.
--- a/INDEX
+++ b/INDEX
@@ -1,13 +1,14 @@
#======================================================================
# I N D E X
# doc: Thu Feb 7 14:21:21 2008
-# dlm: Wed Dec 12 15:58:29 2012
+# dlm: Tue Nov 26 21:55:56 2013
# (c) 2008 A.M. Thurnherr
-# uE-Info: 28 36 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 12 0 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
=General Utilities=
+[editPD0] edit RDI PD0 file
[listHdr] list header info
[listEns] list ensembles
[listBT] list bottom-track data
old mode 100644
new mode 120000
--- a/RDI_BB_Read.pl
+++ b/RDI_BB_Read.pl
@@ -1,867 +1,1 @@
-#======================================================================
-# R D I _ B B _ R E A D . P L
-# doc: Sat Jan 18 14:54:43 2003
-# dlm: Mon Apr 29 12:49:40 2013
-# (c) 2003 A.M. Thurnherr
-# uE-Info: 53 46 NIL 0 0 72 74 2 4 NIL ofnI
-#======================================================================
-
-# Read RDI BroadBand 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
-
-# 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
-
-# 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...
-
-# &readData() returns perl obj (ref to anonymous hash) with the following
-# structure:
-#
-# 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 ?
-# 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
-# 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]
-# CALCULATE_SPEED_OF_SOUND 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_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]
-# PITCH scalar -20.00-20.00 [deg]
-# ROLL scalar -20.00-20.00 [deg]
-# 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
-# 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
-# HIGH_GAIN bool 1, undefined
-# LOW_GAIN bool 1, undefined
-
-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);
- }
-
- $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); # current file name
-my($BIT_errors) = 0; # built-in-test errors
-
-my($FmtErr) = "%s: illegal %s Id 0x%04x at ensemble %d";
-
-sub WBRhdr($)
-{
- my($dta) = @_;
- my($buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs);
- my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5);
-
- #--------------------
- # HEADER
- #--------------------
-
- read(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
- ($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES})
- = unpack('CCvCC',$buf);
- $hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0));
- $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0));
- printf(STDERR "\n$WBRcfn: 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);
-
- read(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
- #----------------------------------
-
- seek(WBRF,$WBRofs[1],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0080 || die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,1));
-
- seek(WBRF,$WBRofs[2],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0100 || die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,1));
-
- seek(WBRF,$WBRofs[3],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0200 || die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,1));
-
- seek(WBRF,$WBRofs[4],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0300 || die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,1));
-
- seek(WBRF,$WBRofs[5],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0400 || die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,1));
-
- if ($dta->{BT_PRESENT}) {
- seek(WBRF,$WBRofs[6],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
- $id == 0x0600 || die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,1));
- }
-
- #--------------------
- # FIXED LEADER
