scalar 0--16384
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# BIN_LENGTH scalar 0.01--64 [m]
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# 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
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# MIN_PERCENT_GOOD scalar 1--100 [%]
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# MAX_ERROR_VELOCITY scalar 0--5 [m/s]
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# TIME_BETWEEN_PINGS scalar 0--? [s]
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# BEAM_COORDINATES bool undefined,1
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# INSTRUMENT_COORDINATES bool undefined,1
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# SHIP_COORDINATES bool undefined,1
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# EARTH_COORDINATES bool undefined,1
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# PITCH_AND_ROLL_USED bool undefined,1
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# USE_3_BEAM_ON_LOW_CORR bool undefined,1
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# BIN_MAPPING_ALLOWED bool undefined,1
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# HEADING_ALIGNMENT scalar -179.99..180 [deg]
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# HEADING_BIAS scalar -179.99..180 [deg]
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# CALCULATE_SPEED_OF_SOUND bool undefined,1
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# USE_PRESSURE_SENSOR bool undefined,1
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# USE_COMPASS bool undefined,1
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# USE_PITCH_SENSOR bool undefined,1
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# USE_ROLL_SENSOR bool undefined,1
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# 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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# ROLL_SENSOR_AVAILABLE bool undefined,1
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# CONDUCTIVITY_SENSOR_AVAILABLE bool undefined,1
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# TEMPERATURE_SENSOR_AVAILABLE bool undefined,1
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# 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
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# FALSE_TARGET_THRESHOLD scalar 0--254, undefined=disabled
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# 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)
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# BT_PINGS_PER_ENSEMBLE scalar 0--999
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# BT_DELAY_BEFORE_REACQUIRE scalar 0--999
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# BT_MIN_CORRELATION scalar 0--255
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# BT_MIN_EVAL_AMPLITUDE scalar 0--255
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# BT_MIN_PERCENT_GOOD scalar 0--100 [%]
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# BT_MODE scalar 4,5,6(?)
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# BT_MAX_ERROR_VELOCITY scalar 0--5 [m/s], undef=not screened
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# BT_RL_MIN_SIZE scalar 0--99.9 [m]
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# 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
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# 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]
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# HEADING scalar 0--359.99 [deg]
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# PITCH scalar -20.00-20.00 [deg]
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# ROLL scalar -20.00-20.00 [deg]
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# SALINITY scalar 0-40 [psu]
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# 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]
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# ROLL_STDDEV scalar 0.0-20.0 [deg]
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# ADC_XMIT_CURRENT scalar 0--255
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# 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
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# ADC_PRESSURE_MINUS scalar 0--255
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# ADC_ATTITUDE_TEMPERATURE scalar 0--255
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# ADC_ATTITUDE scalar 0--255
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# 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
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# YEAR scalar ?
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# MONTH scalar 1--12
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# DAY scalar 1--31
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# TIME string HH:MM:SS.hh
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# HOUR scalar 0--23
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# MINUTE scalar 0--59
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# 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)
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# 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
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# PERCENT_GOOD[bin][beam] scalars 0--255
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# BT_RANGE[beam] scalars tons [m]
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# BT_VELOCITY[beam] scalars see VELOCITY
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# BT_CORRELATION[beam] scalars see CORRELATION
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# 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
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# BT_SIGNAL_STRENGTH[beam] scalars 0--255
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# HIGH_GAIN bool 1, undefined
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# LOW_GAIN bool 1, undefined
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use strict;
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use Time::Local; # timegm()
