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1 #====================================================================== |
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2 # R D I _ P D 0 _ I O . P L |
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3 # doc: Sat Jan 18 14:54:43 2003 |
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4 # dlm: Tue Nov 26 01:29:26 2013 |
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5 # (c) 2003 A.M. Thurnherr |
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6 # uE-Info: 873 10 NIL 0 0 72 74 2 4 NIL ofnI |
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7 #====================================================================== |
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8 |
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9 # Read RDI BroadBand Binary Data Files (*.[0-9][0-9][0-9]) |
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10 |
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11 # HISTORY: |
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12 # Jan 18, 2003: - incepted aboard the Aurora Australis (KAOS) |
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13 # Jan 19, 2003: - continued |
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14 # Jan 20, 2003: - replaced INTENSITY by AMPLITUDE |
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15 # Jan 21, 2003: - changed heading-correction field names |
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16 # Jan 27, 2003: - cosmetics |
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17 # Feb 14, 2003: - moved BT setup into header |
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18 # Mar 15, 2003: - moved 10th xmit voltage into header as BATTERY field |
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19 # - removed again, because values are not meaningful |
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20 # Feb 24, 2004: - continued aboard Nathaniel B. Palmer (Anslope II) |
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21 # - BUG: ensemble # was wrong on error messages |
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22 # Feb 26, 2004: - removed ESW_ERROR and bitmasking of ERROR_STATUS_WORD |
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23 # Feb 27, 2004: - removed some unused (commented-out) baggage |
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24 # Mar 11, 2004: - BUG: renamed ACD -> ADC |
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25 # Mar 18, 2004: - cosmetics |
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26 # Mar 30, 2004: - rewrote to speed up reading; new version takes |
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27 # ~40% less time |
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28 # Sep 14, 2005: - made BT data optional (NUMBER_OF_DATA_TYPES) |
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29 # - added DATA_FORMAT |
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30 # Sep 15, 2005: - debugged |
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31 # - implement checksum to robustly find EOF |
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32 # - renamed to RDI_BB_Read.pl |
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33 # - BUG: had used POSIX::mktime with wrong month def! |
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34 # Oct 30, 2005: - added WH300 FW16.27 file format |
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35 # - added DATA_FORMAT_VARIANT |
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36 # - changed semantics so that first valid ensemble is |
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37 # in E[0] (instead of E[$ensNo-1]) |
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38 # Nov 8, 2005: - replaced UNIXTIME by UNIX_TIME |
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39 # - added SECNO |
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40 # Aug 31: 2006: - added DAYNO |
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41 # Aug 1, 2007: - BUG: typo in monthLength() |
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42 # Sep 18, 2007: - modified readHeader() readDta() WBRhdr() WBRens() to |
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43 # conserve memory (no large arrays as retvals) |
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44 # Jun 4, 2008: - BUG: BB150 code was not considered on Sep 18, 2007 |
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45 # Aug 15, 2010: - downgraded "unexpected number of data types" from error to warning |
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46 # - BUG: WBRcfn had not been set correctly |
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47 # - modified to allow processing files without time info |
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48 # May 12, 2011: - added code to report built-in-test errors |
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49 # Mar 19, 2013: - added support for WH600 data file (58 fixed leader bytes) |
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50 # Mar 20, 2013: - removed DATA_FORMAT stuff |
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51 # - added support for BT data in subset of ensembles |
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52 # Apr 29, 2013: - changed semantics to assume EOF when unexpected number of data types |
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53 # are present in an ensemble |
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54 # Nov 25, 2013: - renamed from [RDI_BB_Read.pl] |
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55 # - begin implementing WBWens() |
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56 # - checkEnsemble() expunged |
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57 |
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58 # FIRMWARE VERSIONS: |
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59 # It appears that different firmware versions generate different file |
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60 # structures. Currently (Sep 2005) these routines have been tested |
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61 # with the following firmware versions (as reported by [listHdr]): |
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62 # |
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63 # Firmw. DATA_FORMAT(_VARIANT) Owner Cruise FIXED_LEADER_LENGTH |
