--- a/RDI_PD0_IO.pl
+++ b/RDI_PD0_IO.pl
@@ -1,13 +1,13 @@
#======================================================================
-# R D I _ P D 0 _ I O . P L
+# R D I _ B B _ R E A D . P L
# doc: Sat Jan 18 14:54:43 2003
-# dlm: Tue Mar 7 12:07:29 2017
+# dlm: Tue Aug 8 16:19:45 2017
# (c) 2003 A.M. Thurnherr
-# uE-Info: 1250 39 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 562 21 NIL 0 0 72 0 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
@@ -34,7 +34,7 @@
# 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[$ensNo-1])
+# in E[0] (instead of E[$ensNo-1])
# Nov 8, 2005: - replaced UNIXTIME by UNIX_TIME
# - added SECNO
# Aug 31: 2006: - added DAYNO
@@ -62,7 +62,7 @@
# 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???
+# 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
@@ -84,19 +84,26 @@
# 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
+
# 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
+# Firmw. DATA_FORMAT(_VARIANT) Owner Cruise FIXED_LEADER_LENGTH
#------------------------------------------------------------
-# 05.52 BB150 (1) UH CLIVAR/P16S 42
+# 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
-
+# 16.21 WH300 (1) LDEO NBP0402 53
+# 16.27 WH300 (2) Nash ? 59
+
# PD0 FILE FORMAT EXTENSIONS:
#
# - file creator encoded in DATA_SOURCE_ID
@@ -104,7 +111,7 @@
# - 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 = 0x7F original TRDI PD0 file
#
# - DATA_SOURCE_ID = 0xA0 | PATCHED_MASK produced by IMP+LADP
# PATCHED_MASK & 0x04: pitch value has been patched
@@ -114,7 +121,7 @@
# - 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
@@ -138,12 +145,12 @@
# - 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)
+# 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...
-
+
# &readData() returns perl obj (ref to anonymous hash) with the following
# structure:
#
@@ -153,27 +160,28 @@
# 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 ?
+# VELOCITY_DATA_BYTES scalar ?
# CORRELATION_DATA_BYTES scalar ?
# ECHO_INTENSITY_DATA_BYTES scalar ?
-# PERCENT_GOOD_DATA_BYTES scalar ?
+# PERCENT_GOOD_DATA_BYTES scalar ?
# BT_PRESENT bool NUMBER_OF_DATA_TYPES == 7
# BT_DATA_BYTES scalar undefined, ? if BT_PRESENT
# CPU_FW_VER scalar 0--255
# CPU_FW_REV scalar 0--255
# BEAM_FREQUENCY scalar 75, 150, 300, 600, 1200, 2400 [kHz]
-# CONVEX_BEAM_PATTERN bool undefined, 1
+# 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_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
+# 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]
@@ -182,17 +190,17 @@
# INSTRUMENT_COORDINATES bool undefined,1
# SHIP_COORDINATES bool undefined,1
# EARTH_COORDINATES bool undefined,1
-# PITCH_AND_ROLL_USED 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]
+# BIN_MAPPING_ALLOWED bool undefined,1
+# HEADING_ALIGNMENT scalar -179.99..180 [deg]
+# HEADING_BIAS scalar -179.99..180 [deg]
# CALCULATE_SPEED_OF_SOUND bool undefined,1
-# USE_PRESSURE_SENSOR bool undefined,1
-# USE_COMPASS bool undefined,1
+# USE_PRESSURE_SENSOR 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_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
@@ -201,49 +209,49 @@
# 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]
+# 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
+# RL_LAST_BIN scalar 1--128
# FALSE_TARGET_THRESHOLD scalar 0--254, undefined=disabled
-# LOW_LATENCY_SETTING scalar 0--5(???)
+# 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)
+# 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_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
+# 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
+# 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
+# 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]
+# 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]
+# 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_AMBIENT_TEMPERATURE scalar 0--255
# ADC_PRESSURE_PLUS scalar 0--255
# ADC_PRESSURE_MINUS scalar 0--255
# ADC_ATTITUDE_TEMPERATURE scalar 0--255
@@ -251,145 +259,146 @@
# 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)
+# PRESSURE_STDDEV scalar undefined, ?-? [dbar] (only set if WH300)
