V2.4
- New Features:
- support for Nortek PD0 files
- patchPD0 support for moored ADCP data
- bug fixes & minor improvements
#======================================================================
# R D I _ P D 0 _ I O . P L
# doc: Sat Jan 18 14:54:43 2003
# dlm: Wed Mar 17 22:54:27 2021
# (c) 2003 A.M. Thurnherr
# uE-Info: 129 35 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# Read RDI PD0 binary data files (*.[0-9][0-9][0-9])
# HISTORY:
# Jan 18, 2003: - incepted aboard the Aurora Australis (KAOS)
# Jan 19, 2003: - continued
# Jan 20, 2003: - replaced INTENSITY by AMPLITUDE
# Jan 21, 2003: - changed heading-correction field names
# Jan 27, 2003: - cosmetics
# Feb 14, 2003: - moved BT setup into header
# Mar 15, 2003: - moved 10th xmit voltage into header as BATTERY field
# - removed again, because values are not meaningful
# Feb 24, 2004: - continued aboard Nathaniel B. Palmer (Anslope II)
# - BUG: ensemble # was wrong on error messages
# Feb 26, 2004: - removed ESW_ERROR and bitmasking of ERROR_STATUS_WORD
# Feb 27, 2004: - removed some unused (commented-out) baggage
# Mar 11, 2004: - BUG: renamed ACD -> ADC
# Mar 18, 2004: - cosmetics
# Mar 30, 2004: - rewrote to speed up reading; new version takes
# ~40% less time
# Sep 14, 2005: - made BT data optional (NUMBER_OF_DATA_TYPES)
# - added DATA_FORMAT
# Sep 15, 2005: - debugged
# - implement checksum to robustly find EOF
# - renamed to RDI_BB_Read.pl
# - BUG: had used POSIX::mktime with wrong month def!
# Oct 30, 2005: - added WH300 FW16.27 file format
# - added DATA_FORMAT_VARIANT
# - changed semantics so that first valid ensemble is
# in E[0] (instead of E[$ensNo-1])
# Nov 8, 2005: - replaced UNIXTIME by UNIX_TIME
# - added SECNO
# Aug 31: 2006: - added DAYNO
# Aug 1, 2007: - BUG: typo in monthLength()
# Sep 18, 2007: - modified readHeader() readDta() WBRhdr() WBRens() to
# conserve memory (no large arrays as retvals)
# Jun 4, 2008: - BUG: BB150 code was not considered on Sep 18, 2007
# Aug 15, 2010: - downgraded "unexpected number of data types" from error to warning
# - BUG: WBRcfn had not been set correctly
# - modified to allow processing files without time info
# May 12, 2011: - added code to report built-in-test errors
# Mar 19, 2013: - added support for WH600 data file (58 fixed leader bytes)
# Mar 20, 2013: - removed DATA_FORMAT stuff
# - added support for BT data in subset of ensembles
# Apr 29, 2013: - changed semantics to assume EOF when unexpected number of data types
# are present in an ensemble
# Nov 25, 2013: - renamed from [RDI_BB_Read.pl]
# - begin implementing WBWens()
# - checkEnsemble() expunged
# Mar 3, 2014: - BUG: WBPens() did not handle incomple ensembles at EOF correctly
# Mar 4, 2014: - added support for DATA_SOURCE_ID
# Apr 24, 2014: - added debug statements to log %-GOOD values
# May 6, 2014: - loosened input format checks
# May 7, 2014: - removed BT_PRESENT flag
# Sep 6, 2014: - adapted WBRhdr to >7 data types
# Oct 15, 2014: - implemented work-around for readData() not recognizing
# incomplete ensemble at the end, which seems to imply that there is
# a garbage final ensemble that passes the checksum test???
# Oct 2, 2015: - added &skip_initial_trash()
# Dec 18, 2015: - added most data types to WBPofs()
# - BUG: WBPens() requires round() for scaled values
# Jan 9, 2016: - removed system() from writeData()
# - BUG: WBRhdr() did not set DATA_SOURCE_ID
# - added PRODUCER
# - BUG: writeData() did not work correctly for ECOGIG OC26 moored data (spaces in filename?)
# - added support for patching coordinate system
# Feb 16, 2016: - added transducer orientation to WBPens()
# - BUG: most WBPens() error messages used wrong file name
# Feb 23, 2016: - changed WBRhdr() to use 2nd ensemble (with correct data-source id)
# Feb 26, 2016: - added basic BT data to WBPens(); not BT_RL_* and BT_SIGNAL_STRENGTH
# Feb 29, 2016: - LEAP DAY: actually got BT data patching to work
# Jul 30, 2016: - BUG: incomplete last ensemble with garbage content was returned on reading
# WH300 data
# Aug 5, 2016: - cosmetics
# Aug 23, 2016: - added &clearEns()
# Nov 9, 2016: - made WBRhdr() return undef on "empty" files
# Nov 18, 2016: - BUG: ensNo was not reported correctly in format errors
# Nov 23, 2016: - no longer set pitch/roll/heading to undef in clearEns()
# Mar 7, 2016: - renamed round() to stop clashing with ANTSLIB
# May 18, 2017: - maded readHeader() more permissive (checkFmt flag)
# - added partial support for Ocean Surveyor data
# Aug 1, 2017: BUG: minor typo in ocean surveyor code (err check not done?)
# Aug 7, 2017: - added LAG_LENGTH
# - added SPEED_OF_SOUND to header
# Aug 8, 2017: - replaced croak() by die()
# - added actual transducer frequencies
# Nov 22, 2017: - BUG: dayNo() and monthLength() clashed with [libconv.pl]
# - added support for RDI_PD0_IO::IGNORE_Y2K_CLOCK
# Dec 7, 2017: - added suppress_error to readHeader()
# Dec 23, 2017: - BUG: could no longer read Anslope II raw files
# - added support for patching ADCP time data
# - added support for RDI_PD0_IO::OVERRIDE_Y2K_CLOCK
# Feb 6, 2018: - added supprort for first_ens, last_ens in readData()
# Feb 7, 2018: - BUG: new params were not optional
# - made read routines more permissive by allowing
# garbage between ensembles
# Mar 15, 2018: - BUG: WBPens() did not work for files with garbage
# Mar 16, 2018: - added skipped garbage warning
# - BUG: garbage skipping did not work correctly for files w/o BT
# Mar 20, 2018: - BUG: garbage skipping STILL did not work correctly for files w/o BT
# Apr 9, 2018: - added last_bin argument to readData()
# Apr 10, 2018: - slight improvement (parameter range check)
# Apr 23, 2018: - make WBRens() work (again?) with BB150 data froim 1996
# Apr 24, 2018: - BUG: undefined lat_bin argument to readData() did not work
# Apr 30, 2018: - added support for repeated ensembles
# - added warning on wrong ensemble length
# Jun 9, 2018: - removed double \n from warnings
# Jun 12, 2018: - BUG: IMPed files did not pass the garbage detection
# Jun 13, 2019: - adapted reading routines to RTI files (free order of data types)
# - removed old BT_PRESENT code
# Jun 28, 2019: - renamed SECONDS to SECOND for consistency
# Jun 30, 2019: - added dirty flag to prevent bad PD0 patching
# - added $show_progress
# Feb 13, 2020: - added support for $readDataProgress (to Jun 13 version)
# Apr 12, 2020: - merged laptop and whoosher versions which both implemented
# progreass; not sure whether this merge is successful
# - disabled duplicate ens detection, which turns reading into
# O(N^2) process
# Apr 14, 2020: - BUG: WBPens did not work for ens# > 65535 (high byte)
# Mar 3, 2021: - adapted to Nortek PD0 files
# Mar 13, 2021: - finished adaptation to Nortek files
# Mar 17, 2021: - updated HISTORY
# END OF HISTORY
# FIRMWARE VERSIONS:
# It appears that different firmware versions generate different file
# structures. Currently (Sep 2005) these routines have been tested
# with the following firmware versions (as reported by [listHdr]):
#
# Firmw. DATA_FORMAT(_VARIANT) Owner Cruise FIXED_LEADER_LENGTH
#------------------------------------------------------------
