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1 #!/usr/bin/perl |
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2 #====================================================================== |
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3 # M K P R O F I L E |
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4 # doc: Sun Jan 19 18:55:26 2003 |
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5 # dlm: Sun May 23 16:34:02 2010 |
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6 # (c) 2003 A.M. Thurnherr |
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7 # uE-Info: 788 36 NIL 0 0 72 2 2 4 NIL ofnI |
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8 #====================================================================== |
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9 |
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10 # Make an LADCP Profile by Integrating W (similar to Firing's scan*). |
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11 |
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12 # HISTORY: |
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13 # Jan 19, 2003: - written in order to test the RDI libs |
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14 # Jan 20, 2003: - added ensemble number |
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15 # Jan 21, 2003: - added horizontal integration |
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16 # Jan 22, 2003: - corrected magnetic declination |
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17 # Jan 23, 2003: - added -F)ilter |
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18 # Jan 24, 2003: - added more %PARAMs; started integration from 1st bin |
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19 # - added -g, -f, battery status |
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20 # Jan 25, 2003: - added more %PARAMs |
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21 # Feb 1, 2003: - BUG: bottom-track quality checking was bad |
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22 # Feb 8, 2003: - allowed for array-indices on -f |
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23 # Feb 9, 2003: - added 50% goodvelbin |
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24 # - removed unknown-field err on -f to allow -f W |
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25 # Feb 10, 2003: - changed initialization depth to 0m |
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26 # - changed %bottom_depth to %max_depth |
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27 # Feb 11, 2003: - changed sign of magnetic declination |
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28 # Feb 12, 2003: - corrected BT-range scaling |
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29 # Feb 14, 2003: - added %pinging_hours, %min_range |
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30 # - removed magnetic declination from default |
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31 # Feb 26, 2004: - added earth coordinates |
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32 # Mar 3, 2004: - removed requirement for -M on !-Q |
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33 # - corrected range-stats on earth coordinates |
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34 # Mar 4, 2004: - added number of ensebles to output |
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35 # Mar 11, 2004: - BUG: rename ACD -> ADC |
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36 # Mar 12, 2004: - added %bottom_xmit_{current|voltage} |
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37 # Mar 16, 2004: - BUG: on -M u/v/x/y were wrong |
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38 # Mar 17, 2004: - added error estimates on u/v/x/y |
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39 # - removed battery stuff (has to be done btw casts) |
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40 # Mar 18, 2004: - totally re-did u/v integration |
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41 # Mar 19, 2004: - re-designed u/v uncertainty estimation |
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42 # Mar 28, 2004: - added MEAN_CORRELATION, MEAN_ECHO_AMPLITUDE |
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43 # Sep 15, 2005: - changed BinRead library name |
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44 # - made max gap length variable |
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45 # Sep 16, 2005: - re-did u,v,w uncertainties |
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46 # Nov 8, 2005: - UNIXTIME => UNIX_TIME |
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47 # - added unix_time, secno, z_BT to default output |
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48 # Dec 1, 2005: - moved profile-building code to [RDI_utils.pl] |
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49 # - changed -f syntax to allow name=FIELD |
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50 # - added %bin1_dist, %bin_length |
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51 # Dec 8, 2005: - remove spaces from -f argument to allow multiline |
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52 # definitions in Makefiles |
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53 # Nov 13, 2006: - BUG: end-of-cast depth had not been reported correctly |
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54 # - cosmetics |
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55 # Nov 30, 2007: - adapted to 3-beam solutions |
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56 # Dec 11, 2007: - adapted to earlier modifications (Sep 2007) of |
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57 # [RDI_BB_Read.pl] |
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58 # Dec 14, 2007: - replaced z by depth |
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59 # Dec 17, 2007: - BUG: downcast flag was set incorrectly |
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60 # Jan 24, 2008: - rotation had been output as degrees/s; to make it more |
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61 # consistent with pitch/roll, I changed it to simple degrees |
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62 # - added net rotations [deployment]/down/up/[recovery] |
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63 # Apr 9, 2008: - added profile -B)ottom depth |
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64 # - BUG: depth of first bin was reported as beginning of cast |
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65 # Oct 24, 2008: - added RANGE and RANGE_BINS fields |
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66 # Mar 18, 2009: - BUG: pitch/roll calculation had typo |
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67 # - calc pitch/roll separately for down-/upcasts |