- #--------------------
-
- seek(WBRF,$WBRofs[0],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,42) == 42 || die("$WBRcfn: $!");
- ($id,$dta->{CPU_FW_VER},$dta->{CPU_FW_REV},$B1,$B2,$dummy,$dummy,$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);
-
- $id == 0x0000 || die(sprintf($FmtErr,$WBRcfn,"Fixed Leader",$id,0));
-
- $dta->{BEAM_FREQUENCY} = 2**($B1 & 0x07) * 75;
- $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->{CALCULATE_SPEED_OF_SOUND} = 1 if ($B6 & 0x40);
- $dta->{USE_PRESSURE_SENSOR} = 1 if ($B6 & 0x20);
- $dta->{USE_COMPASS} = 1 if ($B6 & 0x10);
- $dta->{USE_PITCH_SENSOR} = 1 if ($B6 & 0x08);
- $dta->{USE_ROLL_SENSOR} = 1 if ($B6 & 0x04);
- $dta->{USE_CONDUCTIVITY_SENSOR} = 1 if ($B6 & 0x02);
- $dta->{USE_TEMPERATURE_SENSOR} = 1 if ($B6 & 0x01);
-
- $dta->{SPEED_OF_SOUND_CALCULATED} = 1 if ($B7 & 0x40);
- $dta->{PRESSURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x20);
- $dta->{COMPASS_AVAILABLE} = 1 if ($B7 & 0x10);
- $dta->{PITCH_SENSOR_AVAILABLE} = 1 if ($B7 & 0x08);
- $dta->{ROLL_SENSOR_AVAILABLE} = 1 if ($B7 & 0x04);
- $dta->{CONDUCTIVITY_SENSOR_AVAILABLE} = 1 if ($B7 & 0x02);
- $dta->{TEMPERATURE_SENSOR_AVAILABLE} = 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') {
- read(WBRF,$buf,11) == 11 || die("$WBRcfn: $!");
- ($W1,$W2,$W3,$W4,$W5,$dta->{TRANSMIT_POWER}) =
- unpack('vvvvvC',$buf);
-
- $dta->{CPU_SERIAL_NUMBER} = sprintf("%04X%04X%04X%04X",$W1,$W2,$W3,$W4);
-
- $dta->{NARROW_BANDWIDTH} = ($W5 == 1);
- $dta->{WIDE_BANDWIDTH} = ($W5 == 0);
- $dta->{TRANSMIT_POWER_HIGH} = ($dta->{TRANSMIT_POWER} == 255);
-
- if ($dta->{FIXED_LEADER_BYTES} == 59) { # new style with serial number
- read(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') {
- read(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}) {
- seek(WBRF,$WBRofs[6],0) || die("$WBRcfn: $!");
- read(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 ||
- die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,0,tell(WBRF)));
-
- $dta->{BT_MAX_ERROR_VELOCITY} =
- $dta->{BT_MAX_ERROR_VELOCITY} ? $dta->{BT_MAX_ERROR_VELOCITY} / 1000
- : undef;
-
- seek(WBRF,28,1) || die("$WBRcfn: $!");
- read(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;
-
- seek(WBRF,20,1) || die("$WBRcfn: $!"); # skip data
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $dta->{BT_MAX_TRACKING_DEPTH} = unpack('v',$buf) / 10;
- }
-
- return $dta;
-}
-
-sub WBRens($$$)
-{
- my($nbins,$fixed_leader_bytes,$E) = @_;
- my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBRofs);
- my($ens,$ensNo,$dayStart,$ens_length,$BT_present,$hid,$did,$ndt);
-
- for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
-# print(STDERR "ens = $ens\n");
-# print(STDERR "start_ens = $start_ens\n");
-
- #----------------------------------------
- # Get ensemble length and # of data types
- #----------------------------------------
-
- seek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
- read(WBRF,$buf,6) == 6 || last;
- ($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf);
- $hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0));
- $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0));
- printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
- unless ($ndt == 6 || $ndt == 7);
- $BT_present = ($ndt == 7);
- read(WBRF,$buf,2*$ndt) == 2*$ndt || die("$WBRcfn: $!");
- @WBRofs = unpack("v$ndt",$buf);
- $fixed_leader_bytes = $WBRofs[1] - $WBRofs[0];
-# print(STDERR "@WBRofs\n");
-
- #-------------------------------
- # Make Sure Ensemble is Complete
- #-------------------------------
-
- # UH BB150 writes incomplete ensembles (i.e. short read
- # indicates EOF). FSU WH300 has bogus data in incomplete
- # final ensemble.