# 05.52 BB150 (1) UH CLIVAR/P16S 42
# 16.12 WH300 (1) FSU A0304 53
# 16.21 WH300 (1) LDEO NBP0402 53
# 16.27 WH300 (2) Nash ? 59
# PD0 FILE FORMAT EXTENSIONS:
#
# - file creator encoded in DATA_SOURCE_ID
#
# - first ensemble uses default RDI DATA_SOURCE_ID because the LDEO_IX
# software assumes this
#
# - DATA_SOURCE_ID = 0x7F original TRDI PD0 file
#
# - DATA_SOURCE_ID = 0xA0 | PATCHED_MASK produced by IMP+LADCP, KVH+LADCP
# PATCHED_MASK & 0x04: pitch value has been patched
# PATCHED_MASK & 0x02: roll value has been patched
# PATCHED_MASK & 0x01: heading value has been patched
# - PITCH & ROLL can be missing (0x8000 badval as in velocities)
# - HEADING can be missing (0xF000 badval, as 0x8000 is valid 327.68 heading)
#
# - DATA_SOURCE_ID = 0xE0 produced by editPD0
# NOTES:
# - RDI stores data in VAX/Intel byte order (little endian)
# - the output data structure does not exactly mirror the file data
# structure; the header is not stored at all and the fixed leader
# data are not duplicated in every ensemble
# - in the RDI files some fields that logically belong into the header
# or the fixed leader (e.g. BT_MIN_CORRELATION) appear in the
# ensemble data --- these are not read on input
# - the field names are generally unabbreviated except for
# BT (= Bottom Track), RL (= Reference Layer), MIN and MAX
# - all arrays are 0-referenced, but the ensemble number is not!
# - a list of filenames can be be passed to readData() so that
# files split onto several memory cards (typically .000 .001 &c)
# can be read --- not sure if this works, actually
# - the RDI manuals are not entirely clear everywhere; I have made
# guesses in some cases, but they should not affect the main
# fields of interest
# - some fields in the fixed leader are not really fixed in a LADCP
# setting (e.g. xducer orientation); I'v made an educated guess
# as to which fields to move to the ENS array
# - all units except pressure are SI, i.e. in m and m/s
# - I don't understand the ERROR_STATUS_WORD; here's what 3 different
# instruments returned:
# 0x88000100 FSU instrument during A0304 (Firmware 16.12)
# 0x88008180 LDEO uplooker (slave) during NBP0402 (Firmware 16.21)
# 0x00008180 LDEO downlooker (master) during NBP0402 (Firmware 16.21)
# According to the manual (January 2001 version) this would, for example,
# indicate power failures on both FSU and LDEO slave instruments...
# - defining the variable "$RDI_PD0_IO::IGNORE_Y2K_CLOCK" before calling &readData()
# makes the code ignore the Y2K clock and use the old clock instead; this
# is used for Dan Torres' KVH system
# &readData() returns perl obj (ref to anonymous hash) with the following
# structure:
#
# DATA_SOURCE_ID scalar 0x7f (Workhorse, also DVL)
# NUMBER_OF_DATA_TYPES scalar 6 (no BT) or 7
# ENSEMBLE_BYTES scalar ?, number of bytes w/o checksum
# HEADER_BYTES scalar ?
# FIXED_LEADER_BYTES scalar 42 for BB150; 53 for WH300, 58 for WH600, 59 for WH300(Nash)
# VARIABLE_LEADER_BYTES scalar ?
# VELOCITY_DATA_BYTES scalar ?
# CORRELATION_DATA_BYTES scalar ?
# ECHO_INTENSITY_DATA_BYTES scalar ?
# PERCENT_GOOD_DATA_BYTES scalar ?
# CPU_FW_VER scalar 0--255
# CPU_FW_REV scalar 0--255
# BEAM_FREQUENCY scalar 75, 150, 300, 600, 1200, 2400 [kHz]
# LAG_LENGTH scalar ???
# CONVEX_BEAM_PATTERN bool undefined, 1
# CONCAVE_BEAM_PATTERN bool undefined, 1
# SENSOR_CONFIG scalar 1--3
# XDUCER_HEAD_ATTACHED bool undefined, 1
# BEAM_ANGLE scalar 15,20,30,undefined=other [deg]
# N_BEAMS scalar 4--5
# N_DEMODS scalar 2--3(???),undefined=n/a
# N_BINS scalar 1--128
# PINGS_PER_ENSEMBLE scalar 0--16384
# BIN_LENGTH scalar 0.01--64 [m]
# BLANKING_DISTANCE scalar 0-99.99 [m]
# MIN_CORRELATION scalar 0--255
# N_CODE_REPETITIONS scalar 0--255
# MIN_PERCENT_GOOD scalar 1--100 [%]
# MAX_ERROR_VELOCITY scalar 0--5 [m/s]
# TIME_BETWEEN_PINGS scalar 0--? [s]
# BEAM_COORDINATES bool undefined,1
# INSTRUMENT_COORDINATES bool undefined,1
# SHIP_COORDINATES bool undefined,1
# EARTH_COORDINATES bool undefined,1
# PITCH_AND_ROLL_USED bool undefined,1
# USE_3_BEAM_ON_LOW_CORR bool undefined,1
# BIN_MAPPING_ALLOWED bool undefined,1
# HEADING_ALIGNMENT scalar -179.99..180 [deg]
# HEADING_BIAS scalar -179.99..180 [deg]
# SSPEED_CALCULATED bool undefined,1
# SSPEED_USING_PRESS bool undefined,1
# USE_COMPASS bool undefined,1
# USE_PITCH_SENSOR bool undefined,1
# USE_ROLL_SENSOR bool undefined,1
# USE_CONDUCTIVITY_SENSOR bool undefined,1
# USE_TEMPERATURE_SENSOR bool undefined,1
# SPEED_OF_SOUND_CALCULATED bool undefined,1
# PRESSURE_SENSOR_AVAILABLE bool undefined,1
# COMPASS_AVAILABLE bool undefined,1
# PITCH_SENSOR_AVAILABLE bool undefined,1
# ROLL_SENSOR_AVAILABLE bool undefined,1
# CONDUCTIVITY_SENSOR_AVAILABLE bool undefined,1
# TEMPERATURE_SENSOR_AVAILABLE bool undefined,1
# DISTANCE_TO_BIN1_CENTER scalar 0--655.35 [m]
# TRANSMITTED_PULSE_LENGTH scalar 0--655.35 [m]
# RL_FIRST_BIN scalar 1--128
# RL_LAST_BIN scalar 1--128
# FALSE_TARGET_THRESHOLD scalar 0--254, undefined=disabled
# LOW_LATENCY_SETTING scalar 0--5(???)
# TRANSMIT_LAG_DISTANCE scalar 0--655.35 [m]
# CPU_SERIAL_NUMBER scalar undefined, 0--65535 if WH300
# NARROW_BANDWIDTH bool undefined,1 (only set if WH300)
# WIDE_BANDWIDTH bool undefined,1 (only set if WH300)
# TRANSMIT_POWER scalar undefined, 0--255(high) if WH300
# TRANSMIT_POWER_HIGH bool undefined,1 (only set if WH300)
# BT_PINGS_PER_ENSEMBLE scalar 0--999
# BT_DELAY_BEFORE_REACQUIRE scalar 0--999
# BT_MIN_CORRELATION scalar 0--255
# BT_MIN_EVAL_AMPLITUDE scalar 0--255
# BT_MIN_PERCENT_GOOD scalar 0--100 [%]
# BT_MODE scalar 4,5,6(?)
# BT_MAX_ERROR_VELOCITY scalar 0--5 [m/s], undef=not screened
# BT_RL_MIN_SIZE scalar 0--99.9 [m]
# BT_RL_NEAR scalar 0--999.9 [m]
# BT_RL_FAR scalar 0--999.9 [m]
# BT_MAX_TRACKING_DEPTH scalar 8--999.9 [m]
# ENSEMBLE[ensemble_no-1] array ensemble info
# XDUCER_FACING_UP bool undefined, 1
# XDUCER_FACING_DOWN bool undefined, 1
# N_BEAMS_USED scalar 3,4,5(?)
# NUMBER scalar 1--16777215
# BUILT_IN_TEST_ERROR scalar ?,undefined=none
# SPEED_OF_SOUND scalar 1400--1600 [m/s]
# XDUCER_DEPTH scalar 0.1--999.9 [m]
# HEADING scalar 0--359.99 [deg] --- IMP EXTENSION: undef
# PITCH scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef
# ROLL scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef
# SALINITY scalar 0-40 [psu]
# TEMPERATURE scalar -5.00--40.00 [deg]
# MIN_PRE_PING_WAIT_TIME scalar ? [s]
# HEADING_STDDEV scalar 0-180 [deg]
# PITCH_STDDEV scalar 0.0-20.0 [deg]
# ROLL_STDDEV scalar 0.0-20.0 [deg]
# ADC_XMIT_CURRENT scalar 0--255
# ADC_XMIT_VOLTAGE scalar 0--255
# ADC_AMBIENT_TEMPERATURE scalar 0--255
# ADC_PRESSURE_PLUS scalar 0--255
# ADC_PRESSURE_MINUS scalar 0--255
# ADC_ATTITUDE_TEMPERATURE scalar 0--255
# ADC_ATTITUDE scalar 0--255
# ADC_CONTAMINATION scalar 0--255
# ERROR_STATUS_WORD scalar undefined, ? (only set if WH300)
# PRESSURE scalar undefined, ?-? [dbar] (only set if WH300)
# PRESSURE_STDDEV scalar undefined, ?-? [dbar] (only set if WH300)
# DATE string MM/DD/YYYY
# YEAR scalar ?
# MONTH scalar 1--12
# DAY scalar 1--31
# TIME string HH:MM:SS.hh
# HOUR scalar 0--23
# MINUTE scalar 0--59
# SECOND scalar 0--59.99
# UNIX_TIME scalar 0--?
# SECNO scalar 0--? (number of seconds since daystart)
# DAYNO double fractional day number since start of current year (1.0 is midnight Jan 1st)
# VELOCITY[bin][beam] scalars -32.767--32.768 [m/s], undef=bad
# CORRELATION[bin][beam] scalars 1--255, undefined=bad
# ECHO_AMPLITUDE[bin][beam] scalars 0--255
# PERCENT_GOOD[bin][beam] scalars 0--255
# BT_RANGE[beam] scalars tons [m]
# BT_VELOCITY[beam] scalars see VELOCITY
# BT_CORRELATION[beam] scalars see CORRELATION
# BT_EVAL_AMPLITUDE[beam] scalars 0--255
# BT_PERCENT_GOOD[beam] scalars see PERCENT_GOOD
# BT_RL_VELOCITY[beam] scalars see VELOCITY
# BT_RL_CORRELATION[beam] scalars see CORRELATION
# BT_RL_ECHO_AMPLITUDE[beam] scalars see ECHO_AMPLITUDE
# BT_RL_PERCENT_GOOD[beam] scalars see PERCENT_GOOD
# BT_SIGNAL_STRENGTH[beam] scalars 0--255
# HIGH_GAIN bool 1, undefined
# LOW_GAIN bool 1, undefined
use strict;