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68 # - removed approximations in pitch/roll calcs |
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69 # Jul 30, 2009: - typo '<' removed from output |
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70 # - NaN => nan |
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71 |
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72 # NOTES: |
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73 # - the battery values are based on transmission voltages (different |
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74 # from battery voltages) and reported without units (raw 8-bit a2d |
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75 # values) |
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76 # - -B with the CTD max depth can be used to linearly scale the depths; |
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77 # even so, the profile can have negative depths, in particular when |
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78 # the CTD is sent to a shallow depth first and then returned to the surface |
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79 # before beginning the cast |
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80 # - in one case that I looked at (Anslope ][, cast 82), there are large |
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81 # depth errors, even when -B is used |
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82 # - this utility works only approximately for uplookers (profile is |
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83 # roughly ok, but apparently contaminated by surface reflection, |
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84 # but stats are not ok; e.g. NBP0402 037U.prof) |
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85 |
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86 $0 =~ m{(.*)/[^/]+}; |
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87 require "$1/RDI_BB_Read.pl"; |
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88 require "$1/RDI_Coords.pl"; |
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89 require "$1/RDI_Utils.pl"; |
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90 require "getopts.pl"; |
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91 |
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92 $USAGE = "$0 @ARGV"; |
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93 die("Usage: $0 " . |
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94 "[-A)nts] [-Q)uiet] [-F)ilter <script>] " . |
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95 "[-s)uppress checkensemble()] " . |
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96 "[require -4)-beam solutions] " . |
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97 "[-r)ef-layer <bin|1,bin|6>] [-n) vels <min|2>] " . |
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98 "[-e)rr-vel <max|0.1>] [-c)orrelation <min>] " . |
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99 "[-m)ax <gap>] " . |
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100 "[-d)rift <dx,dy>] [-g)ps <start lat,lon/end lat,lon>] " . |
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101 "[output -f)ields <field[,...]> " . |
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102 "[-M)agnetic <declination>] [profile -B)ottom <depth>] " . |
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103 "<RDI file>\n") |
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104 unless (&Getopts("4AB:F:M:Qd:r:n:e:c:g:f:m:s") && @ARGV == 1); |
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105 |
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106 die("$0: -Q and -A are mutually exclusive\n") |
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107 if ($opt_Q && $opt_A); |
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108 |
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109 $RDI_Coords::minValidVels = 4 if ($opt_4); # no 3-beam solutions |
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110 |
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111 require $opt_F if defined($opt_F); # load filter |
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112 |
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113 $opt_r = "1,6" unless defined($opt_r); # defaults |
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114 $opt_n = 2 unless defined($opt_n); |
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115 $opt_e = 0.1 unless defined($opt_e); |
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116 $opt_c = 70 unless defined($opt_c); |
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117 $opt_m = 120 unless defined($opt_m); |
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118 |
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119 ($minb,$maxb) = split(',',$opt_r); # reference layer |
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120 die("$0: can't decode -r $opt_r\n") unless defined($maxb); |
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121 |
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122 if ($opt_g) { # GPS info |
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123 ($s_lat,$s_lon,$e_lat,$e_lon) = gps_to_deg($opt_g); |
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124 $lat = $s_lat/2 + $e_lat/2; |
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125 $lon = $s_lon/2 + $e_lon/2; |
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126 $ddx = dist($lat,$s_lon,$lat,$e_lon); |
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127 $ddy = dist($s_lat,$lon,$e_lat,$lon); |
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128 } |
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129 |
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130 if ($opt_d) { # ship drift |
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131 ($ddx,$ddy) = split(',',$opt_d); |
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132 die("$0: can't decode -d $opt_d\n") unless defined($ddy); |
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133 } |
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134 |
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135 print(STDERR "Reading $ARGV[0]..."); # read data |
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136 readData($ARGV[0],\%dta); |
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137 print(STDERR "done\n"); |
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138 |
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139 die("$ARGV[0]: not enough bins for choice of -r\n") # enough bins? |
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140 unless ($dta{N_BINS} >= $maxb); |
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141 if ($dta{BEAM_COORDINATES}) { # coords used |
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142 $beamCoords = 1; |