-
- seek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
- read(WBRF,$buf,$ens_length) == $ens_length || last;
-
- read(WBRF,$cs,2) == 2 || last;
- last unless (unpack('%16C*',$buf) == unpack('v',$cs));
-
- #------------------------------
- # Variable Leader
- #------------------------------
-
- seek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,4) == 4 || die("$WBRcfn: $!");
- ($id,$ensNo) = unpack("vv",$buf);
-
- $id == 0x0080 ||
- die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo+1));
-
- if ($fixed_leader_bytes==42 || $fixed_leader_bytes==58) { # BB150 & Explorer DVL
- read(WBRF,$buf,7) == 7 || die("$WBRcfn: $!");
- (${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},
- ${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},
- ${$E}[$ens]->{SECONDS},$B4) = unpack('CCCCCCC',$buf);
- ${$E}[$ens]->{SECONDS} += $B4/100;
- ${$E}[$ens]->{YEAR} += (${$E}[$ens]->{YEAR} > 80) ? 1900 : 2000;
- } else {
- seek(WBRF,7,1) || die("$WBRcfn: $!"); # use Y2K RTC instead
- }
-
- read(WBRF,$buf,1) == 1 || die("$WBRcfn: $!");
- $ensNo += unpack('C',$buf) << 16;
- ${$E}[$ens]->{NUMBER} = $ensNo;
-
- read(WBRF,$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;
- ${$E}[$ens]->{HEADING} /= 100;
- ${$E}[$ens]->{PITCH} = unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100;
- ${$E}[$ens]->{ROLL} = unpack('s',pack('S',${$E}[$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 || $fixed_leader_bytes==59) { # Workhorse instruments
- read(WBRF,$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}[$ens]->{SECONDS},$B4)
- = unpack('VvVVCCCCCCCCC',$buf);
-
- ${$E}[$ens]->{PRESSURE} /= 1000;
- ${$E}[$ens]->{PRESSURE_STDDEV} /= 1000;
- ${$E}[$ens]->{YEAR} *= 100; ${$E}[$ens]->{YEAR} += $B3;
- ${$E}[$ens]->{SECONDS} += $B4/100;
- }
-
- if ($fixed_leader_bytes == 58) { # Explorer DVL
- read(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]->{SECONDS});
- ${$E}[$ens]->{DAYNO}
- = &dayNo(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},${$E}[$ens]->{DAY},
- ${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},${$E}[$ens]->{SECONDS});
-
- # when analyzing an STA file from an OS75 SADCP (Poseidion),
- # I noticed that there is no time information. This causes
- # timegm to bomb.
- if (${$E}[$ens]->{MONTH} == 0) { # no time info
- ${$E}[$ens]->{UNIX_TIME} = 0;
- ${$E}[$ens]->{SECNO} = 0;
- } else {
- ${$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]->{SECONDS};
-
- $dayStart = timegm(0,0,0,${$E}[$ens]->{DAY},
- ${$E}[$ens]->{MONTH}-1,
- ${$E}[$ens]->{YEAR})
- unless defined($dayStart);
- ${$E}[$ens]->{SECNO} = ${$E}[$ens]->{UNIX_TIME} - $dayStart;
- }
-
- seek(WBRF,$start_ens+$WBRofs[0]+4,0) # System Config / Fixed Leader
- || die("$WBRcfn: $!");
-
- read(WBRF,$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) = $nbins * 4;
-
- seek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vv$ndata",$buf);
-
- $id == 0x0100 ||
- die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,$ens));
-
- for ($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[$i] != 0x8000);
- }
- }
-
- #--------------------
- # Correlation Data
- #--------------------
-
- seek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vC$ndata",$buf);
-
- $id == 0x0200 ||
- die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,$ens));
-
- for ($i=0,$bin=0; $bin<$nbins; $bin++) {
- for ($beam=0; $beam<4; $beam++,$i++) {
- ${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i]
- if ($dta[$i]);
- }
- }
-
- #--------------------
- # Echo Intensity Data
- #--------------------
-
- seek(WBRF,$start_ens+$WBRofs[4],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vC$ndata",$buf);