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#----------------------------------------------------------------------
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# Time Conversion Subroutines
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#----------------------------------------------------------------------
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sub monthLength($$) # of days in month
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{
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my($Y,$M) = @_;
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return 31 if ($M==1 || $M==3 || $M==5 || $M==7 ||
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$M==8 || $M==10 || $M==12);
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return 30 if ($M==4 || $M==6 || $M==9 || $M==11);
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return 28 if ($Y%4 != 0);
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return 29 if ($Y%100 != 0);
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return 28 if ($Y%400 > 0);
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return 29;
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}
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{ my($epoch,$lM,$lD,$lY,$ldn); # static scope
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sub dayNo($$$$$$)
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{
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my($Y,$M,$D,$h,$m,$s) = @_;
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my($dn);
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if ($Y==$lY && $M==$lM && $D==$lD) { # same day as last samp
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$dn = $ldn;
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} else { # new day
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$epoch = $Y unless defined($epoch); # 1st call
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$lY = $Y; $lM = $M; $lD = $D; # store
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for ($dn=0,my($cY)=$epoch; $cY<$Y; $cY++) { # multiple years
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$dn += 337 + &monthLength($Y,$M);
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}
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$dn += $D; # day in month
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while (--$M > 0) { # preceding months
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$dn += &monthLength($Y,$M);
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}
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$ldn = $dn; # store
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}
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return $dn + $h/24 + $m/24/60 + $s/24/3600;
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}
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} # static scope
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#----------------------------------------------------------------------
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# Read Data
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#----------------------------------------------------------------------
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my($WBRcfn,$WBPcfn); # current file names for reading/patching
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my($BIT_errors) = 0; # built-in-test errors
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my($FmtErr) = "%s: illegal %s Id 0x%04x at ensemble %d";
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#----------------------------------------------------------------------
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# readHeader(file_name,^dta) WBRhdr(^data)
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# - read header data
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# - also includes some data from 1st ens
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#----------------------------------------------------------------------
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sub readHeader(@)
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{
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my($fn,$dta) = @_;
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$WBRcfn = $fn;
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open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
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WBRhdr($dta);
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}
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sub WBRhdr($)
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{
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my($dta) = @_;
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my($buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs);
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my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5);
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#--------------------
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# HEADER
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#--------------------
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sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
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($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES})
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= unpack('CCvCC',$buf);
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$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0));
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$did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0));
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printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d)\n",
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$dta->{NUMBER_OF_DATA_TYPES})
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unless ($dta->{NUMBER_OF_DATA_TYPES} == 6 ||
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$dta->{NUMBER_OF_DATA_TYPES} == 7);