# DATE string MM/DD/YYYY
# YEAR scalar ?
# MONTH scalar 1--12
-# DAY scalar 1--31
+# DAY scalar 1--31
# TIME string HH:MM:SS.hh
# HOUR scalar 0--23
# MINUTE scalar 0--59
-# SECONDS scalar 0--59.99
+# SECONDS 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
+# 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()
-
+
+ use strict;
+ use Time::Local; # timegm()
+
#----------------------------------------------------------------------
# Time Conversion Subroutines
#----------------------------------------------------------------------
-
-sub monthLength($$) # of days in month
-{
- my($Y,$M) = @_;
-
- return 31 if ($M==1 || $M==3 || $M==5 || $M==7 ||
- $M==8 || $M==10 || $M==12);
- return 30 if ($M==4 || $M==6 || $M==9 || $M==11);
- return 28 if ($Y%4 != 0);
- return 29 if ($Y%100 != 0);
- return 28 if ($Y%400 > 0);
- return 29;
-}
-
-{ my($epoch,$lM,$lD,$lY,$ldn); # static scope
-
- sub dayNo($$$$$$)
- {
- my($Y,$M,$D,$h,$m,$s) = @_;
- my($dn);
-
- if ($Y==$lY && $M==$lM && $D==$lD) { # same day as last samp
- $dn = $ldn;
- } else { # new day
- $epoch = $Y unless defined($epoch); # 1st call
- $lY = $Y; $lM = $M; $lD = $D; # store
-
- for ($dn=0,my($cY)=$epoch; $cY<$Y; $cY++) { # multiple years
- $dn += 337 + &monthLength($Y,$M);
+
+ sub monthLength($$) # 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
}
-
- $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;
}
- return $dn + $h/24 + $m/24/60 + $s/24/3600;
- }
-
-} # static scope
-
+
+ } # 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";
-
+
+ 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 first valid ensemble (skip over initial garbage)
#----------------------------------------------------------------------
-
-sub skip_initial_trash(@)
-{
- my($quiet) = @_;
- my($buf,$dta);
-
- my($found) = 0; # zero consecutive 0x7f found
- my($skipped) = 0;
- while ($found < 2) {
- sysread(WBRF,$buf,1) == 1 || last;
- ($dta) = unpack('C',$buf);
- if ($dta == 0x7f) {
- $found++;
- } elsif ($found==1 && ($dta==0xE0 || ($dta&0xF0==0xA0 && $dta&0x0F<8))) {
- $found++;
- } elsif ($found == 0) {
- $skipped++;
- } else {
- $skipped += $found;
- $found = 0;
+
+ sub skip_initial_trash(@)
+ {
+ my($quiet) = @_;
+ my($buf,$dta);
+
+ my($found) = 0; # zero consecutive 0x7f found
+ my($skipped) = 0;
+ while ($found < 2) {
+ sysread(WBRF,$buf,1) == 1 || last;
+ ($dta) = unpack('C',$buf);
+ if ($dta == 0x7f) {
+ $found++;
+ } elsif ($found==1 && ($dta==0xE0 || ($dta&0xF0==0xA0 && $dta&0x0F<8))) {
+ $found++;
+ } elsif ($found == 0) {
+ $skipped++;
+ } else {
+ $skipped += $found;
+ $found = 0;
+ }
}
+ die("$WBRcfn: no valid ensemble header found [$!]\n")
+ if ($found < 2);
+ printf(STDERR "WARNING: %d bytes of initial garbage\n",$skipped)
+ if ($skipped > 0 && !$quiet);
+ return sysseek(WBRF,-2,1);
}
- die("$WBRcfn: no valid ensemble header found [$!]\n")
- if ($found < 2);
- printf(STDERR "WARNING: %d bytes of initial garbage\n",$skipped)
- if ($skipped > 0 && !$quiet);
- return sysseek(WBRF,-2,1);
-}
-
+
#----------------------------------------------------------------------
