#                    dlm: Thu May 31 11:10:51 2018

#                    uE-Info: 62 51 NIL 0 0 72 2 2 4 NIL ofnI

$synopsis = 'list ensemble summaries (default), dump ensembles (-E), time-average ensembles (-T)';

#	Feb  7, 2018: - removed 3-beam error

#	Apr  1, 2018: - improved usage message

#				  - removed -Q option (errcheck only, which is not necessary; can use mkProfile to check for errors)

#				  - added -T (time averaging)

#	Apr  2, 2018: - made it work

#				  - BUG: velBeamToInstrument() was using old usage

#	Apr  3, 2018: - BUG: typo

#				  - added -S from [listBins]

#				  - removed -B and an BT data (current version did not treat beam-coord BT data correctly)

#	Apr  4, 2018: - added support for first_ens and last_ens in [RDI_PD0_IO.pl]

#				  - removed support for multiple input files

#	Apr 10, 2018: - added -l)ast bin

#	May 31, 2018: - BUG: -A was disabled by default

#	- -E/-B outputs data in earth coordinates, unless -b is set also

#	- -E/-T output is always in ANTS format

$ADCP_tools_minVersion = 2.2;

($ADCP_TOOLS) = ($0 =~ m{(.*/)[^/]+});

require "$ADCP_TOOLS/ADCP_tools_lib.pl";

$antsMinLibVersion = 7.0;

($ANTS) = (`which ANTSlib` =~ m{^(.*)/[^/]*$});

require "$ANTS/ants.pl";

require "$ANTS/libconv.pl";

($self) = ($0 =~ m{.*/([^/]+)});

$cmdline = "$self @ARGV";

die("\n$self [-4ABbdEfiMprSTw] <PD0 file> -- $synopsis\n\nCommand-Line Options:\n\t" .

			  "Output Ensemble Summary (default mode):\n\t\t" .

				  "[-A)NTS format]\n\t\t" .

			  "Dump Ensembles (-E|-T; ANTS Format):\n\t\t" .

				  "[dump individual -E)nsemples <.suff>]\n\t\t" .

				  "[-T)ime-average ensembles [time-series start (decimal day),]<averaging interval (days)>[,time-series end (decimal day)]]\n\t\t\t" .

				  	"[-i)gnore bins with <fraction> of max samples (-T only)]\n\t\t\t" .

				  	"[output -B)asename <bn>]\n\t\t" .

				  "[-M)agnetic <declination>]\n\t\t" .

				  "[-S)oundspeed correction <salin|*,temp|*,depth|*>\n\t\t" .

				  "[require min -p)ercent-good <#>]\n\t\t" .

				  "[keep -b)eam coords (do not transform to earth coordinates)]\n\t" .

			  "Common Options:\n\t\t" .

				  "[add -f)ields <[name=]FIELD[,...]>]\n\t\t" .

				  "[require -4)-beam solutions] [-d)iscard <beam#>]\n\t\t" .

				  "[-r)ange <first_ens,last_ens>] [-l)ast <bin>]\n\t\t" .

				  "[in-w)ater ensembles only]\n")

	unless (&getopts("4AB:bd:E:f:i:l:M:p:r:S:T:w") && @ARGV == 1);

die("$ARGV[0]: no such file\n")

	unless (-f $ARGV[0]);

$dump_ens = defined($opt_E) + defined($opt_T);

die("$self: cannot combine -E with -T\n") if ($dump_ens > 1);

if (defined($opt_S)) {

	($SS_salin,$SS_temp,$SS_depth) = split(',',$opt_S);

} else {

	print(STDERR "WARNING: no soundspeed correction applied!\n")

		if ($dump_ens);

}

	if ($dump_ens && !defined($opt_M));

die("$self: illegal option combination\n")

	if ((defined($opt_M) || defined($opt_p) || defined($opt_b)) && !defined($dump_ens));

die("$self: -4 and -d are mutually exclusive\n")

#undef($opt_A) if defined($dump_ens);

printf(STDERR "Reading $ARGV[0]...");

if (defined($opt_r)) {								# read selected range

	my($fe,$le) = split(',',$opt_r);

	readData(@ARGV,\%dta,$fe,$le,$opt_l);

} else {											# read entire file (possibly selected bins)

	readData(@ARGV,\%dta,undef,undef,$opt_l);

}

printf(STDERR "\n\t%d complete ensembles\n",scalar(@{$dta{ENSEMBLE}}));

$dta{HEADING_BIAS} = -$opt_M;						# magnetic declination

if ($dta{BEAM_COORDINATES}) {						# coords used

	$beamCoords = 1;