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64 #------------------------------------------------------------ |
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65 # 05.52 BB150 (1) UH CLIVAR/P16S 42 |
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66 # 16.12 WH300 (1) FSU A0304 53 |
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67 # 16.21 WH300 (1) LDEO NBP0402 53 |
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68 # 16.27 WH300 (2) Nash ? 59 |
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69 |
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70 # NOTES: |
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71 # - RDI stores data in VAX/Intel byte order (little endian) |
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72 # - the output data structure does not exactly mirror the file data |
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73 # structure; the header is not stored at all and the fixed leader |
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74 # data are not duplicated in every ensemble |
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75 # - in the RDI files some fields that logically belong into the header |
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76 # or the fixed leader (e.g. BT_MIN_CORRELATION) appear in the |
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77 # ensemble data --- these are not read on input |
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78 # - the field names are generally unabbreviated except for |
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79 # BT (= Bottom Track), RL (= Reference Layer), MIN and MAX |
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80 # - all arrays are 0-referenced, but the ensemble number is not! |
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81 # - a list of filenames can be be passed to readData() so that |
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82 # files split onto several memory cards (typically .000 .001 &c) |
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83 # can be read --- not sure if this works, actually |
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84 # - the RDI manuals are not entirely clear everywhere; I have made |
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85 # guesses in some cases, but they should not affect the main |
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86 # fields of interest |
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87 # - some fields in the fixed leader are not really fixed in a LADCP |
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88 # setting (e.g. xducer orientation); I'v made an educated guess |
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89 # as to which fields to move to the ENS array |
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90 # - all units except pressure are SI, i.e. in m and m/s |
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91 # - I don't understand the ERROR_STATUS_WORD; here's what 3 different |
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92 # instruments returned: |
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93 # 0x88000100 FSU instrument during A0304 (Firmware 16.12) |
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94 # 0x88008180 LDEO uplooker (slave) during NBP0402 (Firmware 16.21) |
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95 # 0x00008180 LDEO downlooker (master) during NBP0402 (Firmware 16.21) |
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96 # According to the manual (January 2001 version) this would, for example, |
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97 # indicate power failures on both FSU and LDEO slave instruments... |
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98 |
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99 # &readData() returns perl obj (ref to anonymous hash) with the following |
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100 # structure: |
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101 # |
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102 # NUMBER_OF_DATA_TYPES scalar 6 (no BT) or 7 |
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103 # ENSEMBLE_BYTES scalar ?, number of bytes w/o checksum |
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104 # HEADER_BYTES scalar ? |
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105 # FIXED_LEADER_BYTES scalar 42 for BB150; 53 for WH300, 58 for WH600, 59 for WH300(Nash) |
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106 # VARIABLE_LEADER_BYTES scalar ? |
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107 # VELOCITY_DATA_BYTES scalar ? |
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108 # CORRELATION_DATA_BYTES scalar ? |
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109 # ECHO_INTENSITY_DATA_BYTES scalar ? |
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110 # PERCENT_GOOD_DATA_BYTES scalar ? |
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111 # BT_PRESENT bool NUMBER_OF_DATA_TYPES == 7 |
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112 # BT_DATA_BYTES scalar undefined, ? if BT_PRESENT |
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113 # CPU_FW_VER scalar 0--255 |
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114 # CPU_FW_REV scalar 0--255 |
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115 # BEAM_FREQUENCY scalar 75, 150, 300, 600, 1200, 2400 [kHz] |
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116 # CONVEX_BEAM_PATTERN bool undefined, 1 |
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117 # CONCAVE_BEAM_PATTERN bool undefined, 1 |
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118 # SENSOR_CONFIG scalar 1--3 |
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119 # XDUCER_HEAD_ATTACHED bool undefined, 1 |
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120 # BEAM_ANGLE scalar 15,20,30,undefined=other [deg] |
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121 # N_BEAMS scalar 4--5 |
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122 # N_DEMODS scalar 2--3(???),undefined=n/a |
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123 # N_BINS scalar 1--128 |
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124 # PINGS_PER_ENSEMBLE scalar 0--16384 |
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125 # BIN_LENGTH scalar 0.01--64 [m] |