# readHeader(file_name,^dta) WBRhdr(^data)
# - read header data
# - also includes some data from 1st ens
#----------------------------------------------------------------------
-
+
sub readHeader(@)
{
my($fn,$dta) = @_;
$WBRcfn = $fn;
- open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
- WBRhdr($dta) || die("$WBRcfn: Insufficient data\n");
+ open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
+ WBRhdr($dta) || die("$WBRcfn: Insufficient data\n");
}
-sub WBRhdr($)
+sub WBRhdr(@)
{
- my($dta) = @_;
+ my($dta,$checkFmt) = @_;
my($start_ens,$buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs);
my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5);
-
+ my($BT_dt);
+
#--------------------
# HEADER
#--------------------
@@ -417,87 +426,106 @@
$dta->{PRODUCER} = sprintf('unknown (0x%02X)');
}
- printf(STDERR "WARNING: unexpected number of data types (%d)\n",
- $dta->{NUMBER_OF_DATA_TYPES})
- unless ($dta->{NUMBER_OF_DATA_TYPES} == 6 ||
- $dta->{NUMBER_OF_DATA_TYPES} == 7);
-## $dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} == 7);
- $dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} >= 7);
+ if ($checkFmt) {
+ printf(STDERR "WARNING: unexpected number of data types (%d)\n",
+ $dta->{NUMBER_OF_DATA_TYPES})
+ unless ($dta->{NUMBER_OF_DATA_TYPES} == 6 ||
+ $dta->{NUMBER_OF_DATA_TYPES} == 7);
+ $dta->{BT_PRESENT} = ($dta->{NUMBER_OF_DATA_TYPES} >= 7);
+ }
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);
-
- $dta->{HEADER_BYTES} = $WBRofs[0];
- $dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0];
- $dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1];
- $dta->{VELOCITY_DATA_BYTES} = $WBRofs[3] - $WBRofs[2];
- $dta->{CORRELATION_DATA_BYTES} = $WBRofs[4] - $WBRofs[3];
- $dta->{ECHO_INTENSITY_DATA_BYTES} = $WBRofs[5] - $WBRofs[4];
- if ($dta->{BT_PRESENT}) {
- $dta->{PERCENT_GOOD_DATA_BYTES} = $WBRofs[6] - $WBRofs[5];
- $dta->{BT_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[6];
- } else {
- $dta->{PERCENT_GOOD_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[5];
- }
-
- 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';
- } elsif ($dta->{FIXED_LEADER_BYTES} == 58) { # DVL
- $dta->{INSTRUMENT_TYPE} = 'Explorer';
- }
-
# for ($i=0; $i<$dta->{NUMBER_OF_DATA_TYPES}; $i++) {
# printf(STDERR "\nWBRofs[$i] = %d",$WBRofs[$i]);
# }
- #----------------------------------
- # Check Data Format of 1st Ensemble
- #----------------------------------
+
+ $dta->{HEADER_BYTES} = $WBRofs[0];
+ $dta->{FIXED_LEADER_BYTES} = $WBRofs[1] - $WBRofs[0];
+ $dta->{VARIABLE_LEADER_BYTES} = $WBRofs[2] - $WBRofs[1];
+ if ($checkFmt) {
+ $dta->{VELOCITY_DATA_BYTES} = $WBRofs[3] - $WBRofs[2];
+ $dta->{CORRELATION_DATA_BYTES} = $WBRofs[4] - $WBRofs[3];
+ $dta->{ECHO_INTENSITY_DATA_BYTES} = $WBRofs[5] - $WBRofs[4];
+ if ($dta->{BT_PRESENT}) {
+ $dta->{PERCENT_GOOD_DATA_BYTES} = $WBRofs[6] - $WBRofs[5];
+ $dta->{BT_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[6];
+ } else {
+ $dta->{PERCENT_GOOD_DATA_BYTES} = $dta->{ENSEMBLE_BYTES} - 4 - $WBRofs[5];
+ }
+ }
+
+ 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';
+ } 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';
+ }
+
+ #--------------------------------
+ # 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);
