listBins
author A.M. Thurnherr <athurnherr@yahoo.com>
Tue, 29 Jun 2021 12:21:32 -0400
changeset 59 4f4530fa35da
parent 54 21cf468fa8e0
permissions -rwxr-xr-x
V2.4 - New Features: - support for Nortek PD0 files - patchPD0 support for moored ADCP data - bug fixes & minor improvements

#!/usr/bin/perl
#======================================================================
#                    L I S T B I N S 
#                    doc: Fri Aug 25 15:57:05 2006
#                    dlm: Fri Jun  5 13:45:23 2020
#                    (c) 2006 A.M. Thurnherr
#                    uE-Info: 367 103 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================

# Split data file into per-bin time series.

# HISTORY:
#	Aug 25, 2006: - created from [listEns]
#	Aug 26, 2006: - added -M)agdecl
#				  - changed -b to -f
#	Aug 27, 2006: - added %bin
#	Aug 28, 2006: - BUG: options were confused
#	Jan  4, 2007: - improved usage message for -a
#				  - added %mag_decl
#				  - BUG: roundoff error in %pct_good_vels
#	Sep 19, 2007: - adapted to new [RDI_BB_Read.pl]
#	Feb  7, 2008: - added sound-speed correction
#				  - enabled 3-beam solutions
#	Feb  8, 2008: - added -d)iscard <beam>
#				  - added -b)eam coordinate output
#	Feb 12, 2008: - modified 3-beam output
#				  - added -p)ct_good <min>
#	Feb 13, 2008: - various improvements
#	Feb 19, 2008: - BUG: division by zero
#					BUG: min() did not work with 1st elt undef
#	Feb 21, 2008: - BUG: had forgotten to undo debugging changes
#				  - removed missing magdecl warning on -b
#	Feb 22, 2008: - moved ssCorr() to [RDI_Utils.pl]
#				  - BUG: %d complete ensembles was written to STDOUT
#				  - BUG: %N_ensembles was total number of ensembles, not
#						 only the ones used
#				  - BUG: 0 errvel was output for 3-beam solutions =>
#						 wrong time-average statistics
#	May 19, 2009: - added -w to calculate vertical velocities from
#					two beam pairs separately
#	May 21, 2009: - added horizontal beampair velocities on -w
#				  - -P)itchRoll <bias/bias>
#	May 22, 2009: - added -B) <bias/bias/bias/bias>
#	May 23, 2009: - adapted to changed beampair-velocity fun name
#	Aug 22, 2010: - added -R
#	Apr 29, 2013: - cosmetics
#				  - added warning on missing -S
#	Aug  7, 2013: - BUG: -w did not respect -d
#   Mar  4, 2014: - added support for missing PITCH/ROLL/HEADING
#	Apr 22, 2014: - BUG: extraneous semicolon
#	Nov 24, 2014: - enabled -w always
#	Mar 22, 2015: - replaced -f by -o (allowing for pipes)
#	Jun 16, 2015: - BUG: velocity bias code did not respect bad velocities
#	Jan  5, 2016: - adapted to [ANTS_tools_lib.pl]
#				  - adapted to calculation of w12, w34 from earth-coordinate data
#				  - several other changes to the code that should not affect the results
#	Jan  6, 2016: - -b removed (always output beamvels)
#	Jan 31, 2016: - started debugging the obviously wrong Earth2Beam() transformation
#	Feb 29, 2016: - continued debugging; removed debugging code
#   Mar 17, 2016: - adapted to new Getopt library
#	Jun  9, 2016: - minor improvements
#				  - BUG: velBeamToEarth() has new interface
#	Jan 27, 2017: - BUG: earth-coordinate label was wrong
#				  - changed semantics to include all %-good fields of earth-coordinate data
#					and also report total pcg (3+4 beam) in min_pcg
#				  - BUG: 3-beam %ages were incorrect: 1) they were based on goodvels instead of the
#						 entire ensemble range; 2) pings-per-ensemble were not considered
#				  - BUG: output layout was all messed up for non-valid velocities
#	Feb  6, 2018: - added support for PD0_IO first_ens, last_ens
#	Apr 10, 2018: - added day number to output
#				  - added -l)ast bin
#				  - activate output files
#	Aug 29, 2018: - added error message on -r decoding failures
#	Jun 13, 2018: - adpated to RTI files (disabled BIT error check)
#				  - BUG: dn did not have sufficient digits
#	Feb 13, 2020: - added -z
#	May 11, 2020: - removed -z, added -t -m