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126 # BLANKING_DISTANCE scalar 0-99.99 [m] |
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127 # MIN_CORRELATION scalar 0--255 |
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128 # N_CODE_REPETITIONS scalar 0--255 |
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129 # MIN_PERCENT_GOOD scalar 1--100 [%] |
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130 # MAX_ERROR_VELOCITY scalar 0--5 [m/s] |
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131 # TIME_BETWEEN_PINGS scalar 0--? [s] |
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132 # BEAM_COORDINATES bool undefined,1 |
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133 # INSTRUMENT_COORDINATES bool undefined,1 |
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134 # SHIP_COORDINATES bool undefined,1 |
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135 # EARTH_COORDINATES bool undefined,1 |
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136 # PITCH_AND_ROLL_USED bool undefined,1 |
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137 # USE_3_BEAM_ON_LOW_CORR bool undefined,1 |
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138 # BIN_MAPPING_ALLOWED bool undefined,1 |
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139 # HEADING_ALIGNMENT scalar -179.99..180 [deg] |
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140 # HEADING_BIAS scalar -179.99..180 [deg] |
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141 # CALCULATE_SPEED_OF_SOUND bool undefined,1 |
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142 # USE_PRESSURE_SENSOR bool undefined,1 |
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143 # USE_COMPASS bool undefined,1 |
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144 # USE_PITCH_SENSOR bool undefined,1 |
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145 # USE_ROLL_SENSOR bool undefined,1 |
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146 # USE_CONDUCTIVITY_SENSOR bool undefined,1 |
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147 # USE_TEMPERATURE_SENSOR bool undefined,1 |
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148 # SPEED_OF_SOUND_CALCULATED bool undefined,1 |
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149 # PRESSURE_SENSOR_AVAILABLE bool undefined,1 |
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150 # COMPASS_AVAILABLE bool undefined,1 |
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151 # PITCH_SENSOR_AVAILABLE bool undefined,1 |
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152 # ROLL_SENSOR_AVAILABLE bool undefined,1 |
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153 # CONDUCTIVITY_SENSOR_AVAILABLE bool undefined,1 |
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154 # TEMPERATURE_SENSOR_AVAILABLE bool undefined,1 |
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155 # DISTANCE_TO_BIN1_CENTER scalar 0--655.35 [m] |
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156 # TRANSMITTED_PULSE_LENGTH scalar 0--655.35 [m] |
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157 # RL_FIRST_BIN scalar 1--128 |
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158 # RL_LAST_BIN scalar 1--128 |
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159 # FALSE_TARGET_THRESHOLD scalar 0--254, undefined=disabled |
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160 # LOW_LATENCY_SETTING scalar 0--5(???) |
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161 # TRANSMIT_LAG_DISTANCE scalar 0--655.35 [m] |
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162 # CPU_SERIAL_NUMBER scalar undefined, 0--65535 if WH300 |
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163 # NARROW_BANDWIDTH bool undefined,1 (only set if WH300) |
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164 # WIDE_BANDWIDTH bool undefined,1 (only set if WH300) |
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165 # TRANSMIT_POWER scalar undefined, 0--255(high) if WH300 |
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166 # TRANSMIT_POWER_HIGH bool undefined,1 (only set if WH300) |
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167 # BT_PINGS_PER_ENSEMBLE scalar 0--999 |
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168 # BT_DELAY_BEFORE_REACQUIRE scalar 0--999 |
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169 # BT_MIN_CORRELATION scalar 0--255 |
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170 # BT_MIN_EVAL_AMPLITUDE scalar 0--255 |
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171 # BT_MIN_PERCENT_GOOD scalar 0--100 [%] |
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172 # BT_MODE scalar 4,5,6(?) |
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173 # BT_MAX_ERROR_VELOCITY scalar 0--5 [m/s], undef=not screened |
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174 # BT_RL_MIN_SIZE scalar 0--99.9 [m] |
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175 # BT_RL_NEAR scalar 0--999.9 [m] |
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176 # BT_RL_FAR scalar 0--999.9 [m] |
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177 # BT_MAX_TRACKING_DEPTH scalar 8--999.9 [m] |
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178 # ENSEMBLE[ensemble_no-1] array ensemble info |
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179 # XDUCER_FACING_UP bool undefined, 1 |
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180 # XDUCER_FACING_DOWN bool undefined, 1 |
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181 # N_BEAMS_USED scalar 3,4,5(?) |
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182 # NUMBER scalar 1--16777215 |
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183 # BUILT_IN_TEST_ERROR scalar ?,undefined=none |
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184 # SPEED_OF_SOUND scalar 1400--1600 [m/s] |
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185 # XDUCER_DEPTH scalar 0.1--999.9 [m] |
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186 # HEADING scalar 0--359.99 [deg] |
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187 # PITCH scalar -20.00-20.00 [deg] |
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188 # ROLL scalar -20.00-20.00 [deg] |
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189 # SALINITY scalar 0-40 [psu] |
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190 # TEMPERATURE scalar -5.00--40.00 [deg] |