- $id == 0x0080 || printf(STDERR $FmtErr."\n",$WBRcfn,"Variable Leader",$id,1);
-
- sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!");
+ 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: $!");
- $id = unpack('v',$buf);
- $id == 0x0100 || printf(STDERR $FmtErr."\n",$WBRcfn,"Velocity Data",$id,1);
-
- sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0200 || printf(STDERR $FmtErr."\n",$WBRcfn,"Correlation Data",$id,1);
-
- sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0300 || printf(STDERR $FmtErr."\n",$WBRcfn,"Echo Intensity",$id,1);
+ $dta->{SPEED_OF_SOUND} = unpack('v',$buf);
+
+ #----------------------------------
+ # Check Data Format of 1st Ensemble
+ #----------------------------------
- sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0400 || printf(STDERR $FmtErr."\n",$WBRcfn,"Percent-Good Data",$id,1);
-
- my($BT_dt);
- if ($dta->{BT_PRESENT}) {
- for ($BT_dt=6; $BT_dt<$dta->{NUMBER_OF_DATA_TYPES}; $BT_dt++) { # scan until BT found
- sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- last if ($id == 0x0600);
- }
-
- if ($BT_dt == $dta->{NUMBER_OF_DATA_TYPES}) {
- printf(STDERR "WARNING: no BT data found\n");die;
- undef($dta->{BT_PRESENT});
- }
+ if ($checkFmt) {
+ sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0100 || printf(STDERR $FmtErr."\n",$WBRcfn,"Velocity Data",$id,1);
+
+ sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0200 || printf(STDERR $FmtErr."\n",$WBRcfn,"Correlation Data",$id,1);
+
+ sysseek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0300 || printf(STDERR $FmtErr."\n",$WBRcfn,"Echo Intensity",$id,1);
+
+ sysseek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0400 || printf(STDERR $FmtErr."\n",$WBRcfn,"Percent-Good Data",$id,1);
+
+ if ($dta->{BT_PRESENT}) {
+ for ($BT_dt=6; $BT_dt<$dta->{NUMBER_OF_DATA_TYPES}; $BT_dt++) { # scan until BT found
+ sysseek(WBRF,$start_ens+$WBRofs[$BT_dt],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ last if ($id == 0x0600);
+ }
+
+ if ($BT_dt == $dta->{NUMBER_OF_DATA_TYPES}) {
+ printf(STDERR "WARNING: no BT data found\n");die;
+ undef($dta->{BT_PRESENT});
+ }
+ }
}
#--------------------
@@ -506,7 +534,8 @@
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,$dummy,$dummy,
+ ($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},
@@ -518,9 +547,21 @@
$dta->{TRANSMIT_LAG_DISTANCE}) =
unpack('vCCCCC3CvvvCCCCvCCCCvvCCvvCCCCv',$buf);
- $id == 0x0000 || printf(STDERR $FmtErr."\n",$WBRcfn,"Fixed Leader",$id,0);
+ 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;
+# $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;
@@ -650,7 +691,7 @@
my($fn,$dta) = @_;
$WBRcfn = $fn;
open(WBRF,$WBRcfn) || die("$WBRcfn: $!\n");
- WBRhdr($dta) || die("$WBRcfn: Insufficient Data\n");
+ WBRhdr($dta,1) || die("$WBRcfn: Insufficient Data\n");
WBRens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},
\@{$dta->{ENSEMBLE}});
print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n")
@@ -725,8 +766,13 @@
sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!");
($id,$ensNo) = unpack("vv",$buf); # only lower two bytes!!!
- $id == 0x0080 ||