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143 } elsif (!$dta{EARTH_COORDINATES}) { |
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144 die("$ARGV[0]: only beam and earth coordinates implemented so far\n"); |
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145 } |
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146 if (defined($opt_M)) { # magnetic declination |
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147 $dta{HEADING_BIAS} = -1*$opt_M; |
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148 } else { |
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149 $dta{HEADING_BIAS} = 0; |
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150 } |
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151 |
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152 ensure_BT_RANGE(\%dta); # calc if missing |
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153 |
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154 if ($opt_f) { # additional fields |
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155 @f = split(',',$opt_f); |
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156 foreach $f (@f) { |
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157 $f =~ s/\s//g; # remove spaces |
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158 @def = split('=',$f); |
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159 if (@def == 2) { # name=field |
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160 $addFields .= " {$def[0]}"; |
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161 $f = $def[1]; |
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162 } else { # field |
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163 $addFields .= " {$f}"; |
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164 } |
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165 } |
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166 # print(STDERR "addFields = $addFields\n"); |
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167 # print(STDERR "\@f = @f\n"); |
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168 } |
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169 |
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170 #====================================================================== |
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171 # Misc funs used to decode options |
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172 #====================================================================== |
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173 |
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174 sub dist($$$$) # distance |
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175 { |
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176 my($lat1,$lon1,$lat2,$lon2) = @_; |
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177 my($a) = 6378139; # Earth's radius |
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178 |
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179 $lat1 = rad($lat1); $lon1 = rad($lon1); |
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180 $lat2 = rad($lat2); $lon2 = rad($lon2); |
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181 $ct1 = cos($lat1); $st1 = sin($lat1); $cp1 = cos($lon1); |
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182 $sp1 = sin($lon1); $ct2 = cos($lat2); $st2 = sin($lat2); |
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183 $cp2 = cos($lon2); $sp2 = sin($lon2); |
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184 $cos = $ct1*$cp1*$ct2*$cp2 + $ct1*$sp1*$ct2*$sp2 + $st1*$st2; |
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185 $cos = 1 if ($cos > 1); |
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186 $cos = -1 if ($cos < -1); |
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187 return $a * acos($cos); |
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188 } |
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189 |
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190 sub deg_to_dec($) # parse degrees |
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191 { |
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192 my($deg,$min) = split(':',$_[0]); |
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193 return $deg + $min/60; |
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194 } |
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195 |
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196 sub gps_to_deg($) # decode lat/lon |
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197 { |
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198 my($start,$end) = split('/',$_[0]); |
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199 my($sa,$so,$ea,$eo); |
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200 |
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201 my($lat,$lon) = split(',',$start); |
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202 if ($lat =~ m{N$}) { $sa = deg_to_dec($`); } |
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203 elsif ($lat =~ m{S$}) { $sa = -deg_to_dec($`); } |
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204 else { $sa = $lat; } |
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205 if ($lon =~ m{E$}) { $so = deg_to_dec($`); } |
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206 elsif ($lon =~ m{W$}) { $so = -deg_to_dec($`); } |
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207 else { $so = $lon; } |
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208 |
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209 my($lat,$lon) = split(',',$end); |
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210 if ($lat =~ m{N$}) { $ea = deg_to_dec($`); } |
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211 elsif ($lat =~ m{S$}) { $ea = -deg_to_dec($`); } |
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212 else { $ea = $lat; } |
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213 if ($lon =~ m{E$}) { $eo = deg_to_dec($`); } |
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214 elsif ($lon =~ m{W$}) { $eo = -deg_to_dec($`); } |
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215 else { $eo = $lon; } |
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216 |
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217 return ($sa,$so,$ea,$eo); |
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218 } |
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219 |
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220 #====================================================================== |
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221 # Step 1: Integrate w & determine water depth |
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222 #====================================================================== |