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191 # MIN_PRE_PING_WAIT_TIME scalar ? [s] |
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192 # HEADING_STDDEV scalar 0-180 [deg] |
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193 # PITCH_STDDEV scalar 0.0-20.0 [deg] |
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194 # ROLL_STDDEV scalar 0.0-20.0 [deg] |
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195 # ADC_XMIT_CURRENT scalar 0--255 |
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196 # ADC_XMIT_VOLTAGE scalar 0--255 |
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197 # ADC_AMBIENT_TEMPERATURE scalar 0--255 |
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198 # ADC_PRESSURE_PLUS scalar 0--255 |
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199 # ADC_PRESSURE_MINUS scalar 0--255 |
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200 # ADC_ATTITUDE_TEMPERATURE scalar 0--255 |
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201 # ADC_ATTITUDE scalar 0--255 |
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202 # ADC_CONTAMINATION scalar 0--255 |
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203 # ERROR_STATUS_WORD scalar undefined, ? (only set if WH300) |
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204 # PRESSURE scalar undefined, ?-? [dbar] (only set if WH300) |
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205 # PRESSURE_STDDEV scalar undefined, ?-? [dbar] (only set if WH300) |
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206 # DATE string MM/DD/YYYY |
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207 # YEAR scalar ? |
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208 # MONTH scalar 1--12 |
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209 # DAY scalar 1--31 |
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210 # TIME string HH:MM:SS.hh |
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211 # HOUR scalar 0--23 |
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212 # MINUTE scalar 0--59 |
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213 # SECONDS scalar 0--59.99 |
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214 # UNIX_TIME scalar 0--? |
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215 # SECNO scalar 0--? (number of seconds since daystart) |
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216 # DAYNO double fractional day number since start of current year (1.0 is midnight Jan 1st) |
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217 # VELOCITY[bin][beam] scalars -32.767--32.768 [m/s], undef=bad |
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218 # CORRELATION[bin][beam] scalars 1--255, undefined=bad |
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219 # ECHO_AMPLITUDE[bin][beam] scalars 0--255 |
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220 # PERCENT_GOOD[bin][beam] scalars 0--255 |
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221 # BT_RANGE[beam] scalars tons [m] |
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222 # BT_VELOCITY[beam] scalars see VELOCITY |
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223 # BT_CORRELATION[beam] scalars see CORRELATION |
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224 # BT_EVAL_AMPLITUDE[beam] scalars 0--255 |
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225 # BT_PERCENT_GOOD[beam] scalars see PERCENT_GOOD |
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226 # BT_RL_VELOCITY[beam] scalars see VELOCITY |
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227 # BT_RL_CORRELATION[beam] scalars see CORRELATION |
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228 # BT_RL_ECHO_AMPLITUDE[beam] scalars see ECHO_AMPLITUDE |
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229 # BT_RL_PERCENT_GOOD[beam] scalars see PERCENT_GOOD |
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230 # BT_SIGNAL_STRENGTH[beam] scalars 0--255 |
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231 # HIGH_GAIN bool 1, undefined |
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232 # LOW_GAIN bool 1, undefined |
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233 |
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234 use strict; |
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235 use Time::Local; # timegm() |
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236 |
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237 #---------------------------------------------------------------------- |
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238 # Time Conversion Subroutines |
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239 #---------------------------------------------------------------------- |
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240 |
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241 sub monthLength($$) # of days in month |
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242 { |
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243 my($Y,$M) = @_; |
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244 |
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245 return 31 if ($M==1 || $M==3 || $M==5 || $M==7 || |
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246 $M==8 || $M==10 || $M==12); |
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247 return 30 if ($M==4 || $M==6 || $M==9 || $M==11); |
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248 return 28 if ($Y%4 != 0); |
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249 return 29 if ($Y%100 != 0); |
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250 return 28 if ($Y%400 > 0); |
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251 return 29; |
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252 } |
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253 |
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254 { my($epoch,$lM,$lD,$lY,$ldn); # static scope |
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255 |
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256 sub dayNo($$$$$$) |
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257 { |
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258 my($Y,$M,$D,$h,$m,$s) = @_; |
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259 my($dn); |
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260 |