- die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo + ($lastEns - ($lastEns & 0xFFFF))));
+ 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
sysread(WBRF,$buf,7) == 7 || die("$WBRcfn: $!");
@@ -1291,7 +1337,7 @@
sub clearEns($$)
{
my($dta,$ens) = @_;
- croak("clearEns: ens-index $ens out of range\n")
+ 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]});
--- a/listHdr
+++ b/listHdr
@@ -2,9 +2,9 @@
#======================================================================
# L I S T H D R
# doc: Sat Jan 18 18:41:49 2003
-# dlm: Wed Nov 9 12:25:36 2016
+# dlm: Tue Aug 8 16:25:46 2017
# (c) 2003 A.M. Thurnherr
-# uE-Info: 65 0 NIL 0 0 72 10 2 4 NIL ofnI
+# uE-Info: 102 39 NIL 0 0 72 10 2 4 NIL ofnI
#======================================================================
# Print useful info from the RDI BB header
@@ -40,6 +40,9 @@
# - updated IO library name
# - adapted to [ADCP_tools_lib.pl]
# Nov 9, 2016: - BUG: no error on missing files
+# Aug 7, 2017: - added LAG_LENGTH
+# - added AMBIGUITY_VELOCITY
+# Aug 8, 2017: - added -l)ong listing
use Getopt::Std;
@@ -47,8 +50,8 @@
$ADCP_tools_minVersion = 1.4;
require "$ADCP_TOOLS/ADCP_tools_lib.pl";
-die("Usage: $0 [-s)ummary] <PD0 file[...]>\n")
- unless (&getopts('s') && @ARGV);
+die("Usage: $0 [-s)ummary] [-l)ong listing] <PD0 file[...]>\n")
+ unless (&getopts('ls') && @ARGV);
if ($opt_s) {
print("#!/usr/bin/perl -S list\n");
@@ -67,7 +70,7 @@
my($id) = $ARGV[0];
$id =~ s/00[0-9]\.000//; # leave just deployment name for std RDI files
$id =~ s@^.*/([^/]+)@\1@;
- printf("%s %d %d %d %g %d %.1f\n",
+ printf("%s %d %.1f %d %g %d %.1f\n",
$id,$hdr{SERIAL_NUMBER},$hdr{BEAM_FREQUENCY},
$hdr{N_BINS},$hdr{BLANKING_DISTANCE},$hdr{BIN_LENGTH},
$hdr{TRANSMITTED_PULSE_LENGTH});
@@ -85,12 +88,19 @@
printf("\tINSTRUMENT_TYPE\t\t\t= %s\n",$hdr{INSTRUMENT_TYPE});
}
printf("\tCPU_SERIAL_NUMBER\t\t= %s\n",$hdr{CPU_SERIAL_NUMBER})
- unless ($hdr{INSTRUMENT_TYPE} eq 'Explorer');
+ if ($opt_l && ($hdr{INSTRUMENT_TYPE} ne 'Explorer'));
printf("\tFIRMWARE\t\t\t= %d.%d\n",$hdr{CPU_FW_VER},$hdr{CPU_FW_REV});
- printf("\tBEAM_FREQUENCY\t\t\t= %d kHz\n",$hdr{BEAM_FREQUENCY});
- printf("\tBEAM_ANGLE\t\t\t= %d deg\n",$hdr{BEAM_ANGLE});
- printf("\tN_BEAMS\t\t\t\t= %d\n",$hdr{N_BEAMS});
- printf("\tN_DEMODS\t\t\t= %d\n",$hdr{N_DEMODS}) if defined($hdr{N_DEMODS});
+ printf("\tBEAM_FREQUENCY\t\t\t= %.1f kHz\n",$hdr{BEAM_FREQUENCY});
+ printf("\tBEAM_ANGLE\t\t\t= %d deg\n",$hdr{BEAM_ANGLE}) if $opt_l;
+ printf("\tN_BEAMS\t\t\t\t= %d\n",$hdr{N_BEAMS}) if $opt_l;
+ printf("\tTRANSMIT_LAG_DISTANCE\t\t= %g m\n",$hdr{TRANSMIT_LAG_DISTANCE}) if $opt_l;
+ printf("\tLAG_LENGTH\t\t\t= %d\n",$hdr{LAG_LENGTH}) if $opt_l;
+ printf("\tN_DEMODS\t\t\t= %d\n",$hdr{N_DEMODS}) if $opt_l && defined($hdr{N_DEMODS});
+ printf("\tSPEED_OF_SOUND\t\t\t= %d m/s [%s]\n",
+ $hdr{SPEED_OF_SOUND},
+ $dta->{SPEED_OF_SOUND_CALCULATED} ? 'from sensors' : 'from settings');
+ printf("\tAMBIGUITY_VELOCITY\t\t= %g m/s\n",
+ ambiguity_velocity($hdr{BEAM_FREQUENCY},$hdr{BEAM_ANGLE},$hdr{SPEED_OF_SOUND},$hdr{TRANSMIT_LAG_DISTANCE}));
printf("\tSensors\t\t\t\t: ");
printf("PRESSURE ") if ($hdr{PRESSURE_SENSOR_AVAILABLE});
@@ -101,27 +111,32 @@
printf("ROLL ") if ($hdr{ROLL_SENSOR_AVAILABLE});