use Time::Local; # timegm()
$RDI_PD0_IO::show_progress = 0; # when set, print . every 1000 ens read
#----------------------------------------------------------------------
# Time Conversion Subroutines
# - prepended with _ to avoid conflicts with [libconv.pl]
#----------------------------------------------------------------------
sub _monthLength($$) # of days in month
{
my($Y,$M) = @_;
return 31 if ($M==1 || $M==3 || $M==5 || $M==7 ||
$M==8 || $M==10 || $M==12);
return 30 if ($M==4 || $M==6 || $M==9 || $M==11);
return 28 if ($Y%4 != 0);
return 29 if ($Y%100 != 0);
return 28 if ($Y%400 > 0);
return 29;
}
{ my($epoch,$lM,$lD,$lY,$ldn); # static scope
sub _dayNo($$$$$$)
{
my($Y,$M,$D,$h,$m,$s) = @_;
my($dn);
if ($Y==$lY && $M==$lM && $D==$lD) { # same day as last samp
$dn = $ldn;
} else { # new day
$epoch = $Y unless defined($epoch); # 1st call
$lY = $Y; $lM = $M; $lD = $D; # store
for ($dn=0,my($cY)=$epoch; $cY<$Y; $cY++) { # multiple years
$dn += 337 + &_monthLength($Y,$M);
}
$dn += $D; # day in month
while (--$M > 0) { # preceding months
$dn += &_monthLength($Y,$M);
}
$ldn = $dn; # store
}
return $dn + $h/24 + $m/24/60 + $s/24/3600;
}
} # static scope
#----------------------------------------------------------------------
# Read Data
#----------------------------------------------------------------------
my($WBRcfn,$WBPcfn); # current file names for reading/patching
my($BIT_errors) = 0; # built-in-test errors
my($FmtErr) = "%s: illegal %s Id 0x%04x at ensemble %d";
#----------------------------------------------------------------------
# skip to next valid start of ensemble (skip over garbage)
#----------------------------------------------------------------------
sub goto_next_ens(@)
{
my($fh,$return_skipped) = @_; # if return_skipped not set, return file pos
my($buf,$dta);
my($found) = 0; # zero consecutive 0x7f found
my($skipped) = 0; my($garbage_start);
while ($found < 2) {
sysread($fh,$buf,1) == 1 || last;
($dta) = unpack('C',$buf);
if ($dta == 0x7f) {
$found++;
} elsif ($found==1 &&
($dta==0xE0 || # from editPD0
(($dta&0xF0)==0xA0 && ($dta&0x0F)<8))) { # from IMP+LADCP or KVH+LADCP
$found++;
} elsif ($found == 0) {
$garbage_start = sysseek($fh,0,1)-1 unless defined($garbage_start);
$skipped++;
} else { # here, found == 1 but 2nd byte was not found
$garbage_start = sysseek($fh,0,1)-$found unless defined($garbage_start);
$skipped += $found;
$found = 0;
}
}
my($fpos) = ($found < 2) ? undef : sysseek($fh,-2,1);
return $skipped if ($return_skipped);
if ($skipped) {
if (eof($fh)) {
# 04/18/18: disabled the following line of code because it is very common at
# least with the older RDI instruments I am looking at in the context
# of the SR1b repeat section analysis
# print(STDERR "WARNING (RDI_PD0_IO): PD0 file ends with $skipped garbage bytes\n");
} elsif ($garbage_start == 0) {
print(STDERR "WARNING (RDI_PD0_IO): PD0 file starts with $skipped garbage bytes\n");
} else {
print(STDERR "WARNING (RDI_PD0_IO): $skipped garbage bytes in PD0 file beginning at byte $garbage_start\n");
}
}
return $fpos;
}
#----------------------------------------------------------------------
# readHeader(file_name,^dta) WBRhdr(^data)
# - read header data
# - also includes some data from 1st ens
#----------------------------------------------------------------------
sub readHeader(@)
{
my($fn,$dta,$suppress_error) = @_;
$WBRcfn = $fn;
open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
if (WBRhdr($dta)) {
return 1;
} elsif ($suppress_error) {
return undef;
} else {
die("$WBRcfn: Insufficient data\n");
}
}
sub WBRhdr($)
{
my($dta) = @_;
my($hid,$did,$B,$W,$i,$dummy);
local our($ndt,$buf,$id,$start_ens,@WBRofs);
my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5);
#--------------------
# HEADER
#--------------------
my($skipped) = goto_next_ens(\*WBRF,1);
if ($skipped > 0) {
$RDI_PD0_IO::File_Dirty = 1;
printf(STDERR "WARNING: %d bytes of initial garbage\n",$skipped);
}
sysread(WBRF,$buf,6) == 6 || return undef;
($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES})
= unpack('CCvCC',$buf);
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header (hid)",$hid,0));
$did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header (did)",$did,0));
$ndt = $dta->{NUMBER_OF_DATA_TYPES};
$start_ens = sysseek(WBRF,$dta->{ENSEMBLE_BYTES}-6+2,1) || return undef;
sysread(WBRF,$buf,6) == 6 || return undef;
($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES})
= unpack('CCvCC',$buf);
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header (hid2)",$hid,0));
$dta->{DATA_SOURCE_ID} = $did;
if ($did == 0x7f) {
$dta->{PRODUCER} = 'TRDI or Nortek ADCP';
} elsif (($did&0xF0) == 0xA0) {
$dta->{PRODUCER} = 'IMP+LADCP (Thurnherr software)';
} elsif (($did&0xF0) == 0xE0) {
$dta->{PRODUCER} = 'editPD0 (Thurnherr software)';
} else {
$dta->{PRODUCER} = sprintf('unknown (0x%02X)');
}
sysread(WBRF,$buf,2*$dta->{NUMBER_OF_DATA_TYPES})
== 2*$dta->{NUMBER_OF_DATA_TYPES}
|| die("$WBRcfn: $!");
@WBRofs = unpack("v$dta->{NUMBER_OF_DATA_TYPES}",$buf);
# for ($i=0; $i<$dta->{NUMBER_OF_DATA_TYPES}; $i++) {
# printf(STDERR "WBRofs[$i] = %d\n",$WBRofs[$i]);
# }
$dta->{HEADER_BYTES} = $WBRofs[0];
$dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0];
$dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1];
if ($dta->{FIXED_LEADER_BYTES} == 42) { # Eric Firing's old instrument I used in 2004
$dta->{INSTRUMENT_TYPE} = 'BB150';
} elsif ($dta->{FIXED_LEADER_BYTES} == 53) { # old firmware: no serial numbers
$dta->{INSTRUMENT_TYPE} = 'Workhorse';
} elsif ($dta->{FIXED_LEADER_BYTES} == 59) { # new firmware: with serial numbers
$dta->{INSTRUMENT_TYPE} = 'Workhorse or Signature';
} elsif ($dta->{FIXED_LEADER_BYTES} == 58) { # DVL
$dta->{INSTRUMENT_TYPE} = 'Explorer';
} elsif ($dta->{FIXED_LEADER_BYTES} == 60) { # OS75
$dta->{INSTRUMENT_TYPE} = 'Ocean Surveyor';
} else {
$dta->{INSTRUMENT_TYPE} = 'unknown';
}
my($BT_dt) = WBRdtaIndex(0x0600);
$dta->{BT_PRESENT} = defined($BT_dt);
@{$dta->{DATA_TYPES}} = WBRdtaTypes();
#--------------------------------
# Variable Leader: SPEED_OF_SOUND
#--------------------------------
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
$id = unpack('v',$buf);
if ($dta->{INSTRUMENT_TYPE} eq 'Ocean Surveyor') {