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$dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} == 7);
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sysread(WBRF,$buf,2*$dta->{NUMBER_OF_DATA_TYPES})
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== 2*$dta->{NUMBER_OF_DATA_TYPES}
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|| die("$WBRcfn: $!");
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@WBRofs = unpack("v$dta->{NUMBER_OF_DATA_TYPES}",$buf);
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|
332 |
$dta->{HEADER_BYTES} = $WBRofs[0];
|
|
333 |
$dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0];
|
|
334 |
$dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1];
|
|
335 |
$dta->{VELOCITY_DATA_BYTES} = $WBRofs[3] - $WBRofs[2];
|
|
336 |
$dta->{CORRELATION_DATA_BYTES} = $WBRofs[4] - $WBRofs[3];
|
|
337 |
$dta->{ECHO_INTENSITY_DATA_BYTES} = $WBRofs[5] - $WBRofs[4];
|
|
338 |
if ($dta->{BT_PRESENT}) {
|
|
339 |
$dta->{PERCENT_GOOD_DATA_BYTES} = $WBRofs[6] - $WBRofs[5];
|
|
340 |
$dta->{BT_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[6];
|
|
341 |
} else {
|
|
342 |
$dta->{PERCENT_GOOD_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[5];
|
|
343 |
}
|
|
344 |
|
|
345 |
if ($dta->{FIXED_LEADER_BYTES} == 42) { # Eric Firing's old instrument I used in 2004
|
|
346 |
$dta->{INSTRUMENT_TYPE} = 'BB150';
|
|
347 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 53) { # old firmware: no serial numbers
|
|
348 |
$dta->{INSTRUMENT_TYPE} = 'Workhorse';
|
|
349 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 59) { # new firmware: with serial numbers
|
|
350 |
$dta->{INSTRUMENT_TYPE} = 'Workhorse';
|
|
351 |
} elsif ($dta->{FIXED_LEADER_BYTES} == 58) { # DVL
|
|
352 |
$dta->{INSTRUMENT_TYPE} = 'Explorer';
|
|
353 |
}
|
|
354 |
|
|
355 |
# for ($i=0; $i<$dta->{NUMBER_OF_DATA_TYPES}; $i++) {
|
|
356 |
# printf(STDERR "\nWBRofs[$i] = %d",$WBRofs[$i]);
|
|
357 |
# }
|
|
358 |
|
|
359 |
#----------------------------------
|
|
360 |
# Check Data Format of 1st Ensemble
|
|
361 |
#----------------------------------
|
|
362 |
|
|
363 |
sysseek(WBRF,$WBRofs[1],0) || die("$WBRcfn: $!");
|
|
364 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
365 |
$id = unpack('v',$buf);
|
|
366 |
$id == 0x0080 || die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,1));
|
|
367 |
|
|
368 |
sysseek(WBRF,$WBRofs[2],0) || die("$WBRcfn: $!");
|
|
369 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
370 |
$id = unpack('v',$buf);
|
|
371 |
$id == 0x0100 || die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,1));
|
|
372 |
|
|
373 |
sysseek(WBRF,$WBRofs[3],0) || die("$WBRcfn: $!");
|
|
374 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
375 |
$id = unpack('v',$buf);
|
|
376 |
$id == 0x0200 || die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,1));
|
|
377 |
|
|
378 |
sysseek(WBRF,$WBRofs[4],0) || die("$WBRcfn: $!");
|
|
379 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
380 |
$id = unpack('v',$buf);
|
|
381 |
$id == 0x0300 || die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,1));
|
|
382 |
|
|
383 |
sysseek(WBRF,$WBRofs[5],0) || die("$WBRcfn: $!");
|
|
384 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
385 |
$id = unpack('v',$buf);
|
|
386 |
$id == 0x0400 || die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,1));
|
|
387 |
|
|
388 |
if ($dta->{BT_PRESENT}) {
|
|
389 |
sysseek(WBRF,$WBRofs[6],0) || die("$WBRcfn: $!");
|
|
390 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
391 |
$id = unpack('v',$buf);
|
|
392 |
$id == 0x0600 || die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,1));
|
|
393 |
}
|
|
394 |
|
|
395 |
#--------------------
|
|
396 |
# FIXED LEADER
|
|
397 |
#--------------------
|
|
398 |
|
|
399 |
sysseek(WBRF,$WBRofs[0],0) || die("$WBRcfn: $!");
|
|
400 |
sysread(WBRF,$buf,42) == 42 || die("$WBRcfn: $!");
|
|
401 |
($id,$dta->{CPU_FW_VER},$dta->{CPU_FW_REV},$B1,$B2,$dummy,$dummy,$dummy,
|
|
402 |
$dta->{N_BINS},$dta->{PINGS_PER_ENSEMBLE},$dta->{BIN_LENGTH},
|
|
403 |
$dta->{BLANKING_DISTANCE},$dummy,$dta->{MIN_CORRELATION},
|
|
404 |
$dta->{N_CODE_REPETITIONS},$dta->{MIN_PERCENT_GOOD},
|
|
405 |
$dta->{MAX_ERROR_VELOCITY},$dta->{TIME_BETWEEN_PINGS},$B3,$B4,$B5,
|
|
406 |
$dta->{HEADING_ALIGNMENT},$dta->{HEADING_BIAS},$B6,$B7,
|
|
407 |
$dta->{DISTANCE_TO_BIN1_CENTER},$dta->{TRANSMITTED_PULSE_LENGTH},
|
|
408 |
$dta->{REF_LAYER_FIRST_BIN},$dta->{REF_LAYER_LAST_BIN},
|
|
409 |
$dta->{FALSE_TARGET_THRESHOLD},$dta->{LOW_LATENCY_SETTING},
|
|
410 |
$dta->{TRANSMIT_LAG_DISTANCE}) =
|
|
411 |
unpack('vCCCCC3CvvvCCCCvCCCCvvCCvvCCCCv',$buf);
|
|
412 |
|
|
413 |
$id == 0x0000 || die(sprintf($FmtErr,$WBRcfn,"Fixed Leader",$id,0));
|
|
414 |
|
|
415 |
$dta->{BEAM_FREQUENCY} = 2**($B1 & 0x07) * 75;
|
|
416 |
$dta->{CONVEX_BEAM_PATTERN} = 1 if ($B1 & 0x08);
|
|
417 |
$dta->{CONCAVE_BEAM_PATTERN} = 1 if (!($B1 & 0x08));
|
|
418 |
$dta->{SENSOR_CONFIG} = ($B1 & 0x30) >> 4;
|
|
419 |
$dta->{XDUCER_HEAD_ATTACHED} = 1 if ($B1 & 0x40);
|
|
420 |
|
|
421 |
if (($B2 & 0x03) == 0x00) { $dta->{BEAM_ANGLE} = 15; }
|
|
422 |
elsif (($B2 & 0x03) == 0x01) { $dta->{BEAM_ANGLE} = 20; }
|
|
423 |
elsif (($B2 & 0x03) == 0x02) { $dta->{BEAM_ANGLE} = 30; }
|
|
424 |
if (($B2 & 0xF0) == 0x40) { $dta->{N_BEAMS} = 4; }
|
|
425 |
elsif (($B2 & 0xF0) == 0x50) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 3; }
|
|
426 |
elsif (($B2 & 0xF0) == 0xF0) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 2; }
|
|
427 |
|
|
428 |
$dta->{BIN_LENGTH} /= 100;
|
|
429 |
$dta->{BLANKING_DISTANCE} /= 100;
|
|
430 |
|
|
431 |
$dta->{MAX_ERROR_VELOCITY} /= 1000;
|
|
432 |
$dta->{TIME_BETWEEN_PINGS} *= 60;
|
|
433 |
$dta->{TIME_BETWEEN_PINGS} += $B3 + $B4/100;
|
|
434 |
|
|
435 |
$dta->{BEAM_COORDINATES} = 1 if (($B5 & 0x18) == 0x00);
|
|
436 |
$dta->{INSTRUMENT_COORDINATES} = 1 if (($B5 & 0x18) == 0x08);
|
|
437 |
$dta->{SHIP_COORDINATES} = 1 if (($B5 & 0x18) == 0x10);
|
|
438 |
$dta->{EARTH_COORDINATES} = 1 if (($B5 & 0x18) == 0x18);
|
|
439 |
$dta->{PITCH_AND_ROLL_USED} = 1 if ($B5 & 0x04);
|
|
440 |