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223 |
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224 ($firstgood,$lastgood,$atbottom,$w_gap_time,$zErr,$maxz) = |
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225 mk_prof(\%dta,!$opt_s,$opt_F,$minb,$maxb,$opt_c,$opt_e,$opt_m); |
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226 |
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227 die("$ARGV[0]: no good ensembles found\n") |
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228 unless defined($firstgood); |
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229 |
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230 if (defined($opt_B)) { # scale Z |
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231 my($zscale) = $opt_B / ($dta{ENSEMBLE}[$atbottom]->{DEPTH} -# downcast |
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232 $dta{ENSEMBLE}[$firstgood]->{DEPTH}); |
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233 # printf(STDERR "scaling downcast depths by %.2f\n",$zscale); |
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234 for (my($e)=$firstgood; $e<$atbottom; $e++) { |
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235 next unless defined($dta{ENSEMBLE}[$e]->{DEPTH}); |
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236 $dta{ENSEMBLE}[$e]->{DEPTH} = |
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237 $dta{ENSEMBLE}[$firstgood]->{DEPTH} + $zscale * |
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238 ($dta{ENSEMBLE}[$e]->{DEPTH}-$dta{ENSEMBLE}[$firstgood]->{DEPTH}); |
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239 } |
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240 |
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241 $zscale = $opt_B / ($dta{ENSEMBLE}[$atbottom]->{DEPTH} - # upcast |
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242 $dta{ENSEMBLE}[$lastgood]->{DEPTH}); |
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243 # printf(STDERR "scaling upcast depths by %.2f\n",$zscale); |
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244 for (my($e)=$atbottom; $e<=$lastgood; $e++) { |
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245 next unless defined($dta{ENSEMBLE}[$e]->{DEPTH}); |
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246 $dta{ENSEMBLE}[$e]->{DEPTH} = |
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247 $dta{ENSEMBLE}[$firstgood]->{DEPTH} + $zscale * |
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248 ($dta{ENSEMBLE}[$e]->{DEPTH}-$dta{ENSEMBLE}[$lastgood]->{DEPTH}); |
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249 } |
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250 } |
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251 |
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252 ($water_depth,$sig_wd) = # sea bed |
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253 find_seabed(\%dta,$atbottom,$beamCoords); |
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254 |
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255 #====================================================================== |
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256 # Step 1a: determine alternate Z by using mean/sigma of w in gaps |
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257 #====================================================================== |
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258 |
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259 # This does not make much sense for w, because w is always very close |
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260 # to zero. It might make sense for u and v, though, and it would |
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261 # be more consistent with the way the displacement uncertainties are |
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262 # calculated. However, the way the profiles are calculated at the |
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263 # moment (using the last valid velocity across the gap) is probably |
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264 # closer to the truth in most cases. |
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265 |
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266 #$dta{ENSEMBLE}[$firstgood]->{ALT_Z} = 0; |
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267 #$dta{ENSEMBLE}[$firstgood]->{ALT_Z_ERR} = 0; |
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268 #my($sumVar); |
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269 #for ($e=$firstgood+1; $e<=$lastgood; $e++) { |
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270 # my($dt) = $dta{ENSEMBLE}[$e]->{UNIX_TIME} - |
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271 # $dta{ENSEMBLE}[$e-1]->{UNIX_TIME}; |
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272 # $dta{ENSEMBLE}[$e]->{ALT_Z} = |
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273 # $dta{ENSEMBLE}[$e-1]->{ALT_Z} + |
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274 # $dt * (defined($dta{ENSEMBLE}[$e-1]->{W}) ? |
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275 # $dta{ENSEMBLE}[$e-1]->{W} : $meanW); |
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276 # $sumVar += defined($dta{ENSEMBLE}[$e-1]->{W}) ? |
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277 # ($dta{ENSEMBLE}[$e-1]->{W_ERR} * $dt)**2 : ($dt**2)*$varW; |
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278 # $dta{ENSEMBLE}[$e]->{ALT_Z_ERR} = sqrt($sumVar); |
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279 #} |
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280 |
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281 #====================================================================== |
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282 # Step 2: Integrate u & v |
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283 #====================================================================== |
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284 |
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285 sub ref_lr_uv($$$) # calc ref-level u/v |
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286 { |
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287 my($ens,$z,$water_depth) = @_; |
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288 my($i,$n,@v,@goodU,@goodV); |
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289 |
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290 $water_depth = 99999 unless defined($water_depth); |
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291 |
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292 for ($i=$minb; $i<=$maxb; $i++) { |
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293 next if ($dta{ENSEMBLE}[$ens]->{CORRELATION}[$i][0] < $opt_c || |
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294 $dta{ENSEMBLE}[$ens]->{CORRELATION}[$i][1] < $opt_c || |