print("\n");
- printf("\tFlags\t\t\t\t: ");
- printf("XDUCER_HEAD_ATTACHED ") if ($hdr{XDUCER_HEAD_ATTACHED});
- printf("CONVEX_BEAM_PATTERN ") if ($hdr{CONVEX_BEAM_PATTERN});
- printf("CONCAVE_BEAM_PATTERN ") if ($hdr{CONCAVE_BEAM_PATTERN});
- print("\n");
-
-
- print(" File Format:\n");
+ if ($opt_l) {
+ printf("\tFlags\t\t\t\t: ");
+ printf("XDUCER_HEAD_ATTACHED ") if ($hdr{XDUCER_HEAD_ATTACHED});
+ printf("CONVEX_BEAM_PATTERN ") if ($hdr{CONVEX_BEAM_PATTERN});
+ printf("CONCAVE_BEAM_PATTERN ") if ($hdr{CONCAVE_BEAM_PATTERN});
+ print("\n");
+ }
- printf("\tNUMBER_OF_DATA_TYPES\t\t= %d\n",$hdr{NUMBER_OF_DATA_TYPES});
- printf("\tFIXED_LEADER_BYTES\t\t= %3d bytes\n",$hdr{FIXED_LEADER_BYTES});
- printf("\tENSEMBLE_BYTES\t\t\t= %3d bytes\n",$hdr{ENSEMBLE_BYTES});
- printf("\tHEADER_BYTES\t\t\t= %3d bytes\n",$hdr{HEADER_BYTES});
- printf("\tVARIABLE_LEADER_BYTES\t\t= %3d bytes\n",$hdr{VARIABLE_LEADER_BYTES});
- printf("\tVELOCITY_DATA_BYTES\t\t= %3d bytes\n",$hdr{VELOCITY_DATA_BYTES});
- printf("\tCORRELATION_DATA_BYTES\t\t= %3d bytes\n",$hdr{CORRELATION_DATA_BYTES});
- printf("\tECHO_INTENSITY_DATA_BYTES\t= %3d bytes\n",$hdr{ECHO_INTENSITY_DATA_BYTES});
- printf("\tPERCENT_GOOD_DATA_BYTES\t\t= %3d bytes\n",$hdr{PERCENT_GOOD_DATA_BYTES});
- printf("\tBT_DATA_BYTES\t\t\t= %3d bytes\n",$hdr{BT_DATA_BYTES})
- if ($hdr{BT_PRESENT});
-
+ if ($opt_l) {
+ print(" File Format:\n");
+ printf("\tNUMBER_OF_DATA_TYPES\t\t= %d\n",$hdr{NUMBER_OF_DATA_TYPES});
+ printf("\tFIXED_LEADER_BYTES\t\t= %3d bytes\n",$hdr{FIXED_LEADER_BYTES});
+ printf("\tENSEMBLE_BYTES\t\t\t= %3d bytes\n",$hdr{ENSEMBLE_BYTES});
+ printf("\tHEADER_BYTES\t\t\t= %3d bytes\n",$hdr{HEADER_BYTES});
+ printf("\tVARIABLE_LEADER_BYTES\t\t= %3d bytes\n",$hdr{VARIABLE_LEADER_BYTES});
+ printf("\tVELOCITY_DATA_BYTES\t\t= %3d bytes\n",$hdr{VELOCITY_DATA_BYTES})
+ if defined($hdr{VELOCITY_DATA_BYTES});
+ printf("\tCORRELATION_DATA_BYTES\t\t= %3d bytes\n",$hdr{CORRELATION_DATA_BYTES})
+ if defined($hdr{CORRELATION_DATA_BYTES});
+ printf("\tECHO_INTENSITY_DATA_BYTES\t= %3d bytes\n",$hdr{ECHO_INTENSITY_DATA_BYTES})
+ if defined($hdr{ECHO_INTENSITY_DATA_BYTES});
+ printf("\tPERCENT_GOOD_DATA_BYTES\t\t= %3d bytes\n",$hdr{PERCENT_GOOD_DATA_BYTES})
+ if defined($hdr{PERCENT_GOOD_DATA_BYTES});
+ printf("\tBT_DATA_BYTES\t\t\t= %3d bytes\n",$hdr{BT_DATA_BYTES})
+ if ($hdr{BT_PRESENT});
+ }
print(" Coordinate System:\n");
@@ -159,15 +174,13 @@
print(" Bin Setup:\n");
printf("\tN_BINS\t\t\t\t= %d\n", $hdr{N_BINS});
printf("\tBLANKING_DISTANCE\t\t= %g m\n", $hdr{BLANKING_DISTANCE});
- printf("\tTRANSMIT_LAG_DISTANCE\t\t= %g m\n",
- $hdr{TRANSMIT_LAG_DISTANCE});
printf("\tDISTANCE_TO_BIN1_CENTER\t\t= %g m\n",
$hdr{DISTANCE_TO_BIN1_CENTER});
printf("\tBIN_LENGTH\t\t\t= %g m\n", $hdr{BIN_LENGTH});
printf("\tTRANSMITTED_PULSE_LENGTH\t= %g m\n",
$hdr{TRANSMITTED_PULSE_LENGTH});
- printf("\tRL_FIRST_BIN\t\t\t= %d\n", $hdr{RL_FIRST_BIN});
- printf("\tRL_LAST_BIN\t\t\t= %d\n", $hdr{RL_LAST_BIN});
+ printf("\tRL_FIRST_BIN\t\t\t= %d\n", $hdr{RL_FIRST_BIN}) if $opt_l;
+ printf("\tRL_LAST_BIN\t\t\t= %d\n", $hdr{RL_LAST_BIN}) if $opt_l;
print(" Water-Track Setup:\n");