$dta->{USE_3_BEAM_ON_LOW_CORR} = 1 if ($B5 & 0x02);
|
|
441 |
$dta->{BIN_MAPPING_ALLOWED} = 1 if ($B5 & 0x01);
|
|
442 |
|
|
443 |
$dta->{HEADING_ALIGNMENT} =
|
|
444 |
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ?
|
|
445 |
$dta->{HEADING_ALIGNMENT} / 100 : undef;
|
|
446 |
$dta->{HEADING_BIAS} =
|
|
447 |
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ?
|
|
448 |
$dta->{HEADING_BIAS} / 100 : undef;
|
|
449 |
|
|
450 |
$dta->{CALCULATE_SPEED_OF_SOUND} = 1 if ($B6 & 0x40);
|
|
451 |
$dta->{USE_PRESSURE_SENSOR} = 1 if ($B6 & 0x20);
|
|
452 |
$dta->{USE_COMPASS} = 1 if ($B6 & 0x10);
|
|
453 |
$dta->{USE_PITCH_SENSOR} = 1 if ($B6 & 0x08);
|
|
454 |
$dta->{USE_ROLL_SENSOR} = 1 if ($B6 & 0x04);
|
|
455 |
$dta->{USE_CONDUCTIVITY_SENSOR} = 1 if ($B6 & 0x02);
|
|
456 |
$dta->{USE_TEMPERATURE_SENSOR} = 1 if ($B6 & 0x01);
|
|
457 |
|
|
458 |
$dta->{SPEED_OF_SOUND_CALCULATED} = 1 if ($B7 & 0x40);
|
|
459 |
$dta->{PRESSURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x20);
|
|
460 |
$dta->{COMPASS_AVAILABLE} = 1 if ($B7 & 0x10);
|
|
461 |
$dta->{PITCH_SENSOR_AVAILABLE} = 1 if ($B7 & 0x08);
|
|
462 |
$dta->{ROLL_SENSOR_AVAILABLE} = 1 if ($B7 & 0x04);
|
|
463 |
$dta->{CONDUCTIVITY_SENSOR_AVAILABLE} = 1 if ($B7 & 0x02);
|
|
464 |
$dta->{TEMPERATURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x01);
|
|
465 |
|
|
466 |
$dta->{DISTANCE_TO_BIN1_CENTER} /= 100;
|
|
467 |
$dta->{TRANSMITTED_PULSE_LENGTH} /= 100;
|
|
468 |
|
|
469 |
$dta->{FALSE_TARGET_THRESHOLD} = undef
|
|
470 |
if ($dta->{FALSE_TARGET_THRESHOLD} == 255);
|
|
471 |
$dta->{TRANSMIT_LAG_DISTANCE} /= 100;
|
|
472 |
|
|
473 |
if ($dta->{INSTRUMENT_TYPE} eq 'Workhorse') {
|
|
474 |
sysread(WBRF,$buf,11) == 11 || die("$WBRcfn: $!");
|
|
475 |
($W1,$W2,$W3,$W4,$W5,$dta->{TRANSMIT_POWER}) =
|
|
476 |
unpack('vvvvvC',$buf);
|
|
477 |
|
|
478 |
$dta->{CPU_SERIAL_NUMBER} = sprintf("%04X%04X%04X%04X",$W1,$W2,$W3,$W4);
|
|
479 |
|
|
480 |
$dta->{NARROW_BANDWIDTH} = ($W5 == 1);
|
|
481 |
$dta->{WIDE_BANDWIDTH} = ($W5 == 0);
|
|
482 |
$dta->{TRANSMIT_POWER_HIGH} = ($dta->{TRANSMIT_POWER} == 255);
|
|
483 |
|
|
484 |
if ($dta->{FIXED_LEADER_BYTES} == 59) { # new style with serial number
|
|
485 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
|
|
486 |
($dummy,$dta->{SERIAL_NUMBER},$dummy) = # last bytes is beam angle, but that info has
|
|
487 |
unpack('CVC',$buf); # already been provided above
|
|
488 |
}
|
|
489 |
}
|
|
490 |
|
|
491 |
if ($dta->{INSTRUMENT_TYPE} eq 'Explorer') {
|
|
492 |
sysread(WBRF,$buf,16) == 16 || die("$WBRcfn: $!");
|
|
493 |
($dummy,$dummy,$W5,$dummy,$dta->{SERIAL_NUMBER}) =
|
|
494 |
unpack('VVvvV',$buf);
|
|
495 |
$dta->{NARROW_BANDWIDTH} = ($W5 == 1);
|
|
496 |
$dta->{WIDE_BANDWIDTH} = ($W5 == 0);
|
|
497 |
}
|
|
498 |
|
|
499 |
#-----------------------
|
|
500 |
# 1st ENSEMBLE, BT Setup
|
|
501 |
#-----------------------
|
|
502 |
|
|
503 |
if ($dta->{BT_PRESENT}) {
|
|
504 |
sysseek(WBRF,$WBRofs[6],0) || die("$WBRcfn: $!");
|
|
505 |
sysread(WBRF,$buf,12) == 12 || die("$WBRcfn: $!");
|
|
506 |
($id,$dta->{BT_PINGS_PER_ENSEMBLE},$dta->{BT_DELAY_BEFORE_REACQUIRE},
|
|
507 |
$dta->{BT_MIN_CORRELATION},$dta->{BT_MIN_EVAL_AMPLITUDE},
|
|
508 |
$dta->{BT_MIN_PERCENT_GOOD},$dta->{BT_MODE},
|
|
509 |
$dta->{BT_MAX_ERROR_VELOCITY}) = unpack('vvvCCCCv',$buf);
|
|
510 |
|
|
511 |
$id == 0x0600 ||
|
|
512 |
die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,0,tell(WBRF)));
|
|
513 |
|
|
514 |
$dta->{BT_MAX_ERROR_VELOCITY} =
|
|
515 |
$dta->{BT_MAX_ERROR_VELOCITY} ? $dta->{BT_MAX_ERROR_VELOCITY} / 1000
|
|
516 |
: undef;
|
|
517 |
|
|
518 |
sysseek(WBRF,28,1) || die("$WBRcfn: $!");
|
|
519 |
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
|
|
520 |
($dta->{BT_RL_MIN_SIZE},$dta->{BT_RL_NEAR},$dta->{BT_RL_FAR})
|
|
521 |
= unpack('vvv',$buf);
|
|
522 |
|
|
523 |
$dta->{BT_RL_MIN_SIZE} /= 10;
|
|
524 |
$dta->{BT_RL_NEAR} /= 10;
|
|
525 |
$dta->{BT_RL_FAR} /= 10;
|
|
526 |
|
|
527 |
sysseek(WBRF,20,1) || die("$WBRcfn: $!"); # skip data
|
|
528 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
529 |
$dta->{BT_MAX_TRACKING_DEPTH} = unpack('v',$buf) / 10;
|
|
530 |
}
|
|
531 |
|
|
532 |
return $dta;
|
|
533 |
}
|
|
534 |
|
|
535 |
#----------------------------------------------------------------------
|
|
536 |
# readData(file_name,^data) WBRens(nbins,fixed_leader_bytes,^data)
|
|
537 |
# - read all ensembles
|
|
538 |
#----------------------------------------------------------------------
|
|
539 |
|
|
540 |
sub readData(@)
|
|
541 |
{
|
|
542 |
my($fn,$dta) = @_;
|
|
543 |
$WBRcfn = $fn;
|
|
544 |
open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
|
|
545 |
WBRhdr($dta);
|
|
546 |
WBRens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},
|
|
547 |
\@{$dta->{ENSEMBLE}});
|
|
548 |
print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n")
|
|
549 |
if ($BIT_errors);
|
|
550 |
}
|
|
551 |
|
|
552 |
sub WBRens($$$)
|
|
553 |
{
|
|
554 |
my($nbins,$fixed_leader_bytes,$E) = @_;
|
|
555 |
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBRofs);
|
|
556 |
my($ens,$ensNo,$dayStart,$ens_length,$BT_present,$hid,$did,$ndt);
|
|
557 |
|
|
558 |
for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
|
|
559 |
# print(STDERR "ens = $ens\n");
|
|
560 |
# print(STDERR "start_ens = $start_ens\n");
|
|
561 |
|
|
562 |
#----------------------------------------
|
|
563 |
# Get ensemble length and # of data types
|
|
564 |
#----------------------------------------
|
|
565 |
|
|
566 |
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
|
|
567 |
sysread(WBRF,$buf,6) == 6 || last;
|
|
568 |
($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf);
|
|
569 |
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0));
|
|
570 |
$did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0));
|
|
571 |
printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
|
|
572 |
unless ($ndt == 6 || $ndt == 7);
|
|
573 |
$BT_present = ($ndt == 7);
|
|
574 |
sysread(WBRF,$buf,2*$ndt) == 2*$ndt || die("$WBRcfn: $!");
|
|
575 |
@WBRofs = unpack("v$ndt",$buf);
|
|
576 |
$fixed_leader_bytes = $WBRofs[1] - $WBRofs[0];