} elsif (!$dta{EARTH_COORDINATES}) {

	die("$ARGV[0]: beam or earth coordinates required (implementation restriction)\n");

}

die("$ARGV[0]: -b requires beam-coordinate data\n")

	if ($opt_b && !$beamCoords);

($basename) = defined($opt_B)						# set basename of output files

			? $opt_B

			: ($ARGV[0] =~ m{([^\./]+)\.[^\.]+});

#----------------------------------------------------------------------

# define &dumpEns() routine for different output formats:

#	-A			ANTS format ensemble summary

#	-E			create one file per ensemble

#	-T			time-average multiple ensembles

#	default:	ASCII ensemble summary (human readable)

#----------------------------------------------------------------------

if ($opt_A) {										# select output fmt: ANTS

	print("#ANTS#PARAMS# PD0_file{$ARGV[0]}\n");

	printf("#ANTS#PARAMS# N_ensembles{%d}\n",scalar(@{$dta{ENSEMBLE}}));

	print('#ANTS#FIELDS# {ens} {date} {time} {unix-time} {xducer_up} {temp} {hdg} {pitch} {roll} {XMIT_VOLTAGE} {XMIT_CURRENT}');

	print(' {ESW}') if ($dta{FIXED_LEADER_BYTES} >= 53);

	print("$addLayout\n");

	$dumpEns = sub ($)

	{

		my($e) = @_;

		printf('%d %s %s %lf %d %g',

			$dta{ENSEMBLE}[$e]->{NUMBER},

			$dta{ENSEMBLE}[$e]->{DATE},

			$dta{ENSEMBLE}[$e]->{TIME},

			$dta{ENSEMBLE}[$e]->{UNIX_TIME},

			$dta{ENSEMBLE}[$e]->{XDUCER_FACING_UP} ? 1 : 0,

			$dta{ENSEMBLE}[$e]->{TEMPERATURE},

		);

		if (defined($dta{ENSEMBLE}[$e]->{HEADING})) { printf(' %g',$dta{ENSEMBLE}[$e]->{HEADING}); }

		else { printf(' nan'); }

		if (defined($dta{ENSEMBLE}[$e]->{PITCH})) { printf(' %g',$dta{ENSEMBLE}[$e]->{PITCH}); }

		else { printf(' nan'); }

		if (defined($dta{ENSEMBLE}[$e]->{ROLL})) { printf(' %g',$dta{ENSEMBLE}[$e]->{ROLL}); }

		else { printf(' nan'); }

		printf(' %g %g',

			$dta{ENSEMBLE}[$e]->{ADC_XMIT_VOLTAGE},

			$dta{ENSEMBLE}[$e]->{ADC_XMIT_CURRENT},

		);

		printf(' %08X',$dta{ENSEMBLE}[$e]->{ERROR_STATUS_WORD})

			if ($dta{FIXED_LEADER_BYTES} >= 53);

		foreach my $f (@addFields) {

			my($fn,$fi) = ($f =~ m{([^[]*)(\[.*)});

			$fn = $f unless defined($fn);

			my($v) = eval("\$dta{ENSEMBLE}[$e]->{$fn}$fi");

			print(defined($v) ? " $v" : " nan");

		}

		print("\n");

} elsif ($opt_E) {										# dump each ensemble in separate file 

	$dumpEns = sub ($)

	{

		my($e) = @_;

		my($b,$i);

		my($file) = "$dta{ENSEMBLE}[$e]->{NUMBER}$opt_E";

		my($ssCorr) = defined($opt_S) ? ssCorr($dta{ENSEMBLE}[$e],$SS_salin,$SS_temp,$SS_depth) : 1;

		open(P,">$file") || die("$file: $!\n");

		print(P "#!/usr/bin/perl -S list\n");

		print(P "#ANTS#PARAMS# " .

				"date{$dta{ENSEMBLE}[$e]->{DATE}} " .

				"time{$dta{ENSEMBLE}[$e]->{TIME}} " .

				"soundspeed_correction{%s} " .

				"magnetic_declination{%g} " .

				"\n",

					(defined($opt_S) ? $opt_S : "NONE!"),

					$opt_M

		);

		print(P "#ANTS#FIELDS# " .

				"{bin} {dz} {u} {v} {w} {e} {w12} {w34} {corr1} {corr2} {corr3} {corr4} " .