$id == 0x0081 || printf(STDERR $FmtErr."\n",$WBRcfn,"Variable Leader",$id,1);
} else {
$id == 0x0080 || printf(STDERR $FmtErr."\n",$WBRcfn,"Variable Leader",$id,1);
}
sysseek(WBRF,12,1) || die("$WBRcfn: $!"); # skip up to speed of sound
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
$dta->{SPEED_OF_SOUND} = unpack('v',$buf);
#--------------------
# FIXED LEADER
#--------------------
sysseek(WBRF,$start_ens+$WBRofs[0],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,42) == 42 || die("$WBRcfn: $!");
($id,$dta->{CPU_FW_VER},$dta->{CPU_FW_REV},$B1,$B2,$dummy,
$dta->{LAG_LENGTH},$dummy,
$dta->{N_BINS},$dta->{PINGS_PER_ENSEMBLE},$dta->{BIN_LENGTH},
$dta->{BLANKING_DISTANCE},$dummy,$dta->{MIN_CORRELATION},
$dta->{N_CODE_REPETITIONS},$dta->{MIN_PERCENT_GOOD},
$dta->{MAX_ERROR_VELOCITY},$dta->{TIME_BETWEEN_PINGS},$B3,$B4,$B5,
$dta->{HEADING_ALIGNMENT},$dta->{HEADING_BIAS},$B6,$B7,
$dta->{DISTANCE_TO_BIN1_CENTER},$dta->{TRANSMITTED_PULSE_LENGTH},
$dta->{REF_LAYER_FIRST_BIN},$dta->{REF_LAYER_LAST_BIN},
$dta->{FALSE_TARGET_THRESHOLD},$dta->{LOW_LATENCY_SETTING},
$dta->{TRANSMIT_LAG_DISTANCE}) =
unpack('vCCCCC3CvvvCCCCvCCCCvvCCvvCCCCv',$buf);
if ($dta->{INSTRUMENT_TYPE} eq 'Ocean Surveyor') {
$id == 0x0001 || printf(STDERR $FmtErr."\n",$WBRcfn,"Fixed Leader",$id,0);
} else {
$id == 0x0000 || printf(STDERR $FmtErr."\n",$WBRcfn,"Fixed Leader",$id,0);
}
# $dta->{BEAM_FREQUENCY} = 2**($B1 & 0x07) * 75; # nominal
if (($B1&0x07) == 0b000) { $dta->{BEAM_FREQUENCY} = 76.8; } # actual
elsif (($B1&0x07) == 0b001) { $dta->{BEAM_FREQUENCY} = 153.6; }
elsif (($B1&0x07) == 0b010) { $dta->{BEAM_FREQUENCY} = 307.2; }
elsif (($B1&0x07) == 0b011) { $dta->{BEAM_FREQUENCY} = 614.4; }
elsif (($B1&0x07) == 0b100) { $dta->{BEAM_FREQUENCY} = 1228.8; }
elsif (($B1&0x07) == 0b101) { $dta->{BEAM_FREQUENCY} = 2457.6; }
else { die(sprintf("$WBRcfn: cannot decode BEAM_FREQUENCY (%03b)\n",$B1&0x07)); }
$dta->{CONVEX_BEAM_PATTERN} = 1 if ($B1 & 0x08);
$dta->{CONCAVE_BEAM_PATTERN} = 1 if (!($B1 & 0x08));
$dta->{SENSOR_CONFIG} = ($B1 & 0x30) >> 4;
$dta->{XDUCER_HEAD_ATTACHED} = 1 if ($B1 & 0x40);
if (($B2 & 0x03) == 0x00) { $dta->{BEAM_ANGLE} = 15; }
elsif (($B2 & 0x03) == 0x01) { $dta->{BEAM_ANGLE} = 20; }
elsif (($B2 & 0x03) == 0x02) { $dta->{BEAM_ANGLE} = 30; }
if (($B2 & 0xF0) == 0x40) { $dta->{N_BEAMS} = 4; }
elsif (($B2 & 0xF0) == 0x50) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 3; }
elsif (($B2 & 0xF0) == 0xF0) { $dta->{N_BEAMS} = 5; $dta->{N_DEMODS} = 2; }
$dta->{BIN_LENGTH} /= 100;
$dta->{BLANKING_DISTANCE} /= 100;
$dta->{MAX_ERROR_VELOCITY} /= 1000;
$dta->{TIME_BETWEEN_PINGS} *= 60;
$dta->{TIME_BETWEEN_PINGS} += $B3 + $B4/100;
$dta->{BEAM_COORDINATES} = 1 if (($B5 & 0x18) == 0x00);
$dta->{INSTRUMENT_COORDINATES} = 1 if (($B5 & 0x18) == 0x08);
$dta->{SHIP_COORDINATES} = 1 if (($B5 & 0x18) == 0x10);
$dta->{EARTH_COORDINATES} = 1 if (($B5 & 0x18) == 0x18);
$dta->{PITCH_AND_ROLL_USED} = 1 if ($B5 & 0x04);
$dta->{USE_3_BEAM_ON_LOW_CORR} = 1 if ($B5 & 0x02);
$dta->{BIN_MAPPING_ALLOWED} = 1 if ($B5 & 0x01);
$dta->{HEADING_ALIGNMENT} =
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ?
$dta->{HEADING_ALIGNMENT} / 100 : undef;
$dta->{HEADING_BIAS} =
($dta->{EARTH_COORDINATES} || $dta->{SHIP_COORDINATES}) ?
$dta->{HEADING_BIAS} / 100 : undef;
$dta->{SSPEED_FROM_EC_SETTING} = 1 unless ($B6 & 0x40); # these are the aspirations
$dta->{DEPTH_FROM_ED_SETTING} = 1 unless ($B6 & 0x20);
$dta->{HEADING_FROM_EH_SETTING} = 1 unless ($B6 & 0x10);
$dta->{PITCH_FROM_EP_SETTING} = 1 unless ($B6 & 0x08);
$dta->{ROLL_FROM_ER_SETTING} = 1 unless ($B6 & 0x04);
$dta->{SALIN_FROM_ES_SETTING} = 1 unless ($B6 & 0x02);
$dta->{TEMP_FROM_ET_SETTING} = 1 unless ($B6 & 0x01);
$dta->{SSPEED_CALCULATED} = 1 if ($B7 & 0x40); # and this is how it is in practice
$dta->{PRESSURE_SENSOR} = 1 if ($B7 & 0x20);
$dta->{COMPASS} = 1 if ($B7 & 0x10);
$dta->{PITCH_SENSOR} = 1 if ($B7 & 0x08);
$dta->{ROLL_SENSOR} = 1 if ($B7 & 0x04);
$dta->{CONDUCTIVITY_SENSOR} = 1 if ($B7 & 0x02);
$dta->{TEMPERATURE_SENSOR} = 1 if ($B7 & 0x01);
$dta->{DISTANCE_TO_BIN1_CENTER} /= 100;
$dta->{TRANSMITTED_PULSE_LENGTH} /= 100;
$dta->{FALSE_TARGET_THRESHOLD} = undef
if ($dta->{FALSE_TARGET_THRESHOLD} == 255);
$dta->{TRANSMIT_LAG_DISTANCE} /= 100;
if ($dta->{INSTRUMENT_TYPE} eq 'Workhorse or Signature') {
sysread(WBRF,$buf,11) == 11 || die("$WBRcfn: $!");
($W1,$W2,$W3,$W4,$W5,$dta->{TRANSMIT_POWER}) =
unpack('vvvvvC',$buf);
if ($W1 == 0x6953 && $W2 == 0x6E67 &&
$W3 == 0x7461 && $W4 == 0x0075) {
$dta->{INSTRUMENT_TYPE} = 'Signature';
$dta->{TRANSMIT_POWER_MAX} = ($dta->{TRANSMIT_POWER} == 122);
$dta->{PRODUCER} = 'Nortek ADCP' if ($dta->{PRODUCER} eq 'TRDI or Nortek ADCP');
} else {
$dta->{INSTRUMENT_TYPE} = 'Workhorse';
$dta->{CPU_SERIAL_NUMBER} = sprintf("%04X%04X%04X%04X",$W1,$W2,$W3,$W4);
$dta->{TRANSMIT_POWER_MAX} = ($dta->{TRANSMIT_POWER} == 255);
$dta->{PRODUCER} = 'TRDI ADCP' if ($dta->{PRODUCER} eq 'TRDI or Nortek ADCP');
}
$dta->{NARROW_BANDWIDTH} = ($W5 == 1);
$dta->{WIDE_BANDWIDTH} = ($W5 == 0);
if ($dta->{FIXED_LEADER_BYTES} == 59) { # new style with serial number
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
($dummy,$dta->{SERIAL_NUMBER},$dummy) = # last bytes is beam angle, but that info has
unpack('CVC',$buf); # already been provided above
}
}
if ($dta->{INSTRUMENT_TYPE} eq 'Explorer') {
sysread(WBRF,$buf,16) == 16 || die("$WBRcfn: $!");
($dummy,$dummy,$W5,$dummy,$dta->{SERIAL_NUMBER}) =
unpack('VVvvV',$buf);
$dta->{NARROW_BANDWIDTH} = ($W5 == 1);
$dta->{WIDE_BANDWIDTH} = ($W5 == 0);
}
#-----------------------
# 1st ENSEMBLE, BT Setup
#-----------------------
if ($dta->{BT_PRESENT}) {
sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,12) == 12 || die("$WBRcfn: $!");
($id,$dta->{BT_PINGS_PER_ENSEMBLE},$dta->{BT_DELAY_BEFORE_REACQUIRE},
$dta->{BT_MIN_CORRELATION},$dta->{BT_MIN_EVAL_AMPLITUDE},
$dta->{BT_MIN_PERCENT_GOOD},$dta->{BT_MODE},
$dta->{BT_MAX_ERROR_VELOCITY}) = unpack('vvvCCCCv',$buf);
$id == 0x0600 ||
printf(STDERR $FmtErr."\n",$WBRcfn,"Bottom Track",$id,0,tell(WBRF));
$dta->{BT_MAX_ERROR_VELOCITY} =
$dta->{BT_MAX_ERROR_VELOCITY} ? $dta->{BT_MAX_ERROR_VELOCITY} / 1000
: undef;
sysseek(WBRF,28,1) || die("$WBRcfn: $!");
sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
($dta->{BT_RL_MIN_SIZE},$dta->{BT_RL_NEAR},$dta->{BT_RL_FAR})
= unpack('vvv',$buf);
$dta->{BT_RL_MIN_SIZE} /= 10;
$dta->{BT_RL_NEAR} /= 10;
$dta->{BT_RL_FAR} /= 10;
sysseek(WBRF,20,1) || die("$WBRcfn: $!"); # skip data
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
$dta->{BT_MAX_TRACKING_DEPTH} = unpack('v',$buf) / 10;
}
return $dta;
}
#----------------------------------------------------------------------
# readData(file_name,^data[,first_ens,last_ens[,last_bin]])
# - read ensembles
# - read all ensembles unless first_ens and last_ens are given
# - read all bins unless last_bin is given
# - NB: CODE GETS PROGRESSIVELY SLOWER => HUGE PAIN FOR LARGE FILES
#----------------------------------------------------------------------
sub readData(@)
{
my($fn,$dta,$fe,$le,$lb) = @_;
$WBRcfn = $fn;
open(WBRF,$WBRcfn) || die("$WBRcfn: $!\n");