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295 $dta{ENSEMBLE}[$ens]->{CORRELATION}[$i][2] < $opt_c || |
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296 $dta{ENSEMBLE}[$ens]->{CORRELATION}[$i][3] < $opt_c); |
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297 if ($beamCoords) { |
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298 next if ($dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][0] < 100 || |
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299 $dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][1] < 100 || |
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300 $dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][2] < 100 || |
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301 $dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][3] < 100); |
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302 @v = velInstrumentToEarth(\%dta,$ens, |
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303 velBeamToInstrument(\%dta, |
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304 @{$dta{ENSEMBLE}[$ens]->{VELOCITY}[$i]})); |
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305 } else { |
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306 next if ($dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][0] > 0 || |
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307 $dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][1] > 0 || |
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308 $dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][2] > 0 || |
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309 $dta{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$i][3] < 100); |
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310 @v = velApplyHdgBias(\%dta,$ens, |
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311 @{$dta{ENSEMBLE}[$ens]->{VELOCITY}[$i]}); |
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312 } |
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313 next if (!defined($v[3]) || abs($v[3]) > $opt_e); |
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314 |
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315 # Martin's BT routines show strong shear just above sea bed |
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316 # => skip lowest 20m. |
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317 if (defined($v[0])) { # valid u,v |
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318 if ($dta{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}) { |
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319 if ($z - $dta{DISTANCE_TO_BIN1_CENTER} |
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320 - $i*$dta{BIN_LENGTH} > 0) { |
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321 push(@goodU,$v[0]); push(@goodV,$v[1]); |
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322 $dta{ENSEMBLE}[$ens]->{U} += $v[0]; |
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323 $dta{ENSEMBLE}[$ens]->{V} += $v[1]; |
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324 $n++; |
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325 } |
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326 } else { |
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327 if ($z + $dta{DISTANCE_TO_BIN1_CENTER} |
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328 + $i*$dta{BIN_LENGTH} < $water_depth-20) { |
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329 push(@goodU,$v[0]); push(@goodV,$v[1]); |
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330 $dta{ENSEMBLE}[$ens]->{U} += $v[0]; |
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331 $dta{ENSEMBLE}[$ens]->{V} += $v[1]; |
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332 $n++; |
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333 } |
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334 } |
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335 } |
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336 } |
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337 |
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338 if ($n >= 2) { |
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339 my(@sumsq) = (0,0); |
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340 $dta{ENSEMBLE}[$ens]->{U} /= $n; |
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341 $dta{ENSEMBLE}[$ens]->{V} /= $n; |
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342 for ($i=0; $i<$n; $i++) { |
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343 $sumsq[0] += ($dta{ENSEMBLE}[$ens]->{U}-$goodU[$i])**2; |
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344 $sumsq[1] += ($dta{ENSEMBLE}[$ens]->{V}-$goodV[$i])**2; |
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345 } |
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346 $dta{ENSEMBLE}[$ens]->{U_ERR} = sqrt($sumsq[0])/($n-1); |
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347 $dta{ENSEMBLE}[$ens]->{V_ERR} = sqrt($sumsq[1])/($n-1); |
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348 } else { |
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349 $dta{ENSEMBLE}[$ens]->{U} = undef; |
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350 $dta{ENSEMBLE}[$ens]->{V} = undef; |
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351 } |
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352 } |
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353 |
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354 #---------------------------------------------------------------------- |
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355 |
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356 ($x,$y) = (0,0); # init |
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357 |
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358 $dta{ENSEMBLE}[$firstgood]->{X} = $dta{ENSEMBLE}[$firstgood]->{X_ERR} = 0; |
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359 $dta{ENSEMBLE}[$firstgood]->{Y} = $dta{ENSEMBLE}[$firstgood]->{Y_ERR} = 0; |
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360 $prevgood = $firstgood; |
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361 |
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362 for ($e=$firstgood+1; defined($opt_M)&&$e<=$lastgood; $e++) { |
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363 |
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364 #-------------------------------------------------- |
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365 # within profile: both $firstgood and $prevgood set |
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366 #-------------------------------------------------- |
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367 |
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368 ref_lr_uv($e,$dta{ENSEMBLE}[$e]->{DEPTH},$water_depth) # instrument vel |