				"{amp1} {amp2} {amp3} {amp4} "

		);

		if ($beamCoords) {

			print(P "{pcg1} {pcg2} {pcg3} {pcg4}");

		} else {

			print(P "{pc3beam} {pcBadErrVel} {pc1or2beam} {pc4beam}");

		}

		print(P "$addLayout\n");

		my($ssCorr) = defined($opt_S) ? ssCorr($dta{ENSEMBLE}[$e],$SS_salin,$SS_temp,$SS_depth) : 1;

		for (my($b)=0; $b<$dta{N_BINS}; $b++) {

			my(@v,$w12,$w34);

			my($dz) = $ssCorr * ($dta{DISTANCE_TO_BIN1_CENTER} + $b*$dta{BIN_LENGTH});

			if ($beamCoords) {

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][0] < $opt_p) || ($opt_d == 1));

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][1])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][1] < $opt_p) || ($opt_d == 2));

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][2])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][2] < $opt_p) || ($opt_d == 3));

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][3])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][3] < $opt_p) || ($opt_d == 4));

				($dummy,$w12,$dummy,$w34) =

					velBeamToBPEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});

				@v = $opt_b ? @{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]} :

							  velBeamToEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});

			} else {

				@v = velApplyHdgBias(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});

			}

			$v[0] *= $ssCorr if defined($v[0]);

			$v[1] *= $ssCorr if defined($v[1]);

			$v[2] *= $ssCorr if defined($v[2]);

			$v[3] *= $ssCorr if defined($v[3]);

			$w12 *= $ssCorr if defined($w12);

			$w34 *= $ssCorr if defined($w34);

			$v[0] = nan unless defined($v[0]);		# u

			$v[1] = nan unless defined($v[1]);		# v

			$v[2] = nan unless defined($v[2]);		# w

			$v[3] = nan unless defined($v[3]);		# err_vel

			$w12 = nan unless defined($w12);		# w from beams 1&2

			$w34 = nan unless defined($w34);		# w from beams 3&4

			my(@out) = (

				$b+1,$dz,$v[0],$v[1],$v[2],$v[3],$w12,$w34,

				@{$dta{ENSEMBLE}[$e]->{CORRELATION}[$b]},

				@{$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b]},

				@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]}

				push(@out,eval("\$dta{ENSEMBLE}[$e]->{$fn}$fi"));

			}

			for ($i=0; $i<19+@addFields; $i++) {

				$out[$i] = nan unless defined($out[$i]);

			print(P "@out\n");

		chmod(0777&~umask,*P);

		close(P);

	}

} elsif (defined($opt_T)) { 									# time-average ensembles

	my(@tmp) = split(',',$opt_T);								# decode -T 

	my($Tstart,$deltaT,$Tend,$month,$day,$year);

	if (@tmp == 3) {

		($Tstart,$deltaT,$Tend) = @tmp;

	} elsif (@tmp == 2) {

		($Tstart,$deltaT) = @tmp;

		($month,$day,$year) = split('/',$dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{DATE});

		$Tend = str2dec_time($dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{DATE},$dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{TIME},$year);

	} else {

		($month,$day,$year) = split('/',$dta{ENSEMBLE}[0]->{DATE});

		$Tstart = str2dec_time($dta{ENSEMBLE}[0]->{DATE},$dta{ENSEMBLE}[0]->{TIME},$year);

		($deltaT) = @tmp;

		($month,$day,$year) = split('/',$dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{DATE});

		$Tend = str2dec_time($dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{DATE},$dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{TIME},$year);

	}

	$Tstart = &{&antsCompileConstExpr($')} if ($Tstart =~ m{^=});

	$deltaT = &{&antsCompileConstExpr($')} if ($deltaT =~ m{^=});

	$Tend	= &{&antsCompileConstExpr($')} if ($Tend   =~ m{^=});

	$deltaT = 9e99 unless ($deltaT > 0);

																# format string for zero-padded filenames

	my($fnfmt) = sprintf('%%0%dd',length(sprintf('%d',($Tend-$Tstart)/$deltaT+1)));

	$cbin		= 1;											# current tim-bin number; used inside dumpEns

	$max_nens	= 0;											# max number of samples

	sub dde($$) 												# divide allowing for zero; used inside dumpEns

	{

		my($sum,$n) = @_;

		return $n ? $sum/$n : nan;

	}

	$dumpEns = sub ($)											# time average and output when next bin is started

	{

		my($e) = @_;

		my($b,$i);

		my($month,$day,$year) = ($e >= 0) ? split('/',$dta{ENSEMBLE}[$e]->{DATE}) : (undef,undef,undef);

		my($dn) = ($e >= 0) ? str2dec_time($dta{ENSEMBLE}[$e]->{DATE},$dta{ENSEMBLE}[$e]->{TIME},$year) : undef;

		if ($e<0 || $dn>=$Tstart+$cbin*$deltaT) {				# dump full bin

			my($file) = sprintf("$basename.T$fnfmt",$cbin); 	# file name: <basename>.T0001

			do {												# skip empy bins

				$cbin++;