WBRhdr($dta) || die("$WBRcfn: Insufficient Data\n");
$lb = $dta->{N_BINS}
unless (numberp($lb) && $lb>=1 && $lb<=$dta->{N_BINS});
WBRens($lb,$dta->{FIXED_LEADER_BYTES},\@{$dta->{ENSEMBLE}},$fe,$le);
print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n")
if ($BIT_errors);
}
sub WBRens(@)
{
my($nbins,$fixed_leader_bytes,$E,$fe,$le) = @_;
my($B1,$B2,$B3,$B4,$I,$bin,$beam,$dummy,@dta,$i,$cs);
my($ens,$ensNo,$dayStart,$ens_length,$hid,$did,$el);
local our($ndt,$buf,$id,$start_ens,@WBRofs);
sysseek(WBRF,0,0) || die("$WBRcfn: $!");
ENSEMBLE:
for ($ens=0; 1; $ens++) {
print(STDERR '.') if ($RDI_PD0_IO::show_progress && $ens % 1000 == 0);
$start_ens = goto_next_ens(\*WBRF);
last unless defined($start_ens);
#----------------------------------------
# Handle first_ens and last_ens
#----------------------------------------
if (defined($fe) && $ens>0 && ${$E}[$ens-1]->{NUMBER}<$fe) { # delete previous ensemble
pop(@{$E}); $ens--;
}
if (defined($le) && $ens>0 && ${$E}[$ens-1]->{NUMBER}>$le) { # delete previous ensemble and finish
pop(@{$E}); $ens--;
last;
}
#----------------------------------------
# Get ensemble length and # of data types
#----------------------------------------
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,6) == 6 || last;
($hid,$did,$el,$dummy,$ndt) = unpack('CCvCC',$buf);
$hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,defined($ensNo)?$ensNo+1:0));
${$E}[$ens]->{DATA_SOURCE_ID} = $did;
if ($did == 0x7f) {
${$E}[$ens]->{PRODUCER} = 'TRDI ADCP';
} elsif ($did&0xF0 == 0xA0) {
${$E}[$ens]->{PRODUCER} = 'IMP+LADCP (Thurnherr software)';
} elsif ($did&0xF0 == 0xE0) {
${$E}[$ens]->{PRODUCER} = 'editPD0 (Thurnherr software)';
} else {
${$E}[$ens]->{PRODUCER} = 'unknown';
}
if (defined($ens_length) && ($el != $ens_length)) {
$RDI_PD0_IO::File_Dirty = 1;
print(STDERR "WARNING (RDI_PD0_IO): ensemble ${$E}[$#{$E}]->{NUMBER} skipped (unexpected length)\n");
pop(@{$E});
$ens--;
next;
}
$ens_length = $el;
## printf(STDERR "$WBRcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
## unless ($ndt == 6 || $ndt == 7);
my($nread) = sysread(WBRF,$buf,2*$ndt); # 2019 EPR test
if ($nread != 2*$ndt) {
printf(STDERR "$WBRcfn: WARNING: expected to read %d bytes, got only %d in ensemble %d\n",
2*$ndt,$nread,${$E}[$ens]->{NUMBER});
last;
}
@WBRofs = unpack("v$ndt",$buf);
$fixed_leader_bytes = $WBRofs[1] - $WBRofs[0];
# print(STDERR "@WBRofs\n");
#-------------------------------
# Make Sure Ensemble is Complete
#-------------------------------
# UH BB150 writes incomplete ensembles (i.e. short read
# indicates EOF). FSU WH300 has bogus data in incomplete
# final ensemble.
sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
unless ((sysread(WBRF,$buf,$ens_length) == $ens_length) && # incomplete ensemble
(sysread(WBRF,$cs,2) == 2)) {
# print(STDERR "INCOMPLETE ENSEMBLE\n");
pop(@{$E});
last;
}
unless (unpack('%16C*',$buf) == unpack('v',$cs)) { # bad checksum
# print(STDERR "BAD CHECKSUM\n");
pop(@{$E}); $ens--;
next;
}
#------------------------------
# Variable Leader
#------------------------------
my($lastEns) = $ensNo;
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!");
($id,$ensNo) = unpack("vv",$buf); # only lower two bytes!!!
if (${$E}[$ens]->{INSTRUMENT_TYPE} eq 'Ocean Surveyor') {
$id == 0x0081 ||
die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo + ($lastEns - ($lastEns & 0xFFFF))));
} else {
$id == 0x0080 ||
die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo + ($lastEns - ($lastEns & 0xFFFF))));
}
# if ($fixed_leader_bytes==42 || $fixed_leader_bytes==58) { # BB150 & Explorer DVL (if DISABLED!)
sysread(WBRF,$buf,7) == 7 || die("$WBRcfn: $!"); # always read pre-Y2K clock
(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},
${$E}[$ens]->{SECOND},$B4) = unpack('CCCCCCC',$buf);
${$E}[$ens]->{SECOND} += $B4/100;
${$E}[$ens]->{YEAR} += (${$E}[$ens]->{YEAR} > 80) ? 1900 : 2000;
# } else {
# sysseek(WBRF,7,1) || die("$WBRcfn: $!"); # use Y2K RTC instead
# }
sysread(WBRF,$buf,1) == 1 || die("$WBRcfn: $!");
$ensNo += unpack('C',$buf) << 16;
## CODE DISABLED BECAUSE IT TAKES TOO MUCH TIME ON LARGE FILES.
## NOT SURE HOW COMMON DUPLICATE ENSEMBLES ARE.
##
## for (my($i)=$ens; $i>0; $i--) { # check for duplicate ens; e.g. 2018 S4P 24UL
## if (${$E}[$i]->{NUMBER} == $ensNo) {
## $RDI_PD0_IO::File_Dirty = 1;
## print(STDERR "WARNING (RDI_PD0_IO): duplicate ensemble $ensNo skipped\n");
## pop(@{$E});
## $ens--;
## next ENSEMBLE;
## }
## }
${$E}[$ens]->{NUMBER} = $ensNo;
sysread(WBRF,$buf,30) == 30 || die("$WBRcfn: $!");
(${$E}[$ens]->{BUILT_IN_TEST_ERROR},${$E}[$ens]->{SPEED_OF_SOUND},
${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING},
${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL},
${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE},
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME},$B1,$B2,
${$E}[$ens]->{HEADING_STDDEV},${$E}[$ens]->{PITCH_STDDEV},
${$E}[$ens]->{ROLL_STDDEV},${$E}[$ens]->{ADC_XMIT_CURRENT},
${$E}[$ens]->{ADC_XMIT_VOLTAGE},${$E}[$ens]->{ADC_AMBIENT_TEMPERATURE},
${$E}[$ens]->{ADC_PRESSURE_PLUS},${$E}[$ens]->{ADC_PRESSURE_MINUS},
${$E}[$ens]->{ADC_ATTITUDE_TEMPERATURE},${$E}[$ens]->{ADC_ATTITUDE},
${$E}[$ens]->{ADC_CONTAMINATION})
= unpack('vvvvvvvvCCCCCCCCCCCCCC',$buf);
${$E}[$ens]->{BUILT_IN_TEST_ERROR} = undef
unless (${$E}[$ens]->{BUILT_IN_TEST_ERROR});
$BIT_errors++ if (${$E}[$ens]->{BUILT_IN_TEST_ERROR});
${$E}[$ens]->{XDUCER_DEPTH} /= 10;
#-------------------------------------------------
# IMP EXTENSION: PITCH/ROLL/HEADING CAN BE MISSING
#-------------------------------------------------
${$E}[$ens]->{HEADING} = (${$E}[$ens]->{HEADING} == 0xF000)
? undef
: ${$E}[$ens]->{HEADING} / 100;
${$E}[$ens]->{PITCH} = (${$E}[$ens]->{PITCH} == 0x8000)
? undef
: unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100;
${$E}[$ens]->{ROLL} = (${$E}[$ens]->{ROLL} == 0x8000)
? undef
: unpack('s',pack('S',${$E}[$ens]->{ROLL})) / 100;
${$E}[$ens]->{TEMPERATURE} = unpack('s',pack('S',${$E}[$ens]->{TEMPERATURE})) / 100;
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} *= 60;
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} += $B1 + $B2/100;
${$E}[$ens]->{PITCH_STDDEV} /= 10;
${$E}[$ens]->{ROLL_STDDEV} /= 10;
if (($fixed_leader_bytes==53 || $fixed_leader_bytes==59) && # Workhorse instruments
!defined($RDI_PD0_IO::IGNORE_Y2K_CLOCK)) {
sysread(WBRF,$buf,23) == 23 || die("$WBRcfn: $!");
(${$E}[$ens]->{ERROR_STATUS_WORD},
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV},
$dummy,${$E}[$ens]->{YEAR},$B3,${$E}[$ens]->{MONTH},
${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},
${$E}[$ens]->{SECOND},$B4)
= unpack('VvVVCCCCCCCCC',$buf);
${$E}[$ens]->{PRESSURE} /= 1000;
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000;
${$E}[$ens]->{YEAR} *= 100; ${$E}[$ens]->{YEAR} += $B3;
${$E}[$ens]->{SECOND} += $B4/100;
}
# THE FOLLOWING LINE OF CODE WAS REMOVED 7/30/2016 WHEN I ADDED A POP
# TO THE last STATEMENT ABOVE (INCOMPLETE ENSEMBLE)
# THE LINE WAS RE-ENABLED ON 12/23/2017 BECAUSE OTHERWISE THE
# ANSLOPE II PROFILES IN THE HOWTO CANNOT BE READ.
pop(@{$E}),last if (${$E}[$ens]->{MONTH}>12); # 10/15/2014; IWISE#145 UL ???