# General Notes:
#	- everything (e.g. beams) is numbered from 1
#	- no support for BT data

# Post-Processing:
#	- e.g. in a Makefile,
#		BFILT = | list -Lconv ensemble elapsed dn12='str2dec_time(\$$date,\$$time,2012)' heading pitch roll temp u v w err_vel w12 w34 corr1 corr2 corr3 corr4 amp1 amp2 amp3 amp4 > `basename $@ .b1`.b%d
#	- used as follows
#		listBins -o "${BFILT}"
#	- this writes only the interesting fields and calculates a 2012-referenced decimal day field

# Soundspeed Correction:
#	- applied as described in the RDI coord-trans manual
#	- sound-speed variation over range is ignored (valid for small gradients)
#	=> - same simple correction for all velocity components
#	   - simple correction for cell depths

# Min %-good (min_pcg):
#	- nan for records w/o valid velocities
#	- min(%-good) of the beams used for the velocity solution
#	- min_pcg does not have to decrease monotonically with distance,
#	  at least when 3-beam solutions are allowed and when -p is used to
#	  edit the data
#	- non-monotonic min_pcg is particularly obvious with the DYNAMUCK BM_ADCP
#	  data, where one of the beams performed much worse than the others

# %-good of earth-coordinate data:
#	pcg1	3-beam (correlation threshold)
#	pcg2	bad (errvel threshold)
#	pcg3	bad (>1 bad beam)
#	pcg4	4-beam

use Getopt::Std;

$ADCP_tools_minVersion = 2.2;
($ADCP_TOOLS) = ($0 =~ m{(.*/)[^/]+});
require "$ADCP_TOOLS/ADCP_tools_lib.pl";

$antsMinLibVersion = 7.0;
($ANTS) = (`which ANTSlib` =~ m{^(.*)/[^/]*$});
require "$ANTS/ants.pl";
require "$ANTS/libconv.pl";

die("Usage: $0 [-r)ange <first_ens,last_ens>] [-l)ast <bin>] [-R)enumber ensembles from 1] " .
			  "[-o)utput <redirection[>bin%d.raw]>] " .
			  "[output -a)ll ens (not just those with good vels)] " .
			  "[-M)agnetic <declination>] " .
			  "[-S)oundspeed correction <salin|*,temp|*,depth|*> " .
			  "[Instrument -T)ransformation Matrix <file>] " .
			  '[disable bin -m)apping] [use TRDI beam-to-earth -t)ransformation] ' .
			  "[-P)itch/Roll <bias/bias>] [-B)eamvel <bias/bias/bias/bias>] " .
		 	  "[require -4)-beam solutions] [-d)iscard <beam#>] " .
		 	  "[-p)ct-good <min>] " .
			  "<RDI file>\n")
	unless (&getopts("4aB:d:l:mM:o:p:r:P:RS:tT:") && @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));

$opt_p = 0 unless defined($opt_p);

$RDI_Coords::minValidVels 		= 4 if ($opt_4);			# no 3-beam solutions
$RDI_Coords::binMapping 		= 'none' if ($opt_m);  		# 'linterp' is default
$RDI_Coords::beamTransformation = 'RDI'  if ($opt_t);		# 'LHR90' is default

print(STDERR "WARNING: magnetic declination not set!\n")
	unless defined($opt_M);

$opt_o = '>bin%d.raw' unless defined($opt_o);
$ifn = $ARGV[0];

if (defined($opt_r)) {
	($first_ens,$last_ens) = split(',',$opt_r);
	die("Cannot decode -r $opt_r\n")
		unless ($first_ens>0 && $last_ens>$first_ens);
}

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");
}

loadInstrumentTransformation($opt_T)				# load instrument-transformation matrix
	if (defined($opt_T));