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369 if (defined($dta{ENSEMBLE}[$e]->{W})); |
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370 |
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371 if (!defined($dta{ENSEMBLE}[$e]->{U})) { # gap |
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372 $uv_gap_time += $dta{ENSEMBLE}[$e]->{UNIX_TIME} - |
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373 $dta{ENSEMBLE}[$e-1]->{UNIX_TIME}; |
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374 next; |
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375 } |
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376 |
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377 my($dt) = $dta{ENSEMBLE}[$e]->{UNIX_TIME} - # time step since |
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378 $dta{ENSEMBLE}[$prevgood]->{UNIX_TIME}; # ...last good ens |
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379 |
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380 #----------------------------------- |
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381 # The current ensemble has valid u/v |
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382 #----------------------------------- |
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383 |
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384 $x -= $dta{ENSEMBLE}[$prevgood]->{U} * $dt; # integrate |
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385 $xErr += ($dta{ENSEMBLE}[$prevgood]->{U_ERR} * $dt)**2; |
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386 $dta{ENSEMBLE}[$e]->{X} = $x; |
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387 $dta{ENSEMBLE}[$e]->{X_ERR} = sqrt($xErr); |
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388 |
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389 $y -= $dta{ENSEMBLE}[$prevgood]->{V} * $dt; |
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390 $yErr += ($dta{ENSEMBLE}[$prevgood]->{V_ERR} * $dt)**2; |
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391 $dta{ENSEMBLE}[$e]->{Y} = $y; |
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392 $dta{ENSEMBLE}[$e]->{Y_ERR} = sqrt($yErr); |
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393 |
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394 $prevgood = $e; |
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395 } |
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396 |
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397 unless (defined($dta{ENSEMBLE}[$lastgood]->{X})) { # last is bad in u/v |
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398 my($dt) = $dta{ENSEMBLE}[$lastgood]->{UNIX_TIME} - # time step since |
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399 $dta{ENSEMBLE}[$prevgood]->{UNIX_TIME}; # ...last good ens |
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400 |
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401 $x -= $dta{ENSEMBLE}[$prevgood]->{U} * $dt; # integrate |
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402 $xErr += ($dta{ENSEMBLE}[$prevgood]->{U_ERR} * $dt)**2; |
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403 $dta{ENSEMBLE}[$lastgood]->{X} = $x; |
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404 $dta{ENSEMBLE}[$lastgood]->{X_ERR} = sqrt($xErr); |
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405 |
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406 $y -= $dta{ENSEMBLE}[$prevgood]->{V} * $dt; |
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407 $yErr += ($dta{ENSEMBLE}[$prevgood]->{V_ERR} * $dt)**2; |
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408 $dta{ENSEMBLE}[$lastgood]->{Y} = $y; |
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409 $dta{ENSEMBLE}[$lastgood]->{Y_ERR} = sqrt($yErr); |
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410 } |
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411 |
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412 $firstgood++ if ($firstgood == 0); # centered diff |
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413 $lastgood-- if ($lastgood == $#{$dta{ENSEMBLE}}); # in step 6 |
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414 |
|
415 #====================================================================== |
|
416 # Step 3: Calculate Uncertainties |
|
417 #====================================================================== |
|
418 |
|
419 # Time series of W_ERR indicate that errors are very large near the |
|
420 # surface and near the sea bed, perhaps because of reflections. |
|
421 # A reasonable estimate for typical uncertainty is therefore the mode |
|
422 # of the std errors. |
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423 |
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424 my(@histUErr,@histVErr,@histWErr); |
|
425 my($histRez) = 1e-4; |
|
426 |
|
427 for ($e=$firstgood; $e<=$lastgood; $e++) { |
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428 $histWErr[int($dta{ENSEMBLE}[$e]->{W_ERR}/$histRez+0.5)]++ |
|
429 if defined($dta{ENSEMBLE}[$e]->{W_ERR}); |
|
430 $histUErr[int($dta{ENSEMBLE}[$e]->{U_ERR}/$histRez+0.5)]++ |
|
431 if defined($dta{ENSEMBLE}[$e]->{U_ERR}); |
|
432 $histVErr[int($dta{ENSEMBLE}[$e]->{V_ERR}/$histRez+0.5)]++ |
|
433 if defined($dta{ENSEMBLE}[$e]->{V_ERR}); |
|
434 } |
|
435 |
|
436 my($max) = 0; my($mode); |
|
437 for (my($i)=0; $i<=$#histWErr; $i++) { |
|
438 next if ($histWErr[$i] < $max); |
|
439 $max = $histWErr[$i]; $mode = $i; |
|
440 } |
|
441 $wErr = $mode * $histRez if defined($mode); |
|
442 |
|
443 $max = 0; $mode = undef; |
|
444 for (my($i)=0; $i<=$#histUErr; $i++) { |
|
445 next if ($histUErr[$i] < $max); |
|
446 $max = $histUErr[$i]; $mode = $i; |
|
447 } |
|
448 $uErr = $mode * $histRez if defined($mode); |
|
449 |
|
450 $max = 0; $mode = undef; |
|
451 for (my($i)=0; $i<=$#histVErr; $i++) { |
|
452 next if ($histVErr[$i] < $max); |
|
453 $max = $histVErr[$i]; $mode = $i; |
|
454 } |
|
455 $vErr = $mode * $histRez if defined($mode); |
|
456 |
|
457 #print(STDERR "u: mu = $meanU / sigma = $uErr\n"); |
|
458 #print(STDERR "v: mu = $meanV / sigma = $vErr\n"); |
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459 #print(STDERR "w: mu = $meanW / sigma = $wErr\n"); |
|
460 |
|
461 if (defined($opt_M)) { # displacement errors |
|
462 $x_err = $uErr * $uv_gap_time + $dta{ENSEMBLE}[$lastgood]->{X_ERR}; |
|
463 $y_err = $vErr * $uv_gap_time + $dta{ENSEMBLE}[$lastgood]->{Y_ERR}; |
|
464 } |
|
465 $z_err = $wErr * $w_gap_time + $dta{ENSEMBLE}[$lastgood]->{DEPTH_ERR}; |
|
466 |
|
467 #printf(STDERR "x_err = $dta{ENSEMBLE}[$lastgood]->{X_ERR} + %g\n", |
|
468 # $uErr * $uv_gap_time); |
|
469 #printf(STDERR "y_err = $dta{ENSEMBLE}[$lastgood]->{Y_ERR} + %g\n", |
|
470 # $vErr * $uv_gap_time); |
|
471 #printf(STDERR "z_err = $dta{ENSEMBLE}[$lastgood]->{DEPTH_ERR} + %g\n", |