if ($fixed_leader_bytes == 58) { # Explorer DVL
sysread(WBRF,$buf,14) == 14 || die("$WBRcfn: $!");
(${$E}[$ens]->{ERROR_STATUS_WORD},
$dummy,${$E}[$ens]->{PRESSURE},${$E}[$ens]->{PRESSURE_STDDEV})
= unpack('VvVV',$buf);
${$E}[$ens]->{PRESSURE} /= 1000;
${$E}[$ens]->{PRESSURE_STDDEV} /= 1000;
}
${$E}[$ens]->{DATE}
= sprintf("%02d/%02d/%d",${$E}[$ens]->{MONTH},
${$E}[$ens]->{DAY},
${$E}[$ens]->{YEAR});
${$E}[$ens]->{TIME}
= sprintf("%02d:%02d:%05.02f",${$E}[$ens]->{HOUR},
${$E}[$ens]->{MINUTE},
${$E}[$ens]->{SECOND});
${$E}[$ens]->{DAYNO}
= &_dayNo(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},${$E}[$ens]->{DAY},
${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},${$E}[$ens]->{SECOND});
# when analyzing an STA file from an OS75 SADCP (Poseidon),
# I noticed that there is no time information. This causes
# timegm to bomb.
if (${$E}[$ens]->{MONTH} == 0) { # no time info
${$E}[$ens]->{UNIX_TIME} = 0;
${$E}[$ens]->{SECNO} = 0;
} else {
# print(STDERR "[$ens]->${$E}[$ens]->{MINUTE}:${$E}[$ens]->{HOUR},${$E}[$ens]->{DAY},${$E}[$ens]->{MONTH},${$E}[$ens]->{YEAR}-<\n");
${$E}[$ens]->{UNIX_TIME}
= timegm(0,${$E}[$ens]->{MINUTE},
${$E}[$ens]->{HOUR},
${$E}[$ens]->{DAY},
${$E}[$ens]->{MONTH}-1, # timegm jan==0!!!
${$E}[$ens]->{YEAR})
+ ${$E}[$ens]->{SECOND};
$dayStart = timegm(0,0,0,${$E}[$ens]->{DAY},
${$E}[$ens]->{MONTH}-1,
${$E}[$ens]->{YEAR})
unless defined($dayStart);
${$E}[$ens]->{SECNO} = ${$E}[$ens]->{UNIX_TIME} - $dayStart;
}
sysseek(WBRF,$start_ens+$WBRofs[0]+4,0) # System Config / Fixed Leader
|| die("$WBRcfn: $!");
sysread(WBRF,$buf,5) == 5 || die("$WBRcfn: $!");
($B1,$dummy,$dummy,$dummy,${$E}[$ens]->{N_BEAMS_USED})
= unpack('CCCCC',$buf);
${$E}[$ens]->{XDUCER_FACING_UP} = 1 if ($B1 & 0x80);
${$E}[$ens]->{XDUCER_FACING_DOWN} = 1 unless ($B1 & 0x80);
#--------------------
# Velocity Data
#--------------------
my($ndata) = $nbins * 4;
my($vel_di) = WBRdtaIndex(0x0100);
if (defined($vel_di)) {
sysseek(WBRF,$start_ens+$WBRofs[$vel_di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!");
($id,@dta) = unpack("vv$ndata",$buf);
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++,$i++) {
${$E}[$ens]->{VELOCITY}[$bin][$beam] =
unpack('s',pack('S',$dta[$i])) / 1000
if ($dta[$i] != 0x8000);
}
}
} else {
# die("no velocity data in ensemble #$ensNo\n");
print(STDERR "WARNING: no velocity data in ensemble #$ensNo\n");
}
#--------------------
# Correlation Data
#--------------------
my($corr_di) = WBRdtaIndex(0x0200);
if (defined($corr_di)) {
sysseek(WBRF,$start_ens+$WBRofs[$corr_di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
($id,@dta) = unpack("vC$ndata",$buf);
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++,$i++) {
${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i]
if ($dta[$i]);
}
}
} else {
# die("no correlation data in ensemble #$ensNo\n")
print(STDERR "WARNING: no correlation data in ensemble #$ensNo\n")
}
#--------------------
# Echo Intensity Data
#--------------------
my($echo_di) = WBRdtaIndex(0x0300);
if (defined($echo_di)) {
sysseek(WBRF,$start_ens+$WBRofs[$echo_di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
($id,@dta) = unpack("vC$ndata",$buf);
$id == 0x0300 ||
die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ensNo));
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++,$i++) {
${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i];
}
}
} else {
# die("no echo intensity data in ensemble #$ensNo\n");
print(STDERR "WARNING: no echo intensity data in ensemble #$ensNo\n");
}
#--------------------
# Percent Good Data
#--------------------
my($pctg_di) = WBRdtaIndex(0x0400);
if (defined($pctg_di)) {
sysseek(WBRF,$start_ens+$WBRofs[$pctg_di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
($id,@dta) = unpack("vC$ndata",$buf);
$id == 0x0400 ||
die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,$ensNo));
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++,$i++) {
${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i];
}
}
} else {
printf(STDERR "\nWARNING (RDI_PD0_IO): Percent-Good data missing from PD0 file\n")
if ($ens == 0);
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++,$i++) {
${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = 100; # fake it
}
}
}
#-----------------------------------------
# Bottom-Track Data
# - scan through remaining data types
#-----------------------------------------
my($bt_di) = WBRdtaIndex(0x0600);
unless (defined($pctg_di)) { # no BT found => next ens
sysseek(WBRF,$start_ens+$ens_length+2,0) || die("$WBRcfn: $!");
next;
}
sysseek(WBRF,14,1) || die("$WBRcfn: $!"); # BT range, velocity, corr, %-good, ...
sysread(WBRF,$buf,28) == 28 || die("$WBRcfn: $!");
@dta = unpack('v4v4C4C4C4',$buf);
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_RANGE}[$beam] = $dta[$beam] / 100 # lower 2 bytes only!
if ($dta[$beam]); # (see below for high bytes)
}
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_VELOCITY}[$beam] =
unpack('s',pack('S',$dta[4+$beam])) / 1000
if ($dta[4+$beam] != 0x8000);
}
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_CORRELATION}[$beam] = $dta[8+$beam]
if ($dta[8+$beam]);
}
for ($beam=0; $beam<4; $beam++) { # BT filter parameter
${$E}[$ens]->{BT_EVAL_AMPLITUDE}[$beam] = $dta[12+$beam];
}
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_PERCENT_GOOD}[$beam] = $dta[16+$beam];
}
sysseek(WBRF,6,1) || die("$WBRcfn: $!"); # BT ref level stuff
if (sysread(WBRF,$buf,20) != 20) { # EN642/PITA1
pop(@{$E});
last;
}
@dta = unpack('v4C4C4C4',$buf);
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_RL_VELOCITY}[$beam] =
unpack('s',pack('S',$dta[$beam])) / 1000
if ($dta[$beam] != 0x8000);
}
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_RL_CORRELATION}[$beam] = $dta[4+$beam]
if ($dta[4+$beam]);
}
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_RL_ECHO_AMPLITUDE}[$beam] = $dta[8+$beam];
}
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_RL_PERCENT_GOOD}[$beam] = $dta[12+$beam];
}
sysseek(WBRF,2,1) || die("$WBRcfn: $!"); # BT signal strength & BT range high bytes
# sysread(WBRF,$buf,9) == 9 || die("$WBRcfn: $!");
if (sysread(WBRF,$buf,9) == 9) { # SR1b JR16 BB150 data files require this
@dta = unpack('C4CC4',$buf);
for ($beam=0; $beam<4; $beam++) {
${$E}[$ens]->{BT_SIGNAL_STRENGTH}[$beam] = $dta[$beam];
}
${$E}[$ens]->{HIGH_GAIN} if ($dta[4]);
${$E}[$ens]->{LOW_GAIN} unless ($dta[4]);
for ($beam=0; $beam<4; $beam++) { # high bytes (1 byte per beam)
${$E}[$ens]->{BT_RANGE}[$beam] += $dta[5+$beam] * 655.36
if ($dta[5+$beam]);
}
# sysseek(WBRF,8,1) || die("$WBRcfn: $!"); # remainder of ensemble
}
sysseek(WBRF,$start_ens+$ens_length+2,0) || die("$WBRcfn: $!");
} # ens loop
print(STDERR "\n") if ($RDI_PD0_IO::show_progress);
}
sub WBRdtaIndex($) # return index of particular data type
{ # where index refers to data sections inside PD0 files
my($trgid) = @_;
our($ndt,$buf,$id,$start_ens,@WBRofs);
# printf(STDERR "WBRdtaIndex(%04X)\n",$trgid);
for (my($di)=2; $di<$ndt; $di++) {
sysseek(WBRF,$start_ens+$WBRofs[$di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
$id = unpack('v',$buf);
# printf(STDERR "\tid = %04X\n",$id);
return $di if ($id == $trgid);
}
return undef;
}
sub WBRdtaTypes() # return list of data types
{
my(@dt);
our($ndt,$buf,$id,$start_ens,@WBRofs);
for (my($di)=2; $di<$ndt; $di++) {
sysseek(WBRF,$start_ens+$WBRofs[$di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
$id = unpack('v',$buf);
if ($id == 0x0000) { push(@dt,'FixedLeader'); }
elsif ($id == 0x0080) { push(@dt,'VariableLeader'); }
elsif ($id == 0x0081) { push(@dt,'VariableLeader'); } # TRDI Ocean Surveyor
elsif ($id == 0x0100) { push(@dt,'VELOCITY'); }
elsif ($id == 0x0200) { push(@dt,'CORRELATION'); }
elsif ($id == 0x0300) { push(@dt,'ECHO_AMPLITUDE'); }
elsif ($id == 0x0400) { push(@dt,'PERCENT_GOOD'); }
elsif ($id == 0x0600) { push(@dt,'BOTTOM_TRACK'); }
else { push(@dt,'Unknown'); }
}
return @dt;