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

sub min(@)								# return minimum
{
	my($min) = 99e99;
	for (my($i)=0; $i<=$#_; $i++) {
		$min = $_[$i] if defined($_[$i]) && ($_[$i] < $min);
	}
	return ($min == 99e99) ? nan : $min;
}

sub dumpBin($$$)						# write time series of single bin
{
	my($b,$fe,$le) = @_;
	my($out) = sprintf($opt_o,$b+1);

	open(P,"$out") || die("$out: $!\n");
	print(P "#!/usr/bin/perl -S list\n");
	chmod(0777&~umask,*P);																	# activate output
	print(P "#ANTS#PARAMS# ");
	foreach my $k (keys(%P)) {
		print(P "$k\{$P{$k}\} ");
	}
	my($pct3b) = 100*$three_beam[$b]/(($le-$fe+1) * $dta{PINGS_PER_ENSEMBLE});
#	die("assertion failed ($pct3b > 100): gv[$b] = $good_vels[$b]; 3b = $three_beam[$b]; ens=$fe..$le; ")
#		if ($pct3b > 100);
	printf(STDERR "%02d:%.0f%%/%.0f%% ",$b+1,100*$good_vels[$b]/($le-$fe+1),$pct3b);

	printf(P "pct_3_beam{%.0f} ",$pct3b);
	printf(P "pct_good_vels{%.0f} ",100*$good_vels[$b]/($le-$fe+1));
	printf(P "bin{%d}",$b+1);
	printf(P " soundspeed_correction{%s}",defined($opt_S) ? $opt_S : 'NONE!');
	printf(P " dz{%g}",$dz[$b] *
				(defined($opt_S) ? ssCorr($dta{ENSEMBLE}[$fe],$SS_salin,$SS_temp,$SS_depth) : 1)
	) unless ($variable_ssCorr);
	print( P "\n");

	print(P "#ANTS#FIELDS# " .
			"{ensemble} {date} {time} {elapsed} {dn} " .
			"{heading} {pitch} {roll} " .
			"{sig_heading} {sig_pitch} {sig_roll} " .
			"{xmit_current} {xmit_voltage} " .
			"{temp} " .
			"{bv1} {bv2} {bv3} {bv4} {u} {v} {w} {err_vel} " .
			"{v12} {w12} {v34} {w34} " .
			"{corr1} {corr2} {corr3} {corr4} " .
			"{amp1} {amp2} {amp3} {amp4} " .
			"{pcg1} {pcg2} {pcg3} {pcg4} {3_beam} {min_pcg}"
	);
	print(P " {dz}") if ($variable_ssCorr);
	print(P "\n");

	my($t0) = $dta{ENSEMBLE}[$fe]->{UNIX_TIME};
	for (my($e)=$fe; $e<=$le; $e++) {
		next unless ($opt_a || $dta{ENSEMBLE}[$e]->{GOOD_VEL}[$b]);

		my($ssCorr) = defined($opt_S) ? ssCorr($dta{ENSEMBLE}[$e],$SS_salin,$SS_temp,$SS_depth) : 1;
		