|
|
577 |
# print(STDERR "@WBRofs\n");
|
|
578 |
|
|
579 |
#-------------------------------
|
|
580 |
# Make Sure Ensemble is Complete
|
|
581 |
#-------------------------------
|
|
582 |
|
|
583 |
# UH BB150 writes incomplete ensembles (i.e. short read
|
|
584 |
# indicates EOF). FSU WH300 has bogus data in incomplete
|
|
585 |
# final ensemble.
|
|
586 |
|
|
587 |
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
|
|
588 |
sysread(WBRF,$buf,$ens_length) == $ens_length || last;
|
|
589 |
|
|
590 |
sysread(WBRF,$cs,2) == 2 || last;
|
|
591 |
last unless (unpack('%16C*',$buf) == unpack('v',$cs));
|
|
592 |
|
|
593 |
#------------------------------
|
|
594 |
# Variable Leader
|
|
595 |
#------------------------------
|
|
596 |
|
|
597 |
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!");
|
|
598 |
sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!");
|
|
599 |
($id,$ensNo) = unpack("vv",$buf);
|
|
600 |
|
|
601 |
$id == 0x0080 ||
|
|
602 |
die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo+1));
|
|
603 |
|
|
604 |
if ($fixed_leader_bytes==42 || $fixed_leader_bytes==58) { # BB150 & Explorer DVL
|
|
605 |
sysread(WBRF,$buf,7) == 7 || die("$WBRcfn: $!");
|
|
606 |
(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},
|
|
607 |
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},
|
|
608 |
${$E}[$ens]->{SECONDS},$B4) = unpack('CCCCCCC',$buf);
|
|
609 |
${$E}[$ens]->{SECONDS} += $B4/100;
|
|
610 |
${$E}[$ens]->{YEAR} += (${$E}[$ens]->{YEAR} > 80) ? 1900 : 2000;
|
|
611 |
} else {
|
|
612 |
sysseek(WBRF,7,1) || die("$WBRcfn: $!"); # use Y2K RTC instead
|
|
613 |
}
|
|
614 |
|
|
615 |
sysread(WBRF,$buf,1) == 1 || die("$WBRcfn: $!");
|
|
616 |
$ensNo += unpack('C',$buf) << 16;
|
|
617 |
${$E}[$ens]->{NUMBER} = $ensNo;
|
|
618 |
|
|
619 |
sysread(WBRF,$buf,30) == 30 || die("$WBRcfn: $!");
|
|
620 |
(${$E}[$ens]->{BUILT_IN_TEST_ERROR},${$E}[$ens]->{SPEED_OF_SOUND},
|
|
621 |
${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING},
|
|
622 |
${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL},
|
|
623 |
${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE},
|
|
624 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME},$B1,$B2,
|
|
625 |
${$E}[$ens]->{HEADING_STDDEV},${$E}[$ens]->{PITCH_STDDEV},
|
|
626 |
${$E}[$ens]->{ROLL_STDDEV},${$E}[$ens]->{ADC_XMIT_CURRENT},
|
|
627 |
${$E}[$ens]->{ADC_XMIT_VOLTAGE},${$E}[$ens]->{ADC_AMBIENT_TEMPERATURE},
|
|
628 |
${$E}[$ens]->{ADC_PRESSURE_PLUS},${$E}[$ens]->{ADC_PRESSURE_MINUS},
|
|
629 |
${$E}[$ens]->{ADC_ATTITUDE_TEMPERATURE},${$E}[$ens]->{ADC_ATTITUDE},
|
|
630 |
${$E}[$ens]->{ADC_CONTAMINATION})
|
|
631 |
= unpack('vvvvvvvvCCCCCCCCCCCCCC',$buf);
|
|
632 |
|
|
633 |
${$E}[$ens]->{BUILT_IN_TEST_ERROR} = undef
|
|
634 |
unless (${$E}[$ens]->{BUILT_IN_TEST_ERROR});
|
|
635 |
$BIT_errors++ if (${$E}[$ens]->{BUILT_IN_TEST_ERROR});
|
|
636 |
|
|
637 |
${$E}[$ens]->{XDUCER_DEPTH} /= 10;
|
|
638 |
${$E}[$ens]->{HEADING} /= 100;
|
|
639 |
${$E}[$ens]->{PITCH} = unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100;
|
|
640 |
${$E}[$ens]->{ROLL} = unpack('s',pack('S',${$E}[$ens]->{ROLL})) / 100;
|
|
641 |
${$E}[$ens]->{TEMPERATURE} =
|
|
642 |
unpack('s',pack('S',${$E}[$ens]->{TEMPERATURE})) / 100;
|
|
643 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} *= 60;
|
|
644 |
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} += $B1 + $B2/100;
|
|
645 |
${$E}[$ens]->{PITCH_STDDEV} /= 10;
|
|
646 |
${$E}[$ens]->{ROLL_STDDEV} /= 10;
|
|
647 |
|
|
648 |
if ($fixed_leader_bytes==53 || $fixed_leader_bytes==59) { # Workhorse instruments
|
|
649 |
sysread(WBRF,$buf,23) == 23 || die("$WBRcfn: $!");
|
|
650 |
(${$E}[$ens]->{ERROR_STATUS_WORD},
|
|
651 |
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV},
|
|
652 |
$dummy,${$E}[$ens]->{YEAR},$B3,${$E}[$ens]->{MONTH},
|
|
653 |
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},
|
|
654 |
${$E}[$ens]->{SECONDS},$B4)
|
|
655 |
= unpack('VvVVCCCCCCCCC',$buf);
|
|
656 |
|
|
657 |
${$E}[$ens]->{PRESSURE} /= 1000;
|
|
658 |
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000;
|
|
659 |