}
#----------------------------------------------------------------------
# writeData(output_file_name,^data) WBPens(nbins,fixed_leader_bytes,^data)
# - writeData() copies file previously read with readData() to output_file_name
# - WBPens() patches new PD0 file with ^data
# - ^data is modified!!!!
# - output file must already exist and have correct structure
# - only subset of data structure is patched:
# - Header: Data Source Id
# - Var Ldr: Soundspeed, Depth, Heading, Pitch, Roll, Temp, Salin
# - Data: Velocity, Correlation, Echo Amp, %-Good,
#----------------------------------------------------------------------
sub writeData(@)
{
my($fn,$dta) = @_;
die("writeData() needs \$WBRcfn from previous readData()\n")
unless (length($WBRcfn) > 0);
die("writeData() only works with clean PD0 files\n")
if ($RDI_PD0_IO::File_Dirty);
sysseek(WBRF,0,0) || die("$WBRcfn: $!"); # rewind input file
$WBPcfn = $fn; # set patch file name for error messages
open(WBPF,"+>$WBPcfn") || die("$WBPcfn: $!"); # open patch file for r/w
while (1) { # copy input file to patch file
my($buf);
my($nread) = sysread(WBRF,$buf,100*1024);
die("$WBRcfn: $!\n") if ($nread < 0);
last if ($nread == 0);
my($nwritten) = syswrite(WBPF,$buf,100*1024);
die("$WBPcfn: $! ($nwritten of $nread written)\n")
unless ($nwritten = $nread);
}
sysseek(WBPF,0,0) || die("$WBPcfn: $!"); # rewind patch file
WBPens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},$dta);
}
sub _round(@)
{
return $_[0] >= 0 ? int($_[0] + 0.5)
: int($_[0] - 0.5);
}
sub WBPens($$$)
{
my($nbins,$fixed_leader_bytes,$dta) = @_;
my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBPofs);
my($ens,$dayStart,$ens_length,$hid,$ndt,$el);
# for ($ens=$start_ens=0; $ens<=$#{$dta->{ENSEMBLE}}; $ens++,$start_ens+=$ens_length+2) {
for ($ens=0; $ens<=$#{$dta->{ENSEMBLE}}; $ens++) {
$start_ens = goto_next_ens(\*WBPF);
die("ens = $ens\n") unless defined($start_ens);
#------------------------------
# Patch Header (Data Source Id)
#------------------------------
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!");
sysread(WBPF,$buf,1) || die("$WBPcfn: unexpected EOF");
($hid) = unpack('C',$buf);
$hid == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Header",$hid,$ens));
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{DATA_SOURCE_ID});
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
sysread(WBPF,$buf,4) == 4 || die("$WBPcfn: unexpected EOF");
($el,$dummy,$ndt) = unpack('vCC',$buf);
$ens--,next if (defined($ens_length) && ($el != $ens_length));
$ens_length = $el;
printf(STDERR "$WBPcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
unless ($ndt == 6 || $ndt == 7);
sysread(WBPF,$buf,2*$ndt) == 2*$ndt || die("$WBPcfn: $!");
@WBPofs = unpack("v$ndt",$buf);
$fixed_leader_bytes = $WBPofs[1] - $WBPofs[0];
#--------------------
# Fixed Leader
#--------------------
sysseek(WBPF,$start_ens+$WBPofs[0]+4,0) # system config (transducer orientation)
|| die("$WBPcfn: $!");
sysread(WBPF,$buf,1) == 1 || die("$WBPcfn: $!");
$B1 = unpack('C',$buf);
$B1 |= 0x80 if ($dta->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP});
$B1 &= 0x7F if ($dta->{ENSEMBLE}[$ens]->{XDUCER_FACING_DOWN});
$buf = pack('C',$B1);
sysseek(WBPF,$start_ens+$WBPofs[0]+4,0)
|| die("$WBPcfn: $!");
syswrite(WBPF,$buf,1) == 1 || die("$WBPcfn: $!");
sysseek(WBPF,$start_ens+$WBPofs[0]+25,0) || die("$WBPcfn: $!"); # EX / coord-transformation
sysread(WBPF,$buf,1) == 1 || die("$WBPcfn: $!");
my($EX) = unpack('C',$buf);
if ($dta->{BEAM_COORDINATES}) {
$EX &= ~0x18;
} elsif ($dta->{EARTH_COORDINATES}) {
$EX |= 0x18;
} else {
die("$WBPcfn: only beam- and earth coordinates are supported (implementation restriction)\n");
}
$buf = pack('C',$EX);
sysseek(WBPF,$start_ens+$WBPofs[0]+25,0) || die("$WBPcfn: $!");
syswrite(WBPF,$buf,1) == 1 || die("$WBPcfn: $!");
#----------------------------------------------------------------------
# Variable Leader #0
# - read ensNo for debugging purposes
#----------------------------------------------------------------------
sysseek(WBPF,$start_ens+$WBPofs[1]+2,0) || die("$WBPcfn: $!");
sysread(WBPF,$buf,2) == 2 || die("$WBPcfn: $!");
my($ensNo) = unpack("v",$buf); # only lower two bytes!!!