		print(P "$dta{ENSEMBLE}[$e]->{NUMBER} ");
		print(P "$dta{ENSEMBLE}[$e]->{DATE} ");
		print(P "$dta{ENSEMBLE}[$e]->{TIME} ");
		printf(P "%d ",$dta{ENSEMBLE}[$e]->{UNIX_TIME}-$t0);												# elapsed time
		printf(P "%.5f ",str2dec_time($dta{ENSEMBLE}[$e]->{DATE},$dta{ENSEMBLE}[$e]->{TIME}));				# decimal day 
		print(P defined($dta{ENSEMBLE}[$e]->{HEADING}) ? "$dta{ENSEMBLE}[$e]->{HEADING} " : 'nan ');
		print(P defined($dta{ENSEMBLE}[$e]->{PITCH}) ? "$dta{ENSEMBLE}[$e]->{PITCH} " : 'nan ');
		print(P defined($dta{ENSEMBLE}[$e]->{ROLL}) ? "$dta{ENSEMBLE}[$e]->{ROLL} " : 'nan ');
		print(P "$dta{ENSEMBLE}[$e]->{HEADING_STDDEV} ");
		print(P "$dta{ENSEMBLE}[$e]->{PITCH_STDDEV} ");
		print(P "$dta{ENSEMBLE}[$e]->{ROLL_STDDEV} ");
		print(P "$dta{ENSEMBLE}[$e]->{ADC_XMIT_CURRENT} ");
		print(P "$dta{ENSEMBLE}[$e]->{ADC_XMIT_VOLTAGE} ");
		print(P "$dta{ENSEMBLE}[$e]->{TEMPERATURE} ");
		if ($dta{ENSEMBLE}[$e]->{GOOD_VEL}[$b]) {
			printf(P "%g %g %g %g ",@{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]});
			printf(P "%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0] * $ssCorr);
			printf(P "%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][1] * $ssCorr);
			printf(P "%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][2] * $ssCorr);
			if ($dta{ENSEMBLE}[$e]->{THREE_BEAM}[$b]) {
				print(P "nan ");
			} else {
				printf(P "%g ",$dta{ENSEMBLE}[$e]->{VELOCITY}[$b][3] * $ssCorr);
			}
			printf(P defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][0]) ? "%g " : "nan ",
						$dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][0]);
			printf(P defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][1]) ? "%g " : "nan ",
						$dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][1]);
			printf(P defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][2]) ? "%g " : "nan ",
						$dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][2]);
			printf(P defined($dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][3]) ? "%g " : "nan ",
						$dta{ENSEMBLE}[$e]->{BEAMPAIR_VELOCITY}[$b][3]);
		} else {
			print(P "nan nan nan nan ");
			print(P "nan nan nan nan ");
			print(P "nan nan nan nan ");
		}
		print(P "@{$dta{ENSEMBLE}[$e]->{CORRELATION}[$b]} ");
		print(P "@{$dta{ENSEMBLE}[$e]->{ECHO_AMPLITUDE}[$b]} ");
		if ($dta{ENSEMBLE}[$e]->{GOOD_VEL}[$b]) {
			print(P "@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]} ");
		} else {
			print(P "nan nan nan nan ");
		}
		if ($beamCoords) {
			printf(P "%d ",$dta{ENSEMBLE}[$e]->{THREE_BEAM}[$b]);
			printf(P "%s ",min(@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]}));
		} else {
			if ($dta{ENSEMBLE}[$e]->{GOOD_VEL}[$b]) {
				print(P "$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][0] ");
			} else {
				print(P "nan ");
			}
			printf(P "%g ",$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][0]+$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][3]);
		}
		printf(P "%g ",$dz[$b]*$ssCorr) if ($variable_ssCorr);
		print(P "\n");
	}
	close(P);
}

#----------------------------------------------------------------------
# MAIN
#----------------------------------------------------------------------

$P{RDI_file} = $ifn;
$P{mag_decl} = $opt_M if defined($opt_M);

readData($ifn,\%dta,$first_ens,$last_ens,$opt_l);
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: -p requires beam-coordinate data\n")
		if ($opt_p > 0);
	die("$ifn: -d requires beam-coordinate data\n")
		if defined($opt_d);
	die("$ifn: -B requires beam-coordinate data\n")
		if defined($opt_B);
}

for (my($b)=0; $b<$dta{N_BINS}; $b++) {				# calc dz
	$dz[$b] = $dta{DISTANCE_TO_BIN1_CENTER} + $b*$dta{BIN_LENGTH};
}

$lastGoodBin = 0;
for ($e=0; $e<=$#{$dta{ENSEMBLE}}; $e++) {				# check/transform velocities
	$dta{ENSEMBLE}[$e]->{NUMBER} = $e+1 if ($opt_R);	# renumber ensembles
	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) {
			for (my($i)=0; $i<4; $i++) {									# percent-good editing (-p)
				if ($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][$i] < $opt_p) {
					undef($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][$i]);
					undef($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][$i]);
				}
	        }

			$dta{ENSEMBLE}[$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}[$b]} =				# calculate v12, w12, v34, w34
				velBeamToBPEarth(\%dta,$e,@{$dta{ENSEMBLE}[$e]->{BEAM_VELOCITY}[$b]});

			@{$dta{ENSEMBLE}[$e]->{VELOCITY}[$b]} = 						# calculate earth velocities
				velBeamToEarth(\%dta,$e,@{$dta{ENSEMBLE}[$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}[$b][0])) {		# not a valid transformation
				undef(@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]});
				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]});

			$three_beam[$b] += ($dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b][0]/100 * $dta{PINGS_PER_ENSEMBLE});
			unless (defined($dta{ENSEMBLE}[$e]->{VELOCITY}[$b][0])) {		# no valid velocity
				undef(@{$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[$b]});
				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);
	
}
print(STDERR "Good/3-Beam: ");
for ($b=$firstBin; $b<=$lastBin; $b++) {				# generate output
	dumpBin($b,$fe,$le);
}
print(STDERR "\n");

exit(0);