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472 # $wErr * $w_gap_time); |
|
473 |
|
474 #====================================================================== |
|
475 # Step 4: Calculate Beam Range Stats |
|
476 #====================================================================== |
|
477 |
|
478 my($min_good_bins) = 999; |
|
479 my($worst_beam); |
|
480 |
|
481 sub count_good_vels($) # count good vels |
|
482 { |
|
483 my($ens) = @_; |
|
484 my($good) = -1; my($this_worst_beam); |
|
485 |
|
486 if ($beamCoords) { |
|
487 for (my($i)=0; $i<$dta{N_BINS}; $i++) { |
|
488 for (my($b)=0; $b<4; $b++) { |
|
489 $good=$i,$this_worst_beam=$b,$nVels[$i][$b]++ |
|
490 if defined($dta{ENSEMBLE}[$ens]->{VELOCITY}[$i][$b]); |
|
491 } |
|
492 } |
|
493 } else { |
|
494 for (my($i)=0; $i<$dta{N_BINS}; $i++) { |
|
495 for (my($b)=0; $b<4; $b++) { |
|
496 $good=$i,$this_worst_beam=$b,$nVels[$i][$b]++ |
|
497 if ($dta{ENSEMBLE}[$ens]->{CORRELATION}[$i][$b] >= |
|
498 $dta{MIN_CORRELATION}); |
|
499 } |
|
500 } |
|
501 } |
|
502 $min_good_ens=$ens, $min_good_bins=$good, $worst_beam=$this_worst_beam |
|
503 if ((!defined($water_depth) || |
|
504 $dta{ENSEMBLE}[$ens]->{DEPTH} < $water_depth-200) |
|
505 && $good >= 0 && $good < $min_good_bins); |
|
506 } |
|
507 |
|
508 #---------------------------------------------------------------------- |
|
509 |
|
510 for ($e=$firstgood; $e<=$lastgood; $e++) { # range |
|
511 my($i); |
|
512 for ($i=0; $i<$dta{N_BINS}; $i++) { |
|
513 last if (defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$i][0]) + |
|
514 defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$i][1]) + |
|
515 defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$i][2]) + |
|
516 defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$i][3]) < 3); |
|
517 } |
|
518 $dta{ENSEMBLE}[$e]->{RANGE_BINS} = $i; |
|
519 $dta{ENSEMBLE}[$e]->{RANGE} = |
|
520 $dta{DISTANCE_TO_BIN1_CENTER} + $i * $dta{BIN_LENGTH}; |
|
521 } |
|
522 |
|
523 for ($e=$firstgood; $e<=$lastgood; $e++) { # mean corr/amp |
|
524 $sumcor = $sumamp = $ndata = 0; |
|
525 for (my($i)=0; $i<$dta{N_BINS}; $i++) { |
|
526 for (my($b)=0; $b<4; $b++) { |
|
527 next unless ($dta{ENSEMBLE}[$e]->{CORRELATION}[$i][$b]); |
|
528 $sumcor += $dta{ENSEMBLE}[$e]->{CORRELATION}[$i][$b]; |
|
529 $sumamp += $dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$i][$b]; |
|
530 $ndata++; |
|
531 } |
|
532 } |
|
533 $dta{ENSEMBLE}[$e]->{MEAN_CORRELATION} = $sumcor/$ndata; |
|
534 $dta{ENSEMBLE}[$e]->{MEAN_ECHO_AMPLITUDE} = $sumamp/$ndata; |
|
535 } |
|
536 |
|
537 for ($e=$firstgood+50; $e<=$lastgood-50; $e++) { # range stats |
|
538 count_good_vels($e); |
|
539 } |
|
540 for ($i=0; $i<$dta{N_BINS}; $i++) { |
|
541 for ($b=0; $b<4; $b++) { |
|
542 $maxVels = $nVels[$i][$b] unless ($maxVels > $nVels[$i][$b]); |
|
543 } |
|
544 } |
|
545 for ($i=0; $i<$dta{N_BINS}; $i++) { |
|
546 for ($b=0; $b<4; $b++) { |
|
547 $gb[$b] = $i if ($nVels[$i][$b] >= 0.8*$maxVels); |
|
548 } |
|
549 } |
|
550 $gb = ($gb[0]+$gb[1]+$gb[2]+$gb[3]) / 4; |
|
551 |
|
552 #====================================================================== |
|
553 # Step 5: Remove Ship Drift (probably not useful) |
|
554 #====================================================================== |
|
555 |
|
556 if (defined($opt_M) && defined($ddx)) { # remove barotropic |
|
557 $du = $ddx / $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME};# mean drift vel |
|
558 $dv = $ddy / $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME}; |
|
559 $iu = $dta{ENSEMBLE}[$lastgood]->{X} / # mean obs vel |
|
560 $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME}; |
|
561 $iv = $dta{ENSEMBLE}[$lastgood]->{Y} / |
|
562 $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME}; |
|
563 |
|
564 for ($e=$firstgood; $e<=$lastgood; $e++) { |
|
565 next unless (defined($dta{ENSEMBLE}[$e]->{X}) && |
|
566 defined($dta{ENSEMBLE}[$e]->{Y})); |
|
567 $dta{ENSEMBLE}[$e]->{U} -= $du; |
|
568 $dta{ENSEMBLE}[$e]->{V} -= $dv; |
|
569 $dta{ENSEMBLE}[$e]->{X} += $dta{ENSEMBLE}[$e]->{ELAPSED_TIME} * ($du-$iu); |
|
570 $dta{ENSEMBLE}[$e]->{Y} += $dta{ENSEMBLE}[$e]->{ELAPSED_TIME} * ($dv-$iv); |
|
571 } |
|
572 } |
|
573 |
|
574 #====================================================================== |
|
575 # Step 6: Pitch, Roll, Rotation |
|
576 #====================================================================== |
|
577 |
|
578 my($prrms,$dnprrms,$upprrms) = (0,0,0); |
|
579 my($rotrms,$prerot,$dnrot,$uprot,$postrot) = (0,0,0,0,0); |
|
580 |
|
581 sub rot($) |
|
582 { |
|
583 my($e) = @_; |
|
584 my($rot) = $dta{ENSEMBLE}[$e]->{HEADING} - |
|
585 $dta{ENSEMBLE}[$e-1]->{HEADING}; |
|
586 $rot -= 360 if ($rot > 180); |
|
587 $rot += 360 if ($rot < -180); |
|
588 return $rot; |
|
589 } |
|
590 |
|
591 for ($e=1; $e<$firstgood; $e++) { # pre-deployment |
|
592 $prerot += rot($e); |
|
593 } |
|
594 |
|
595 for (; $e<= $atbottom; $e++) { # downcast |
|
596 $dta{ENSEMBLE}[$e]->{PITCHROLL} = |
|
597 &angle_from_vertical($dta{ENSEMBLE}[$e]->{PITCH}, |
|
598 $dta{ENSEMBLE}[$e]->{ROLL}); |
|
599 $prrms += $dta{ENSEMBLE}[$e]->{PITCHROLL}**2; |
|
600 |
|
601 $dta{ENSEMBLE}[$e]->{ROTATION} = rot($e); |
|
602 $dnrot += $dta{ENSEMBLE}[$e]->{ROTATION}; |
|
603 $rotrms += $dta{ENSEMBLE}[$e]->{ROTATION}**2; |
|
604 } |
|
605 $dnprrms = $prrms; |
|
606 |
|
607 for (; $e<=$lastgood; $e++) { # upcast |
|
608 $dta{ENSEMBLE}[$e]->{PITCHROLL} = |
|
609 &angle_from_vertical($dta{ENSEMBLE}[$e]->{PITCH}, |
|
610 $dta{ENSEMBLE}[$e]->{ROLL}); |
|
611 $prrms += $dta{ENSEMBLE}[$e]->{PITCHROLL}**2; |
|
612 |
|
613 $dta{ENSEMBLE}[$e]->{ROTATION} = rot($e); |
|
614 $uprot += $dta{ENSEMBLE}[$e]->{ROTATION}; |
|
615 $rotrms += $dta{ENSEMBLE}[$e]->{ROTATION}**2; |
|
616 } |
|
617 $upprrms = $prrms - $dnprrms; |
|
618 |
|
619 for (; $e<=$#{$dta->{ENSEMBLE}}; $e++) { # post-recovery |
|
620 $postrot += rot($e); |
|
621 } |
|
622 |
|
623 $prerot /= 360; # rotations, not degrees |
|
624 $dnrot /= 360; |
|
625 $uprot /= 360; |
|
626 $postrot /= 360; |
|
627 |
|
628 $prrms = sqrt($prrms/($lastgood-$firstgood)); |
|
629 $dnprrms = sqrt($dnprrms/($atbottom-$firstgood)); |
|
630 $upprrms = sqrt($upprrms/($lastgood-$atbottom)); |
|
631 |
|
632 $rotrms = sqrt($rotrms/($lastgood-$firstgood)); |
|
633 |
|
634 #====================================================================== |
|
635 # PRODUCE OUTPUT |
|
636 #====================================================================== |
|
637 |
|
638 printf(STDERR "# of ensembles : %d\n",scalar(@{$dta{ENSEMBLE}})); |
|
639 printf(STDERR "Start of cast : %s (#%5d) at %6.1fm\n", |
|
640 $dta{ENSEMBLE}[$firstgood]->{TIME}, |
|
641 $dta{ENSEMBLE}[$firstgood]->{NUMBER}, |
|
642 $dta{ENSEMBLE}[$firstgood]->{DEPTH}); |
|
643 printf(STDERR "Bottom of cast : %s (#%5d) at %6.1fm\n", |
|
644 $dta{ENSEMBLE}[$atbottom]->{TIME}, |
|
645 $dta{ENSEMBLE}[$atbottom]->{NUMBER}, |
|
646 $dta{ENSEMBLE}[$atbottom]->{DEPTH}); |
|
647 if (defined($water_depth)) { |