sysseek(WBPF,$start_ens+$WBPofs[1]+11,0) || die("$WBPcfn: $!"); # jump to high byte
sysread(WBPF,$buf,1) == 1 || die("$WBPcfn: $!");
$ensNo += unpack('C',$buf) << 16;
die("ensNo = $ensNo (should be $dta->{ENSEMBLE}[$ens]->{NUMBER})\n")
unless ($ensNo == $dta->{ENSEMBLE}[$ens]->{NUMBER});
#----------------------------------------------------------------------
# Variable Leader #1
# - if $RDI_PD0_IO::OVERRIDE_Y2K_CLOCK is set, the data from the pre-Y2K
# clock are used to override the ADCP clock values; this allows
# a better time to be recorded by the data acquisition system
# without overwriting the main instrument clock data
#----------------------------------------------------------------------
if ($RDI_PD0_IO::OVERRIDE_Y2K_CLOCK) {
sysseek(WBPF,$start_ens+$WBPofs[1]+4,0) || die("$WBPcfn: $!"); # jump to RTC_YEAR
sysread(WBPF,$buf,7) == 7 || die("$WBPcfn: $!"); # read pre-Y2K clock
($dta->{ENSEMBLE}[$ens]->{YEAR},
$dta->{ENSEMBLE}[$ens]->{MONTH},
$dta->{ENSEMBLE}[$ens]->{DAY},
$dta->{ENSEMBLE}[$ens]->{HOUR},
$dta->{ENSEMBLE}[$ens]->{MINUTE},
$dta->{ENSEMBLE}[$ens]->{SECOND},$B4) =
unpack('CCCCCCC',$buf);
$dta->{ENSEMBLE}[$ens]->{SECOND} += $B4/100;
$dta->{ENSEMBLE}[$ens]->{YEAR} += ($dta->{ENSEMBLE}[$ens]->{YEAR} > 80) ? 1900 : 2000;
}
#----------------------------------------------------------------------
# Variable Leader #2
# - read ensemble number for debugging purposes
# - patch everything from SPEED_OF_SOUND to TEMPERATURE
# - at one stage, IMP allowed for missing values in pitch/roll and heading;
# on 12/23/2017 the corresponding code was disabled (replaced by assertion)
#----------------------------------------------------------------------
sysseek(WBPF,$start_ens+$WBPofs[1]+14,0) || die("$WBPcfn: $!"); # jump to SPEED_OF_SOUND
$dta->{ENSEMBLE}[$ens]->{XDUCER_DEPTH} = _round($dta->{ENSEMBLE}[$ens]->{XDUCER_DEPTH}*10);
# $dta->{ENSEMBLE}[$ens]->{HEADING} = defined($dta->{ENSEMBLE}[$ens]->{HEADING})
# ? _round($dta->{ENSEMBLE}[$ens]->{HEADING}*100)
# : 0xF000;
# $dta->{ENSEMBLE}[$ens]->{PITCH} = defined($dta->{ENSEMBLE}[$ens]->{PITCH})
# ? unpack('S',pack('s',_round($dta->{ENSEMBLE}[$ens]->{PITCH}*100)))
# : 0x8000;
# $dta->{ENSEMBLE}[$ens]->{ROLL} = defined($dta->{ENSEMBLE}[$ens]->{ROLL})
# ? unpack('S',pack('s',_round($dta->{ENSEMBLE}[$ens]->{ROLL}*100)))
# : 0x8000;
croak("$0: assertion failed") unless defined($dta->{ENSEMBLE}[$ens]->{HEADING}) &&
defined($dta->{ENSEMBLE}[$ens]->{PITCH}) &&
defined($dta->{ENSEMBLE}[$ens]->{ROLL});
$dta->{ENSEMBLE}[$ens]->{HEADING} = _round($dta->{ENSEMBLE}[$ens]->{HEADING}*100);
$dta->{ENSEMBLE}[$ens]->{PITCH} = unpack('S',pack('s',_round($dta->{ENSEMBLE}[$ens]->{PITCH}*100)));
$dta->{ENSEMBLE}[$ens]->{ROLL} = unpack('S',pack('s',_round($dta->{ENSEMBLE}[$ens]->{ROLL}*100)));
$dta->{ENSEMBLE}[$ens]->{TEMPERATURE} = unpack('S',pack('s',_round($dta->{ENSEMBLE}[$ens]->{TEMPERATURE}*100)));
$buf = pack('vvvvvvv',
$dta->{ENSEMBLE}[$ens]->{SPEED_OF_SOUND},
$dta->{ENSEMBLE}[$ens]->{XDUCER_DEPTH},$dta->{ENSEMBLE}[$ens]->{HEADING},
$dta->{ENSEMBLE}[$ens]->{PITCH},$dta->{ENSEMBLE}[$ens]->{ROLL},
$dta->{ENSEMBLE}[$ens]->{SALINITY},$dta->{ENSEMBLE}[$ens]->{TEMPERATURE});
my($nw) = syswrite(WBPF,$buf,14);
$nw == 14 || die("$WBPcfn: $nw bytes written ($!)");
#----------------------------------------------------------------------
# Variable Leader #3
# - patch Y2K RTC
#----------------------------------------------------------------------
sysseek(WBPF,$start_ens+$WBPofs[1]+57,0) || die("$WBPcfn: $!"); # jump to RTC_CENTURY
my($century) = int($dta->{ENSEMBLE}[$ens]->{YEAR} / 100);
my($year) = $dta->{ENSEMBLE}[$ens]->{YEAR} % 100;
my($seconds) = int($dta->{ENSEMBLE}[$ens]->{SECOND});
my($hundredths) = 100 * ($dta->{ENSEMBLE}[$ens]->{SECOND} - $seconds);
$buf = pack('CCCCCCCC',$century,$year,$dta->{ENSEMBLE}[$ens]->{MONTH},
$dta->{ENSEMBLE}[$ens]->{DAY},$dta->{ENSEMBLE}[$ens]->{HOUR},
$dta->{ENSEMBLE}[$ens]->{MINUTE},$seconds,$hundredths);
my($nw) = syswrite(WBPF,$buf,8);
$nw == 8 || die("$WBPcfn: $nw bytes written ($!)");
#--------------------
# Velocity Data
#--------------------
sysseek(WBPF,$start_ens+$WBPofs[2]+2,0) || die("$WBPcfn: $!"); # skip velocity data id (assume it is correct)
for ($bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++) {
$dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam] = defined($dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam])
? _round($dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam]*1000)
: 0x8000;
$buf = pack('v',unpack('S',pack('s',$dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam])));
my($nw) = syswrite(WBPF,$buf,2);
$nw == 2 || die("$WBPcfn: $nw bytes written ($!)");
}
}
#--------------------
# Correlation Data
#--------------------
sysseek(WBPF,$start_ens+$WBPofs[3]+2,0) || die("$WBPcfn: $!");
for ($bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++) {
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{CORRELATION}[$bin][$beam]);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
}
#--------------------
# Echo Intensity Data
#--------------------
sysseek(WBPF,$start_ens+$WBPofs[4]+2,0) || die("$WBPcfn: $!");
for ($bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++) {
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam]);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
}
#--------------------
# Percent Good Data
#--------------------
sysseek(WBPF,$start_ens+$WBPofs[5]+2,0) || die("$WBPcfn: $!");
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
for ($beam=0; $beam<4; $beam++,$i++) {
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$bin][$beam]);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
}
#-----------------------------------------
# Bottom-Track Data
# - scan through remaining data types
#-----------------------------------------
my($nxt);
for ($nxt=6; $nxt<$ndt; $nxt++) { # scan until BT found
sysseek(WBPF,$start_ens+$WBPofs[$nxt],0) || die("$WBPcfn: $!");
sysread(WBPF,$buf,2) == 2 || die("$WBPcfn: $! [ens=$ens]");
$id = unpack('v',$buf);
last if ($id == 0x0600);
}
unless ($nxt == $ndt) { # BT found
sysseek(WBPF,14,1) || die("$WBPcfn: $!"); # skip BT config
for ($beam=0; $beam<4; $beam++) { # BT range low bytes (2 per beam)
$buf = pack('v',_round($dta->{ENSEMBLE}[$ens]->{BT_RANGE}[$beam] * 100) & 0xFFFF);
my($nw) = syswrite(WBPF,$buf,2);
$nw == 2 || die("$WBPcfn: $nw bytes written ($!)");
}
for ($beam=0; $beam<4; $beam++) { # BT velocities
$buf = pack('v',unpack('S',pack('s',
defined($dta->{ENSEMBLE}[$ens]->{BT_VELOCITY}[$beam])
? _round($dta->{ENSEMBLE}[$ens]->{BT_VELOCITY}[$beam]*1000)
: 0x8000)));
my($nw) = syswrite(WBPF,$buf,2);
$nw == 2 || die("$WBPcfn: $nw bytes written ($!)");
}
for ($beam=0; $beam<4; $beam++) { # BT correlation
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{BT_CORRELATION}[$beam]);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
for ($beam=0; $beam<4; $beam++) { # BT evaluation amp of matching filter
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{BT_EVAL_AMPLITUDE}[$beam]);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
for ($beam=0; $beam<4; $beam++) { # BT percent good
$buf = pack('C',$dta->{ENSEMBLE}[$ens]->{BT_PERCENT_GOOD}[$beam]);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
sysseek(WBPF,33,1) || die("$WBPcfn: $!"); # BT range high bytes (1 per beam)
for ($beam=0; $beam<4; $beam++) {
$buf = pack('C',(_round($dta->{ENSEMBLE}[$ens]->{BT_RANGE}[$beam]*100) & 0xFF0000) >> 16);
my($nw) = syswrite(WBPF,$buf,1);
$nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
}
} # if BT found
#----------------
# Update Checksum
#----------------
sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!");
sysread(WBPF,$buf,$ens_length) == $ens_length || die("$WBPcfn: $!");
$cs = unpack('%16C*',$buf);
$buf = pack('v',$cs);
$nw = syswrite(WBPF,$buf,2);
$nw == 2 || die("$WBPcfn: $nw bytes written, ens=$ens ($!)");
} # ens loop
}
#----------------------------------------------------------------------
# &clearEns(^data,ens-index)
# - undefine all velocities in ensemble, including BT
# - this is required for the LDEO_IX software,
# which does not recognize missing attitude values
# - set percent good to zero
# - this is done for consistency
# - DO NOT undef heading, pitch and roll
# - the LDEO software does not recognize missing attitude vals
# and, therefore, misinterprets those
# - while this should not matter because all the velocities are
# also deleted, it was found that setting only the heading to
# undef'd and leaving pitch and roll unchanged causes
# significant errors in GPS velocity referencing! This
# must be a bug
# - also, if attitudes are undef'd the LDEO software
# cannto determine the instrument offset from pitch/roll
# and the pitch/roll DL vs UL plots are bogus
#----------------------------------------------------------------------
sub clearEns($$)
{
my($dta,$ens) = @_;
die("clearEns: ens-index $ens out of range\n")
unless ($ens>=0 && $ens<=$#{$dta->{ENSEMBLE}});
for (my($bin)=0; $bin<$dta->{N_BINS}; $bin++) {
undef(@{$dta->{ENSEMBLE}[$ens]->{VELOCITY}[$bin]});
@{$dta->{ENSEMBLE}[$ens]->{PERCENT_GOOD}[$bin]} = (0,0,0,0);
}
undef(@{$dta->{ENSEMBLE}[$ens]->{BT_VELOCITY}});
@{$dta->{ENSEMBLE}[$ens]->{BT_PERCENT_GOOD}} = (0,0,0,0);
# undef($dta->{ENSEMBLE}[$ens]->{HEADING});
# undef($dta->{ENSEMBLE}[$ens]->{PITCH});
# undef($dta->{ENSEMBLE}[$ens]->{ROLL});
}
1; # return true for all the world to see