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261 if ($Y==$lY && $M==$lM && $D==$lD) { # same day as last samp |
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262 $dn = $ldn; |
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263 } else { # new day |
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264 $epoch = $Y unless defined($epoch); # 1st call |
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265 $lY = $Y; $lM = $M; $lD = $D; # store |
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266 |
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267 for ($dn=0,my($cY)=$epoch; $cY<$Y; $cY++) { # multiple years |
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268 $dn += 337 + &monthLength($Y,$M); |
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269 } |
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270 |
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271 $dn += $D; # day in month |
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272 while (--$M > 0) { # preceding months |
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273 $dn += &monthLength($Y,$M); |
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274 } |
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275 |
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276 $ldn = $dn; # store |
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277 } |
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278 return $dn + $h/24 + $m/24/60 + $s/24/3600; |
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279 } |
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280 |
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281 } # static scope |
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282 |
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283 #---------------------------------------------------------------------- |
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284 # Read Data |
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285 #---------------------------------------------------------------------- |
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286 |
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287 my($WBRcfn,$WBPcfn); # current file names for reading/patching |
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288 my($BIT_errors) = 0; # built-in-test errors |
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289 |
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290 my($FmtErr) = "%s: illegal %s Id 0x%04x at ensemble %d"; |
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291 |
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292 #---------------------------------------------------------------------- |
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293 # readHeader(file_name,^dta) WBRhdr(^data) |
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294 # - read header data |
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295 # - also includes some data from 1st ens |
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296 #---------------------------------------------------------------------- |
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297 |
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298 sub readHeader(@) |
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299 { |
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300 my($fn,$dta) = @_; |
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301 $WBRcfn = $fn; |
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302 open(WBRF,$WBRcfn) || die("$WBRcfn: $!"); |
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303 WBRhdr($dta); |
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304 } |
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305 |
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306 sub WBRhdr($) |
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307 { |
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308 my($dta) = @_; |
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309 my($buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs); |
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310 my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5); |
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311 |
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312 #-------------------- |
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313 # HEADER |
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314 #-------------------- |
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315 |
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316 sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!"); |
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317 ($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES}) |
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318 = unpack('CCvCC',$buf); |
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319 $hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0)); |
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320 $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0)); |
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321 printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d)\n", |
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322 $dta->{NUMBER_OF_DATA_TYPES}) |
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323 unless ($dta->{NUMBER_OF_DATA_TYPES} == 6 || |
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324 $dta->{NUMBER_OF_DATA_TYPES} == 7); |
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325 $dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} == 7); |
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326 |
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327 sysread(WBRF,$buf,2*$dta->{NUMBER_OF_DATA_TYPES}) |
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328 == 2*$dta->{NUMBER_OF_DATA_TYPES} |
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329 || die("$WBRcfn: $!"); |
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330 @WBRofs = unpack("v$dta->{NUMBER_OF_DATA_TYPES}",$buf); |
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331 |
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332 $dta->{HEADER_BYTES} = $WBRofs[0]; |
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333 $dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0]; |
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334 $dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1]; |