${$E}[$ens]->{YEAR} *= 100; ${$E}[$ens]->{YEAR} += $B3;
|
|
660 |
${$E}[$ens]->{SECONDS} += $B4/100;
|
|
661 |
}
|
|
662 |
|
|
663 |
if ($fixed_leader_bytes == 58) { # Explorer DVL
|
|
664 |
sysread(WBRF,$buf,14) == 14 || die("$WBRcfn: $!");
|
|
665 |
(${$E}[$ens]->{ERROR_STATUS_WORD},
|
|
666 |
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV})
|
|
667 |
= unpack('VvVV',$buf);
|
|
668 |
${$E}[$ens]->{PRESSURE} /= 1000;
|
|
669 |
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000;
|
|
670 |
}
|
|
671 |
|
|
672 |
${$E}[$ens]->{DATE}
|
|
673 |
= sprintf("%02d/%02d/%d",${$E}[$ens]->{MONTH},
|
|
674 |
${$E}[$ens]->{DAY},
|
|
675 |
${$E}[$ens]->{YEAR});
|
|
676 |
${$E}[$ens]->{TIME}
|
|
677 |
= sprintf("%02d:%02d:%05.02f",${$E}[$ens]->{HOUR},
|
|
678 |
${$E}[$ens]->{MINUTE},
|
|
679 |
${$E}[$ens]->{SECONDS});
|
|
680 |
${$E}[$ens]->{DAYNO}
|
|
681 |
= &dayNo(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},${$E}[$ens]->{DAY},
|
|
682 |
${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},${$E}[$ens]->{SECONDS});
|
|
683 |
|
|
684 |
# when analyzing an STA file from an OS75 SADCP (Poseidion),
|
|
685 |
# I noticed that there is no time information. This causes
|
|
686 |
# timegm to bomb.
|
|
687 |
if (${$E}[$ens]->{MONTH} == 0) { # no time info
|
|
688 |
${$E}[$ens]->{UNIX_TIME} = 0;
|
|
689 |
${$E}[$ens]->{SECNO} = 0;
|
|
690 |
} else {
|
|
691 |
${$E}[$ens]->{UNIX_TIME}
|
|
692 |
= timegm(0,${$E}[$ens]->{MINUTE},
|
|
693 |
${$E}[$ens]->{HOUR},
|
|
694 |
${$E}[$ens]->{DAY},
|
|
695 |
${$E}[$ens]->{MONTH}-1, # timegm jan==0!!!
|
|
696 |
${$E}[$ens]->{YEAR})
|
|
697 |
+ ${$E}[$ens]->{SECONDS};
|
|
698 |
|
|
699 |
$dayStart = timegm(0,0,0,${$E}[$ens]->{DAY},
|
|
700 |
${$E}[$ens]->{MONTH}-1,
|
|
701 |
${$E}[$ens]->{YEAR})
|
|
702 |
unless defined($dayStart);
|
|
703 |
${$E}[$ens]->{SECNO} = ${$E}[$ens]->{UNIX_TIME} - $dayStart;
|
|
704 |
}
|
|
705 |
|
|
706 |
sysseek(WBRF,$start_ens+$WBRofs[0]+4,0) # System Config / Fixed Leader
|
|
707 |
|| die("$WBRcfn: $!");
|
|
708 |
|
|
709 |
sysread(WBRF,$buf,5) == 5 || die("$WBRcfn: $!");
|
|
710 |
($B1,$dummy,$dummy,$dummy,${$E}[$ens]->{N_BEAMS_USED})
|
|
711 |
= unpack('CCCCC',$buf);
|
|
712 |
${$E}[$ens]->{XDUCER_FACING_UP} = 1 if ($B1 & 0x80);
|
|
713 |
${$E}[$ens]->{XDUCER_FACING_DOWN} = 1 unless ($B1 & 0x80);
|
|
714 |
|
|
715 |
#--------------------
|
|
716 |
# Velocity Data
|
|
717 |
#--------------------
|
|
718 |
|
|
719 |
my($ndata) = $nbins * 4;
|
|
720 |
|
|
721 |
sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!");
|
|
722 |
sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!");
|
|
723 |
($id,@dta) = unpack("vv$ndata",$buf);
|
|
724 |
|
|
725 |
$id == 0x0100 ||
|
|
726 |
die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,$ens));
|
|
727 |
|
|
728 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
|
|
729 |
for ($beam=0; $beam<4; $beam++,$i++) {
|
|
730 |
${$E}[$ens]->{VELOCITY}[$bin][$beam] =
|
|
731 |
unpack('s',pack('S',$dta[$i])) / 1000
|
|
732 |
if ($dta[$i] != 0x8000);
|
|
733 |
}
|
|
734 |
}
|
|
735 |
|
|
736 |
#--------------------
|
|
737 |
# Correlation Data
|
|
738 |
#--------------------
|
|
739 |
|
|
740 |
sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!");
|
|
741 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
|
|
742 |
($id,@dta) = unpack("vC$ndata",$buf);
|
|
743 |
|
|
744 |
$id == 0x0200 ||
|
|
745 |
die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,$ens));
|
|
746 |
|
|
747 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
|
|
748 |
for ($beam=0; $beam<4; $beam++,$i++) {
|
|
749 |
${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i]
|
|
750 |
if ($dta[$i]);
|
|
751 |
}
|
|
752 |
}
|
|
753 |
|
|
754 |
#--------------------
|
|
755 |
# Echo Intensity Data
|
|
756 |
#--------------------
|
|
757 |
|
|
758 |
sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!");
|
|
759 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
|
|
760 |
($id,@dta) = unpack("vC$ndata",$buf);
|
|
761 |
|
|
762 |
$id == 0x0300 ||
|
|
763 |
die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ens));
|
|
764 |
|
|