|
648 printf(STDERR "Seabed : at %6.1fm (+-%dm)\n",$water_depth,$sig_wd); |
|
649 } else { |
|
650 print(STDERR "Seabed : not found\n"); |
|
651 } |
|
652 printf(STDERR "End of cast : %s (#%5d) at %6.1fm\n", |
|
653 $dta{ENSEMBLE}[$lastgood]->{TIME}, |
|
654 $dta{ENSEMBLE}[$lastgood]->{NUMBER}, |
|
655 $dta{ENSEMBLE}[$lastgood]->{DEPTH}); |
|
656 |
|
657 printf(STDERR "Rel. Displacement: x = %d(%d)m / y = %d(%d)m\n", |
|
658 $dta{ENSEMBLE}[$lastgood]->{X}, $x_err, |
|
659 $dta{ENSEMBLE}[$lastgood]->{Y}, $y_err, |
|
660 ) if defined($opt_M); |
|
661 |
|
662 printf(STDERR "Cast Duration : %.1f hours (pinging for %.1f hours)\n", |
|
663 $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME} / 3600, |
|
664 ($dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{UNIX_TIME} - |
|
665 $dta{ENSEMBLE}[0]->{UNIX_TIME}) / 3600); |
|
666 |
|
667 printf(STDERR "Minimum range : %dm at ensemble %d, beam %d\n", |
|
668 $dta{DISTANCE_TO_BIN1_CENTER} + |
|
669 $min_good_bins*$dta{BIN_LENGTH}, |
|
670 $dta{ENSEMBLE}[$min_good_ens]->{NUMBER}, |
|
671 $worst_beam); |
|
672 printf(STDERR "80%%-valid bins : %.1f\n",$gb+1); |
|
673 printf(STDERR "80%%-valid range : %dm\n", |
|
674 $dta{DISTANCE_TO_BIN1_CENTER} + $gb*$dta{BIN_LENGTH}); |
|
675 printf(STDERR "3-beam solutions : $RDI_Coords::threeBeam_1 " . |
|
676 "$RDI_Coords::threeBeam_2 " . |
|
677 "$RDI_Coords::threeBeam_3 " . |
|
678 "$RDI_Coords::threeBeam_4\n") |
|
679 unless ($opt_4); |
|
680 printf(STDERR "net rotations : [%d]/%d/%d/[%d]\n",$prerot,$dnrot,$uprot,$postrot); |
|
681 printf(STDERR "rms pitch/roll : %.1f/%.1f\n",$dnprrms,$upprrms); |
|
682 |
|
683 if ($opt_A) { # ANTS format |
|
684 print("#ANTS# [] $USAGE\n"); |
|
685 $uFields = "{u} {u_err} {v} {v_err} {x} {x_err} {y} {y_err}" |
|
686 if defined($opt_M); |
|
687 print("#ANTS#FIELDS# {ens} {time} {elapsed} {secno} {downcast} " . |
|
688 "{w} {w_err} {depth} {depth_err} {depth_BT} " . |
|
689 "{pitchroll} {rotation} " . |
|
690 "$uFields $addFields\n"); |
|
691 |
|
692 printf("#ANTS#PARAMS# date{$dta{ENSEMBLE}[$firstgood]->{DATE}} " . |
|
693 "start_time{$dta{ENSEMBLE}[$firstgood]->{TIME}} " . |
|
694 "bottom_time{$dta{ENSEMBLE}[$atbottom]->{TIME}} " . |
|
695 "end_time{$dta{ENSEMBLE}[$lastgood]->{TIME}} " . |
|
696 "bottom_xmit_voltage{$dta{ENSEMBLE}[$atbottom]->{ADC_XMIT_VOLTAGE}} " . |
|
697 "bottom_xmit_current{$dta{ENSEMBLE}[$atbottom]->{ADC_XMIT_CURRENT}} " . |
|
698 "pinging_duration{%.1f} " . |
|
699 "cast_duration{%.1f} " . |
|
700 "0.8_valid_bins{%.1f} " . |
|
701 "0.8_valid_range{%.1f} " . |
|
702 "max_depth{%.1f} " . |
|
703 "depth_error{%.1f} " . |
|
704 "min_range{%d} " . |
|
705 "n_ensembles{%d} " . |
|
706 "w_gap_time{%d} " . |
|
707 "stderr_w{%.4f} " . |
|
708 "rms_pitchroll{%.1f} " . |
|
709 "downcast_rms_pitchroll{%.1f} " . |
|
710 "upcast_rms_pitchroll{%.1f} " . |
|
711 "rms_rotation{%.2f} " . |
|
712 "deployment_rotations{%d} " . |
|
713 "downcast_rotations{%d} " . |
|
714 "upcast_rotations{%d} " . |
|
715 "recovery_rotations{%d} " . |
|
716 "bin1_dist{%.1f} " . |
|
717 "bin_length{%.1f} " . |
|
718 "\n", |
|
719 ($dta{ENSEMBLE}[$#{$dta{ENSEMBLE}}]->{UNIX_TIME} - |
|
720 $dta{ENSEMBLE}[0]->{UNIX_TIME}), |
|
721 $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME}, |
|
722 $gb+1, |
|
723 $dta{DISTANCE_TO_BIN1_CENTER} + $gb*$dta{BIN_LENGTH}, |
|
724 $dta{ENSEMBLE}[$atbottom]->{DEPTH}, |
|
725 $dta{ENSEMBLE}[$lastgood]->{DEPTH} - |
|
726 $dta{ENSEMBLE}[$firstgood]->{DEPTH}, |
|
727 $dta{DISTANCE_TO_BIN1_CENTER} + |
|
728 $min_good_bins*$dta{BIN_LENGTH}, |
|
729 scalar(@{$dta{ENSEMBLE}}), |
|
730 $w_gap_time,$wErr,$prrms,$dnprrms,$upprrms,$rotrms, |
|
731 $prerot,$dnrot,$uprot,$postrot, |
|
732 $dta{DISTANCE_TO_BIN1_CENTER}, |
|
733 $dta{BIN_LENGTH}, |
|
734 ); |
|
735 printf("#ANTS#PARAMS# magnetic_declination{$opt_M} " . |
|
736 "uv_gap_time{%d} " . |
|
737 "mean_u{%.4f} " . |
|
738 "stderr_u{%.4f} " . |
|
739 "dx{%d} " . |
|
740 "dx_err{%d} " . |
|
741 "mean_v{%.4f} " . |
|
742 "stderr_v{%.4f} " . |
|
743 "dy{%d} " . |
|
744 "dy_err{%d}\n", |
|
745 $uv_gap_time, |
|
746 $dta{ENSEMBLE}[$lastgood]->{X} / |
|
747 $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME}, |
|
748 $uErr, $dta{ENSEMBLE}[$lastgood]->{X}, $x_err, |
|
749 $dta{ENSEMBLE}[$lastgood]->{Y} / |
|
750 $dta{ENSEMBLE}[$lastgood]->{ELAPSED_TIME}, |
|
751 $vErr, $dta{ENSEMBLE}[$lastgood]->{Y}, $y_err, |
|
752 ) if defined ($opt_M); |
|
753 print("#ANTS#PARAMS# start_lat{$s_lat} start_lon{$s_lon} " . |
|
754 "end_lat{$e_lat} end_lon{$e_lon} " . |
|
755 "lat{$lat} lon{$lon}\n") |
|
756 if defined($lat); |
|
757 if ($dta{TIME_BETWEEN_PINGS} == 0) { |
|
758 print("#ANTS#PARAMS# pinging_rate{staggered}\n"); |
|
759 } else { |
|
760 printf("#ANTS#PARAMS# pinging_rate{%.2f}\n", |
|
761 1/$dta{TIME_BETWEEN_PINGS}); |
|
762 } |
|
763 printf("#ANTS#PARAMS# drift_x{%d} drift_y{%d} " . |
|
764 "drift_u{%.3f} drift_v{%.3f} " . |
|
765 "\n",$ddx,$ddy,$du,$dv) if defined($ddx); |
|
766 if (defined($water_depth)) { |
|
767 printf("#ANTS#PARAMS# water_depth{%d} sig-water_depth{%d}\n", |
|
768 $water_depth,$sig_wd); |
|
769 } else { |
|
770 print("#ANTS#PARAMS# water_depth{nan} sig-water_depth{nan}\n"); |
|
771 } |
|
772 } |
|
773 |
|
774 sub p($) { print(defined($_[0])?"$_[0] ":"nan "); } |
|
775 sub pb($) { print($_[0]?"1 ":"0 "); } |
|
776 |
|
777 unless ($opt_Q) { # write profile |
|
778 for ($e=$firstgood; $e<=$lastgood; $e++) { |
|
779 p($dta{ENSEMBLE}[$e]->{NUMBER}); |
|
780 p($dta{ENSEMBLE}[$e]->{UNIX_TIME}); |
|
781 p($dta{ENSEMBLE}[$e]->{ELAPSED_TIME}); |
|
782 p($dta{ENSEMBLE}[$e]->{SECNO}); |
|
783 pb($dta{ENSEMBLE}[$e]->{UNIX_TIME} < $dta{ENSEMBLE}[$atbottom]->{UNIX_TIME}); |
|
784 p($dta{ENSEMBLE}[$e]->{W}); |
|
785 p($dta{ENSEMBLE}[$e]->{W_ERR}); |
|
786 p($dta{ENSEMBLE}[$e]->{DEPTH}); |
|
787 p($dta{ENSEMBLE}[$e]->{DEPTH_ERR}); |
|
788 p($dta{ENSEMBLE}[$e]->{DEPTH_BT}); |
|
789 p($dta{ENSEMBLE}[$e]->{PITCHROLL}); |
|
790 p($dta{ENSEMBLE}[$e]->{ROTATION}); |
|
791 if (defined($opt_M)) { |
|
792 p($dta{ENSEMBLE}[$e]->{U}); p($dta{ENSEMBLE}[$e]->{U_ERR}); |
|
793 p($dta{ENSEMBLE}[$e]->{V}); p($dta{ENSEMBLE}[$e]->{V_ERR}); |
|
794 p($dta{ENSEMBLE}[$e]->{X}); p($dta{ENSEMBLE}[$e]->{X_ERR}); |
|
795 p($dta{ENSEMBLE}[$e]->{Y}); p($dta{ENSEMBLE}[$e]->{Y_ERR}); |
|
796 } |
|
797 if (defined(@f)) { |
|
798 foreach $f (@f) { |
|
799 my($fn,$fi) = ($f =~ m{([^[]*)(\[.*)}); |
|
800 $fn = $f unless defined($fn); |
|
801 p(eval("\$dta{ENSEMBLE}[$e]->{$fn}$fi")); |
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802 } |
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803 } |
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804 print("\n"); |
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805 } |
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806 } |
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807 |
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808 exit(0); |