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335 $dta->{VELOCITY_DATA_BYTES} = $WBRofs[3] - $WBRofs[2]; |
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336 $dta->{CORRELATION_DATA_BYTES} = $WBRofs[4] - $WBRofs[3]; |
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337 $dta->{ECHO_INTENSITY_DATA_BYTES} = $WBRofs[5] - $WBRofs[4]; |
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338 if ($dta->{BT_PRESENT}) { |
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339 $dta->{PERCENT_GOOD_DATA_BYTES} = $WBRofs[6] - $WBRofs[5]; |
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340 $dta->{BT_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[6]; |
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341 } else { |
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342 $dta->{PERCENT_GOOD_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[5]; |
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343 } |
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344 |
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345 if ($dta->{FIXED_LEADER_BYTES} == 42) { # Eric Firing's old instrument I used in 2004 |
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346 $dta->{INSTRUMENT_TYPE} = 'BB150'; |
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347 } elsif ($dta->{FIXED_LEADER_BYTES} == 53) { # old firmware: no serial numbers |
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348 $dta->{INSTRUMENT_TYPE} = 'Workhorse'; |
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349 } elsif ($dta->{FIXED_LEADER_BYTES} == 59) { # new firmware: with serial numbers |
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350 $dta->{INSTRUMENT_TYPE} = 'Workhorse'; |
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351 } elsif ($dta->{FIXED_LEADER_BYTES} == 58) { # DVL |
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352 $dta->{INSTRUMENT_TYPE} = 'Explorer'; |
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353 } |
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354 |
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355 # for ($i=0; $i<$dta->{NUMBER_OF_DATA_TYPES}; $i++) { |
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356 # printf(STDERR "\nWBRofs[$i] = %d",$WBRofs[$i]); |
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357 # } |
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358 |
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359 #---------------------------------- |
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360 # Check Data Format of 1st Ensemble |
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361 #---------------------------------- |
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362 |
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363 sysseek(WBRF,$WBRofs[1],0) || die("$WBRcfn: $!"); |
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364 sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
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365 $id = unpack('v',$buf); |
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366 $id == 0x0080 || die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,1)); |
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367 |
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368 sysseek(WBRF,$WBRofs[2],0) || die("$WBRcfn: $!"); |
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369 sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
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370 $id = unpack('v',$buf); |
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371 $id == 0x0100 || die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,1)); |
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372 |
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373 sysseek(WBRF,$WBRofs[3],0) || die("$WBRcfn: $!"); |
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374 sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
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375 $id = unpack('v',$buf); |
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376 $id == 0x0200 || die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,1)); |
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377 |
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378 sysseek(WBRF,$WBRofs[4],0) || die("$WBRcfn: $!"); |
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379 sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
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380 $id = unpack('v',$buf); |
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381 $id == 0x0300 || die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,1)); |
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382 |
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383 sysseek(WBRF,$WBRofs[5],0) || die("$WBRcfn: $!"); |
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384 sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
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385 $id = unpack('v',$buf); |
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386 $id == 0x0400 || die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,1)); |
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387 |
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388 if ($dta->{BT_PRESENT}) { |
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389 sysseek(WBRF,$WBRofs[6],0) || die("$WBRcfn: $!"); |
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390 sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!"); |
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391 $id = unpack('v',$buf); |
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392 $id == 0x0600 || die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,1)); |
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393 } |
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394 |
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395 #-------------------- |
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396 # FIXED LEADER |
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397 #-------------------- |
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398 |
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399 sysseek(WBRF,$WBRofs[0],0) || die("$WBRcfn: $!"); |
|
400 sysread(WBRF,$buf,42) == 42 || die("$WBRcfn: $!"); |
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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 |