765 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
|
|
766 |
for ($beam=0; $beam<4; $beam++,$i++) {
|
|
767 |
${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i];
|
|
768 |
}
|
|
769 |
}
|
|
770 |
|
|
771 |
#--------------------
|
|
772 |
# Percent Good Data
|
|
773 |
#--------------------
|
|
774 |
|
|
775 |
sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!");
|
|
776 |
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
|
|
777 |
($id,@dta) = unpack("vC$ndata",$buf);
|
|
778 |
|
|
779 |
$id == 0x0400 ||
|
|
780 |
die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,$ens));
|
|
781 |
|
|
782 |
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
|
|
783 |
for ($beam=0; $beam<4; $beam++,$i++) {
|
|
784 |
${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i];
|
|
785 |
}
|
|
786 |
}
|
|
787 |
|
|
788 |
#--------------------
|
|
789 |
# Bottom-Track Data
|
|
790 |
#--------------------
|
|
791 |
|
|
792 |
if ($BT_present) {
|
|
793 |
sysseek(WBRF,$start_ens+$WBRofs[6],0) || die("$WBRcfn: $!");
|
|
794 |
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
|
|
795 |
$id = unpack('v',$buf);
|
|
796 |
|
|
797 |
$id == 0x0600 ||
|
|
798 |
die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,$ens));
|
|
799 |
|
|
800 |
sysseek(WBRF,14,1) || die("$WBRcfn: $!"); # BT config
|
|
801 |
|
|
802 |
sysread(WBRF,$buf,28) == 28 || die("$WBRcfn: $!");
|
|
803 |
@dta = unpack('v4v4C4C4C4',$buf);
|
|
804 |
|
|
805 |
for ($beam=0; $beam<4; $beam++) {
|
|
806 |
${$E}[$ens]->{BT_RANGE}[$beam] = $dta[$beam] / 100
|
|
807 |
if ($dta[$beam]);
|
|
808 |
}
|
|
809 |
for ($beam=0; $beam<4; $beam++) {
|
|
810 |
${$E}[$ens]->{BT_VELOCITY}[$beam] =
|
|
811 |
unpack('s',pack('S',$dta[4+$beam])) / 1000
|
|
812 |
if ($dta[4+$beam] != 0x8000);
|
|
813 |
}
|
|
814 |
for ($beam=0; $beam<4; $beam++) {
|
|
815 |
${$E}[$ens]->{BT_CORRELATION}[$beam] = $dta[8+$beam]
|
|
816 |
if ($dta[8+$beam]);
|
|
817 |
}
|
|
818 |
for ($beam=0; $beam<4; $beam++) {
|
|
819 |
${$E}[$ens]->{BT_EVAL_AMPLITUDE}[$beam] = $dta[12+$beam];
|
|
820 |
}
|
|
821 |
for ($beam=0; $beam<4; $beam++) {
|
|
822 |
${$E}[$ens]->{BT_PERCENT_GOOD}[$beam] = $dta[16+$beam];
|
|
823 |
}
|
|
824 |
|
|
825 |
sysseek(WBRF,6,1) || die("$WBRcfn: $!"); # BT config
|
|
826 |
|
|
827 |
sysread(WBRF,$buf,20) == 20 || die("$WBRcfn: $!");
|
|
828 |
@dta = unpack('v4C4C4C4',$buf);
|
|
829 |
|
|
830 |
for ($beam=0; $beam<4; $beam++) {
|
|
831 |
${$E}[$ens]->{BT_RL_VELOCITY}[$beam] =
|
|
832 |
unpack('s',pack('S',$dta[$beam])) / 1000
|
|
833 |
if ($dta[$beam] != 0x8000);
|
|
834 |
}
|
|
835 |
for ($beam=0; $beam<4; $beam++) {
|
|
836 |
${$E}[$ens]->{BT_RL_CORRELATION}[$beam] = $dta[4+$beam]
|
|
837 |
if ($dta[4+$beam]);
|
|
838 |
}
|
|
839 |
for ($beam=0; $beam<4; $beam++) {
|
|
840 |
${$E}[$ens]->{BT_RL_ECHO_AMPLITUDE}[$beam] = $dta[8+$beam];
|
|
841 |
}
|
|
842 |
for ($beam=0; $beam<4; $beam++) {
|
|
843 |
${$E}[$ens]->{BT_RL_PERCENT_GOOD}[$beam] = $dta[12+$beam];
|
|
844 |
}
|
|
845 |
|
|
846 |
sysseek(WBRF,2,1) || die("$WBRcfn: $!"); # BT config
|
|
847 |
|
|
848 |
sysread(WBRF,$buf,9) == 9 || die("$WBRcfn: $!");
|
|
849 |
@dta = unpack('C4CC4',$buf);
|
|
850 |
|
|
851 |
for ($beam=0; $beam<4; $beam++) {
|
|
852 |
${$E}[$ens]->{BT_SIGNAL_STRENGTH}[$beam] = $dta[$beam];
|
|
853 |
}
|
|
854 |
${$E}[$ens]->{HIGH_GAIN} if ($dta[4]);
|
|
855 |
${$E}[$ens]->{LOW_GAIN} unless ($dta[4]);
|
|
856 |
for ($beam=0; $beam<4; $beam++) {
|
|
857 |
${$E}[$ens]->{BT_RANGE}[$beam] += $dta[5+$beam] * 655.36
|
|
858 |
if ($dta[5+$beam]);
|
|
859 |
}
|
|
860 |
} # BT present
|
|
861 |
} # ens loop
|
|
862 |
}
|
|
863 |
|
|
864 |
#----------------------------------------------------------------------
|
|
865 |
# WBPens(nbins,fixed_leader_bytes,^data)
|
|
866 |
# - patch PD0 file with new data
|
|
867 |
# - file must already exist and have correct structure
|
|
868 |
# - currently only does part of variable leader data, esp. attitude
|
|
869 |
#----------------------------------------------------------------------
|
|
870 |
|
|
871 |
sub writeData(@)
|
|
872 |
{
|
|
873 |
my($fn,$dta) = @_;
|
|
874 |
|
|
875 |