			} while ($dn>=$Tstart+$cbin*$deltaT);

			$max_nens = $a1_n[0] if ($a1_n[0] > $max_nens); 	# update max number of samples in time bin

			if ($a1_n[0] >= $opt_i*$max_nens) { 				# write file only if sufficient samples (-i)

				open(P,">$file") || die("$file: $!\n"); 		# open file and output metadata

				print(P "#!/usr/bin/perl -S list\n");

				print(P "#ANTS# $cmdline\n");

				printf(P "#ANTS#PARAMS# " .

						"PD0_file{$ARGV[0]} " .

						"dn{%s} " .

						"N_ensembles{%d} ensemble_range{%d,%d} " .

						"delta-T{%g} " .

						"soundspeed_correction{%s} " .

						"magnetic_declination{%g} " .

						"\n",

							&dde($dn_s,$dn_n),

							$a1_n[0],$feib,$leib,$deltaT,

							(defined($opt_S) ? $opt_S : "NONE!"),

							$opt_M

				);

				print(P "#ANTS#FIELDS# " .													# Layout

						"{bin} {dz} {u} {v} {w} {e} {w12} {w34} {corr1} {corr2} {corr3} {corr4} " .

						"{amp1} {amp2} {amp3} {amp4} "

				);

					print(P "{pcg1} {pcg2} {pcg3} {pcg4} ");

					print(P "{pc3beam} {pcBadErrVel} {pc1or2beam} {pc4beam} ");

				print(P "{uvw.nsamp} {e.nsamp} ");

				print(P "$addLayout\n");

																							# ssCorr for dz based on first ensemble in bin

				my($ssCorr) = defined($opt_S)

							? ssCorr($dta{ENSEMBLE}[$feib-$dta{ENSEMBLE}[0]->{NUMBER}],$SS_salin,$SS_temp,$SS_depth)

							: 1;

				for (my($b)=0; $b<$dta{N_BINS}; $b++) { 									# output data

					my($dz) = $ssCorr * ($dta{DISTANCE_TO_BIN1_CENTER} + $b*$dta{BIN_LENGTH});

					printf(P "%d %g  %g %g %g %g  %g %g  %d %d %d %d  %d %d %d %d  %d %d %d %d	%d %d",

						$b+1,$dz,

						&dde($v1[$b],$v1_n[$b]),&dde($v2[$b],$v2_n[$b]),&dde($v3[$b],$v3_n[$b]),&dde($v4[$b],$v4_n[$b]),

						&dde($w12[$b],$w12_n[$b]),&dde($w34[$b],$w34_n[$b]),

						&dde($c1[$b],$c1_n[$b]),&dde($c2[$b],$c2_n[$b]),&dde($c3[$b],$c3_n[$b]),&dde($c4[$b],$c4_n[$b]),

						&dde($a1[$b],$a1_n[$b]),&dde($a2[$b],$a2_n[$b]),&dde($a3[$b],$a3_n[$b]),&dde($a4[$b],$a4_n[$b]),

						&dde($p1[$b],$p1_n[$b]),&dde($p2[$b],$p2_n[$b]),&dde($p3[$b],$p3_n[$b]),&dde($p4[$b],$p4_n[$b]),

						$v1_n[$b],$v4_n[$b]

					);

					for (my($i)=0; $i<@af; $i++) {

						printf(P "%g ",&dde($af[$i][$b],$af_n[$i][$b]));

					}

					print(P "\n");

				chmod(0777&~umask,*P);														# activate output

				close(P);

			} # if -i check okay

			for (my($b)=0; $b<$dta{N_BINS}; $b++) { 										# reset stats	 

				$v1[$b] = $v1_n[$b] = $v2[$b] = $v2_n[$b] = $v3[$b] = $v3_n[$b] = $v4[$b] = $v4_n[$b] = 0;

				$w12[$b] = $w12_n[$b] = $w34[$b] = $w34_n[$b] = 0;

				$c1[$b] = $c1_n[$b] = $c2[$b] = $c2_n[$b] = $c3[$b] = $c3_n[$b] = $c4[$b] = $c4_n[$b] = 0;							    

