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+#!/usr/bin/perl
+#======================================================================
+# L I S T V E L S
+# doc: Mon Apr 25 21:12:54 2016
+# dlm: Mon Apr 25 21:48:18 2016
+# (c) 2016 A.M. Thurnherr
+# uE-Info: 180 0 NIL 0 0 72 10 2 4 NIL ofnI
+#======================================================================
+
+# list water-track velocity samples as ANTS records (PD02ANTS)
+
+# HISTORY:
+# Apr 25, 2016: - created from [listBins]
+
+# General Notes:
+# - everything (e.g. beams) is numbered from 1
+# - no support for BT data
+
+use Getopt::Std;
+
+$ADCP_tools_minVersion = 1.4;
+($ADCP_TOOLS) = ($0 =~ m{(.*/)[^/]+});
+require "$ADCP_TOOLS/ADCP_tools_lib.pl";
+
+die("Usage: $0 [-r)ange <first_ens,last_ens>] [-b)ins <first_bin,last_bin>] " .
+ "[-M)agnetic <declination>] " .
+ "[-S)oundspeed correction <salin|*,temp|*,depth|*> " .
+ "[-P)itch/Roll <bias/bias>] [-B)eamvel <bias/bias/bias/bias>] " .
+ "[require -4)-beam solutions] [-d)iscard <beam#>] " .
+ "<RDI file>\n")
+ unless (&getopts("4b:B:d:M:r:P:S:") && @ARGV == 1);
+
+($P{pitch_bias},$P{roll_bias}) = split('[,/]',$opt_P);
+($P{velbias_b1},$P{velbias_b2},$P{velbias_b3},$P{velbias_b4}) = split('[,/]',$opt_B);
+
+die("$0: -4 and -d are mutually exclusive\n")
+ if ($opt_4 && defined($opt_d));
+
+$RDI_Coords::minValidVels = 4 if ($opt_4); # no 3-beam solutions
+
+print(STDERR "WARNING: magnetic declination not set!\n")
+ unless defined($opt_M);
+
+$ifn = $ARGV[0];
+
+($first_ens,$last_ens) = split(',',$opt_r) if defined($opt_r);
+($first_bin,$last_bin) = split(',',$opt_b) if defined($opt_b);
+
+if (defined($opt_S)) {
+ ($SS_salin,$SS_temp,$SS_depth) = split(',',$opt_S);
+ $variable_ssCorr = ($SS_salin eq '*' || $SS_temp eq '*' || $SS_depth eq '*');
+} else {
+ print(STDERR "WARNING: no soundspeed correction applied!\n");
+}
+
+#----------------------------------------------------------------------
+# MAIN
+#----------------------------------------------------------------------
+
+$P{RDI_file} = $ifn;
+$P{mag_decl} = $opt_M if defined($opt_M);
+
+readData($ifn,\%dta);
+printf(STDERR "%d complete ensembles...\n",scalar(@{$dta{ENSEMBLE}}));
+$dta{HEADING_BIAS} = -$opt_M; # magnetic declination
+
+if ($dta{BEAM_COORDINATES}) { # coords
+ $beamCoords = 1;
+} else {
+ die("$ifn: only beam and earth coordinates supported\n")
+ if (!$dta{EARTH_COORDINATES});
+ die("$ifn: -d requires beam-coordinate data\n")
+ if defined($opt_d);
+ die("$ifn: -B requires beam-coordinate data\n")
+ if defined($opt_B);
+}
+
+$first_bin = 1 unless ($first_bin > 0);
+$last_bin = $dta{N_BINS}+1 unless ($last_bin >= $first_bin && $last_bin <= $dta{N_BINS}+1);
+
+$lastGoodBin = 0;
+for ($e=0; $e<=$#{$dta{ENSEMBLE}}; $e++) { # check/transform velocities
+ next if (defined($first_ens) &&
+ $dta{ENSEMBLE}[$e]->{NUMBER} < $first_ens);
+
+ $dta{ENSEMBLE}[$e]->{PITCH} -= $P{pitch_bias}
+ if defined($dta{ENSEMBLE}[$e]->{PITCH});
+ $dta{ENSEMBLE}[$e]->{ROLL} -= $P{roll_bias}
+ if defined($dta{ENSEMBLE}[$e]->{ROLL});
+
+ $P{first_ens} = $dta{ENSEMBLE}[$e]->{NUMBER},$fe = $e
+ unless defined($P{first_ens});
+ last if (defined($last_ens) &&
+ $dta{ENSEMBLE}[$e]->{NUMBER} > $last_ens);
+ $P{last_ens} = $dta{ENSEMBLE}[$e]->{NUMBER};
+ $le = $e;
+
+ die("3-beams used in ensemble #$dta{ENSEMBLE}[$e]->{NUMBER}\n")
+ if ($dta{ENSEMBLE}[$e]->{N_BEAMS_USED} < 4);
+ die("BIT error in ensemble $dta{ENSEMBLE}[$e]->{NUMBER}\n")
+ if defined($dta{ENSEMBLE}[$e]->{BUILT_IN_TEST_ERROR});
+ die("Low gain in ensemble #$dta{ENSEMBLE}[$e]->{NUMBER}\n")
+ if ($dta{ENSEMBLE}[$e]->{LOW_GAIN});
+
+ for (my($b)=0; $b<$dta{N_BINS}; $b++) {
+ if ($beamCoords) {
+ $dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0] -= $P{velbias_b1} # beam-velocity biases (-B)
+ if defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0]);
+ $dta{ENSEMBLE}[$e]->{VELOCITY}[$b][1] -= $P{velbias_b2}
+ if defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][1]);
+ $dta{ENSEMBLE}[$e]->{VELOCITY}[$b][2] -= $P{velbias_b3}
+ if defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][2]);
+ $dta{ENSEMBLE}[$e]->{VELOCITY}[$b][3] -= $P{velbias_b4}
+ if defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][3]);
+
+ if (defined($opt_d)) { # discard data from given beam (-d)
+ undef($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][$opt_d-1]);
+ undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][$opt_d-1]);
+ }
+
+ @{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]} = # save beam velocities
+ @{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]};
+
+ @{$dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b]} = # calculate w12, w34
+ velBeamToBPEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]});
+
+ @{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]} = # calculate earth velocities
+ velBeamToEarth(\%dta,@{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]});
+ $dta{ENSEMBLE}[$e]->{THREE_BEAM}[$b] = $RDI_Coords::threeBeamFlag;
+ $three_beam[$b] += $RDI_Coords::threeBeamFlag;
+
+ unless (defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0])) {
+ undef(@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]}); # not sure when this can happen
+ next;
+ }
+ } else { # Earth coordinates
+ @{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]} = # calculate beam velocities
+ velEarthToBeam(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});
+
+ @{$dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b]} = # calculate w12, w34
+ velBeamToBPEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]});
+
+ @{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]} = # correct for heading bias
+ velApplyHdgBias(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]});
+
+ unless (defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0])) {
+ undef(@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]}); # not sure when/if this can happen
+ next;
+ }
+
+ }
+
+ $dta{ENSEMBLE}[$e]->{GOOD_VEL}[$b] = 1;
+ $good_vels[$b]++;
+ $lastGoodBin = $b if ($b > $lastGoodBin);
+ $firstGoodEns = $e unless defined($firstGoodEns);
+ $lastGoodEns = $e;
+ }
+}
+
+unless (defined($opt_r)) {
+ $fe = $firstGoodEns;
+ $le = $lastGoodEns;
+}
+
+$P{N_ensembles} = $le - $fe + 1;
+
+$firstBin = 0;
+$lastBin = $lastGoodBin;
+
+print( STDERR "Start : $dta{ENSEMBLE}[$fe]->{DATE} $dta{ENSEMBLE}[$fe]->{TIME}\n");
+print( STDERR "End : $dta{ENSEMBLE}[$le]->{DATE} $dta{ENSEMBLE}[$le]->{TIME}\n");
+printf(STDERR "Bins : %d-%d\n",$firstBin+1,$lastBin+1);
+if ($beamCoords) {
+ printf(STDERR "3-Beam : %d %d %d %d\n",$RDI_Coords::threeBeam_1,
+ $RDI_Coords::threeBeam_2,
+ $RDI_Coords::threeBeam_3,
+ $RDI_Coords::threeBeam_4);
+
+}
+
+
+#----------------------------------------------------------------------
+# generate output
+#----------------------------------------------------------------------
+
+print("#ANTS#PARAMS# "); # %PARAMs
+foreach my $k (keys(%P)) {
+ print(P "$k\{$P{$k}\} ");
+}
+printf(" soundspeed_correction{%s}",defined($opt_S) ? $opt_S : 'NONE!');
+print("\n");
+
+print("#ANTS#FIELDS# " . # LAYOUT
+ "{ensemble} {heading} {pitch} {roll} {bin} " .
+ "{b1} {b2} {b3} {b4} {u} {v} {w} {err_vel} " .
+ "{v12} {w12} {v34} {w34} " .
+ "{corr1} {corr2} {corr3} {corr4} " .
+ "{amp1} {amp2} {amp3} {amp4} " .
+ "{pcg1} {pcg2} {pcg3} {pcg4}\n"
+);
+
+for (my($e)=$fe; $e<=$le; $e++) {
+ my($ssCorr) = defined($opt_S) ? ssCorr($dta{ENSEMBLE}[$e],$SS_salin,$SS_temp,$SS_depth) : 1;
+ for (my($b)=$first_bin=1; $b<=$last_bin-1; $b++) {
+ print("$dta{ENSEMBLE}[$e]->{NUMBER} ");
+ print(defined($dta{ENSEMBLE}[$e]->{HEADING}) ? "$dta{ENSEMBLE}[$e]->{HEADING} " : 'nan ');
+ print(defined($dta{ENSEMBLE}[$e]->{PITCH}) ? "$dta{ENSEMBLE}[$e]->{PITCH} " : 'nan ');
+ print(defined($dta{ENSEMBLE}[$e]->{ROLL}) ? "$dta{ENSEMBLE}[$e]->{ROLL} " : 'nan ');
+ printf("%d ",$b+1);
+
+ if ($dta{ENSEMBLE}[$e]->{GOOD_VEL}[$b]) {
+ printf("%g %g %g %g ",@{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]});
+ printf("%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0] * $ssCorr);
+ printf("%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][1] * $ssCorr);
+ printf("%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][2] * $ssCorr);
+ if ($dta{ENSEMBLE}[$e]->{THREE_BEAM}[$b]) {
+ print("nan ");
+ } else {
+ printf("%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][3] * $ssCorr);
+ }
+ printf(defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][0]) ? "%g " : "nan ",
+ $dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][0]);
+ printf(defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][1]) ? "%g " : "nan ",
+ $dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][1]);
+ printf(defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][2]) ? "%g " : "nan ",
+ $dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][2]);
+ printf(defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][3]) ? "%g " : "nan ",
+ $dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][3]);
+ } else {
+ print("nan nan nan nan ");
+ print("nan nan nan nan ");
+ print("nan nan nan nan ");
+ }
+
+ print("@{$dta{ENSEMBLE}[$e]->{CORRELATION}[$b]} ");
+ print("@{$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b]} ");
+
+ if ($beamCoords) {
+ print("@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]} ");
+ } else {
+ printf("nan nan nan nan ");
+ }
+ print("\n");
+ }
+}
+
+exit(0);