die("writeData() needs \$WBRcfn from previous readData()")
|
|
876 |
unless (-r $WBRcfn);
|
|
877 |
$WBPcfn = $fn;
|
|
878 |
system("cp $WBRcfn $WBPcfn");
|
|
879 |
|
|
880 |
open(WBPF,"+<$WBPcfn") || die("$WBPcfn: $!");
|
|
881 |
WBPens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},
|
|
882 |
\@{$dta->{ENSEMBLE}});
|
|
883 |
}
|
|
884 |
|
|
885 |
sub WBPens($$$)
|
|
886 |
{
|
|
887 |
my($nbins,$fixed_leader_bytes,$E) = @_;
|
|
888 |
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBPofs);
|
|
889 |
my($ens,$ensNo,$dayStart,$ens_length,$BT_present,$hid,$did,$ndt);
|
|
890 |
|
|
891 |
for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
|
|
892 |
|
|
893 |
#----------------------------------------
|
|
894 |
# Get ensemble length and # of data types
|
|
895 |
#----------------------------------------
|
|
896 |
|
|
897 |
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!");
|
|
898 |
sysread(WBPF,$buf,6) == 6 || last;
|
|
899 |
($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf);
|
|
900 |
$hid == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Header",$hid,0));
|
|
901 |
$did == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Data Source",$did,0));
|
|
902 |
printf(STDERR "\n$WBPcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
|
|
903 |
unless ($ndt == 6 || $ndt == 7);
|
|
904 |
$BT_present = ($ndt == 7);
|
|
905 |
sysread(WBPF,$buf,2*$ndt) == 2*$ndt || die("$WBPcfn: $!");
|
|
906 |
@WBPofs = unpack("v$ndt",$buf);
|
|
907 |
$fixed_leader_bytes = $WBPofs[1] - $WBPofs[0];
|
|
908 |
|
|
909 |
#------------------------------
|
|
910 |
# Variable Leader
|
|
911 |
#------------------------------
|
|
912 |
|
|
913 |
sysseek(WBPF,$start_ens+$WBPofs[1]+12,0) || die("$WBPcfn: $!");
|
|
914 |
|
|
915 |
${$E}[$ens]->{XDUCER_DEPTH} *= 10;
|
|
916 |
${$E}[$ens]->{HEADING} *= 100;
|
|
917 |
|
|
918 |
${$E}[$ens]->{PITCH} = unpack('S',pack('s',${$E}[$ens]->{PITCH}*100));
|
|
919 |
${$E}[$ens]->{ROLL} = unpack('S',pack('s',${$E}[$ens]->{ROLL} *100));
|
|
920 |
${$E}[$ens]->{TEMPERATURE} =
|
|
921 |
unpack('S',pack('s',${$E}[$ens]->{TEMPERATURE}*100));
|
|
922 |
|
|
923 |
sysseek(WBPF,2,1); # skip built-in test which reads as 0 but is usually undef
|
|
924 |
# this was found not to matter, but there is no reason to edit
|
|
925 |
# my($b1); # this field
|
|
926 |
# sysread(WBPF,$b1,14);
|
|
927 |
# sysseek(WBPF,-14,1);
|
|
928 |
# my($sos,$xd,$hdg,$pit,$rol,$sal,$tem) = unpack('vvvvvvv',$b1);
|
|
929 |
|
|
930 |
$buf = pack('vvvvvvv',
|
|
931 |
${$E}[$ens]->{SPEED_OF_SOUND},
|
|
932 |
${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING},
|
|
933 |
${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL},
|
|
934 |
${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE});
|
|
935 |
|
|
936 |
# unless ($b1 eq $buf) {
|
|
937 |
# printf(STDERR "ens = $ens\n");
|
|
938 |
# printf(STDERR "hdg: $hdg, ${$E}[$ens]->{HEADING}\n");
|
|
939 |
# printf(STDERR "xd: $xd, ${$E}[$ens]->{XDUCER_DEPTH}\n");
|
|
940 |
# printf(STDERR "pit: $pit, ${$E}[$ens]->{PITCH}\n");
|
|
941 |
# printf(STDERR "rol: $rol, ${$E}[$ens]->{ROLL}\n");
|
|
942 |
# printf(STDERR "sal: $sal, ${$E}[$ens]->{SALINITY}\n");
|
|
943 |
# printf(STDERR "tem: $tem, ${$E}[$ens]->{TEMPERATURE}\n");
|
|
944 |
#
|
|
945 |
# printf(STDERR "read: %04X %04X %04X %04X %04X %04X %04X written: %04X %04X %04X %04X %04X %04X %04X\n",unpack('v7',$b1),unpack('v7',$buf));
|
|
946 |
#
|
|
947 |
# die;
|
|
948 |
# }
|
|
949 |
|
|
950 |
my($nw) = syswrite(WBPF,$buf,14);
|
|
951 |
$nw == 14 || die("$WBPcfn: $nw bytes written ($!)");
|
|
952 |
|
|
953 |
#----------------
|
|
954 |
# Update Checksum
|
|
955 |
#----------------
|
|
956 |
|
|
957 |
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!");
|
|
958 |
sysread(WBPF,$buf,$ens_length) == $ens_length || die("$WBPcfn: $!");
|
|
959 |
$cs = unpack('%16C*',$buf);
|
|
960 |
$buf = pack('v',$cs);
|
|
961 |
$nw = syswrite(WBPF,$buf,2);
|
|
962 |
$nw == 2 || die("$WBPcfn: $nw bytes written, ens=$ens ($!)");
|
|
963 |
|
|
964 |
} # ens loop
|
|
965 |
}
|
|
966 |
|
|
967 |
1; # return true for all the world to see
|