				$a1[$b] = $a1_n[$b] = $a2[$b] = $a2_n[$b] = $a3[$b] = $a3_n[$b] = $a4[$b] = $a4_n[$b] = 0;

				$p1[$b] = $p1_n[$b] = $p2[$b] = $p2_n[$b] = $p3[$b] = $p3_n[$b] = $p4[$b] = $p4_n[$b] = 0;

				for (my($i)=0; $i<@af; $i++) {

					$af[$i][$b] = $af_n[$i][$b] = 0;

				$dn_s = $dn_n = 0;															# day number

			undef($feib);																	# make sure first ensemble in bin will be updated below

		} # if time bin is full

		$feib = $dta{ENSEMBLE}[$e]->{NUMBER} unless defined($feib); 						# update first and last ensembles in current bin

		$leib = $dta{ENSEMBLE}[$e]->{NUMBER};

		$dn_s += $dn; $dn_n++;																# day number

		my($ssCorr) = defined($opt_S) ? ssCorr($dta{ENSEMBLE}[$e],$SS_salin,$SS_temp,$SS_depth) : 1;

		for (my($b)=0; $b<$dta{N_BINS}; $b++) {

			my(@v,$this_w12,$this_w34);

			if ($beamCoords) {																# convert to earth coordinates

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][0] < $opt_p) || ($opt_d == 1));

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][1])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][1] < $opt_p) || ($opt_d == 2));

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][2])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][2] < $opt_p) || ($opt_d == 3));

				undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][3])

					if (($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][3] < $opt_p) || ($opt_d == 4));

				($dummy,$this_w12,$dummy,$this_w34) =

					velBeamToBPEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});

				@v = $opt_b ? @{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]} :

							  velBeamToEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});

			} else {

				@v = velApplyHdgBias(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});

			}

			$v[0] *= $ssCorr if defined($v[0]); $v[1] *= $ssCorr if defined($v[1]); 		# apply sound-speed correction

			$v[2] *= $ssCorr if defined($v[2]); $v[3] *= $ssCorr if defined($v[3]);

			$w12  *= $ssCorr if defined($w12);	$w34  *= $ssCorr if defined($w34);

			$v1[$b]+=$v[0],$v1_n[$b]++ if defined($v[0]);									# update sums and nsamps

			$v2[$b]+=$v[1],$v2_n[$b]++ if defined($v[1]);

			$v3[$b]+=$v[2],$v3_n[$b]++ if defined($v[2]);

			$v4[$b]+=$v[3],$v4_n[$b]++ if defined($v[3]);

			$w12[$b]+=$this_w12,$w12_n[$b]++ if defined($this_w12);

			$w34[$b]+=$this_w34,$w34_n[$b]++ if defined($this_w34);

			$c1[$b]+=$dta{ENSEMBLE}[$e]->{CORRELATION}[$b][0],$c1_n[$b]++;

			$c2[$b]+=$dta{ENSEMBLE}[$e]->{CORRELATION}[$b][1],$c2_n[$b]++;

			$c3[$b]+=$dta{ENSEMBLE}[$e]->{CORRELATION}[$b][2],$c3_n[$b]++;

			$c4[$b]+=$dta{ENSEMBLE}[$e]->{CORRELATION}[$b][3],$c4_n[$b]++;

			$a1[$b]+=$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b][0],$a1_n[$b]++;

			$a2[$b]+=$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b][1],$a2_n[$b]++;

			$a3[$b]+=$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b][2],$a3_n[$b]++;

			$a4[$b]+=$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b][3],$a4_n[$b]++;

			$p1[$b]+=$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][0],$p1_n[$b]++;

			$p2[$b]+=$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][1],$p2_n[$b]++;

			$p3[$b]+=$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][2],$p3_n[$b]++;

			$p4[$b]+=$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][3],$p4_n[$b]++;

			my($fi) = 0;

				my($val) = eval("\$dta{ENSEMBLE}[$e]->{$fn}$fi");

				$af[$fi][$b]+=$val,$af_n[$fi][$b]++ if defined($val);

				$fi++;

	}

} else {											# neither ANTS nor ens files (DEFAULT OUTPUT)

	if ($dta{FIXED_LEADER_BYTES} >= 53) {

		printf("Ens # Date		 Time		 XD  Temp Headng Pitch	Roll #vv DSID ESW$addLayout\n");

		printf("----------------------------------------------------------------------------\n");

	} else {

		printf("Ens # Date		 Time		 XD  Temp Headng Pitch	Roll #vv DSID$addLayout\n");

		printf("------------------------------------------------------------------------\n");

	$dumpEns = sub ($)

	{