-
- $id == 0x0300 ||
- die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ens));
-
- for ($i=0,$bin=0; $bin<$nbins; $bin++) {
- for ($beam=0; $beam<4; $beam++,$i++) {
- ${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i];
- }
- }
-
- #--------------------
- # Percent Good Data
- #--------------------
-
- seek(WBRF,$start_ens+$WBRofs[5],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vC$ndata",$buf);
-
- $id == 0x0400 ||
- die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,$ens));
-
- for ($i=0,$bin=0; $bin<$nbins; $bin++) {
- for ($beam=0; $beam<4; $beam++,$i++) {
- ${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i];
- }
- }
-
- #--------------------
- # Bottom-Track Data
- #--------------------
-
- if ($BT_present) {
- seek(WBRF,$start_ens+$WBRofs[6],0) || die("$WBRcfn: $!");
- read(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
- $id = unpack('v',$buf);
-
- $id == 0x0600 ||
- die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,$ens));
-
- seek(WBRF,14,1) || die("$WBRcfn: $!"); # BT config
-
- read(WBRF,$buf,28) == 28 || die("$WBRcfn: $!");
- @dta = unpack('v4v4C4C4C4',$buf);
-
- for ($beam=0; $beam<4; $beam++) {
- ${$E}[$ens]->{BT_RANGE}[$beam] = $dta[$beam] / 100
- if ($dta[$beam]);
- }
- 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++) {
- ${$E}[$ens]->{BT_EVAL_AMPLITUDE}[$beam] = $dta[12+$beam];
- }
- for ($beam=0; $beam<4; $beam++) {
- ${$E}[$ens]->{BT_PERCENT_GOOD}[$beam] = $dta[16+$beam];
- }
-
- seek(WBRF,6,1) || die("$WBRcfn: $!"); # BT config
-
- read(WBRF,$buf,20) == 20 || die("$WBRcfn: $!");
- @dta = unpack('v4C4C4C4',$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];
- }
-
- seek(WBRF,2,1) || die("$WBRcfn: $!"); # BT config
-
- read(WBRF,$buf,9) == 9 || die("$WBRcfn: $!");
- @dta = unpack('C4CC4',$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++) {
- ${$E}[$ens]->{BT_RANGE}[$beam] += $dta[5+$beam] * 655.36
- if ($dta[5+$beam]);
- }
- } # BT present
- } # ens loop
-}
-
-sub readHeader(@)
-{
- my($fn,$dta) = @_;
- $WBRcfn = $fn;
- open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
- WBRhdr($dta);
-}
-
-sub readData(@)
-{
- my($fn,$dta) = @_;
- $WBRcfn = $fn;
- open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
- WBRhdr($dta);
- WBRens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},
- \@{$dta->{ENSEMBLE}});
- print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n")
- if ($BIT_errors);
-}
-
-sub checkEnsemble($$)
-{
- my($dta,$ens) = @_;
- printf(STDERR "3 beams used in ensemble #$dta->{ENSEMBLE}[$ens]->{NUMBER}\n")
- if ($dta->{ENSEMBLE}[$ens]->{N_BEAMS_USED} < 4);
- die("BIT error in ensemble $dta->{ENSEMBLE}[$ens]->{NUMBER}\n")
- if defined($dta->{ENSEMBLE}[$ens]->{BUILT_IN_TEST_ERROR});
-#
-# ERROR_STATUS_WORD CONTAINS APPARENTLY INSTRUMENT-SPECIFIC VALUES
-# => CHECK DISABLED
-#
-# die(sprintf("ESW = 0x%08lx in ensemble #%s\n",
-# $dta->{ENSEMBLE}[$ens]->{ERROR_STATUS_WORD},
-# $dta->{ENSEMBLE}[$ens]->{NUMBER}))
-# if ($dta->{ENSEMBLE}[$ens]->{ESW_ERROR});
-}
-
-1; # return true for all the world to see
+./RDI_PD0_IO.pl
\ No newline at end of file
--- a/RDI_Coords.pl
+++ b/RDI_Coords.pl
@@ -1,9 +1,9 @@
#======================================================================
# R D I _ C O O R D S . P L
# doc: Sun Jan 19 17:57:53 2003
-# dlm: Wed Aug 7 11:18:51 2013
+# dlm: Sat Feb 22 09:43:27 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 199 23 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 37 0 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
# RDI Workhorse Coordinate Transformations
@@ -33,6 +33,7 @@
# Jan 15, 2012: - replaced defined(@...) by (@...) to get rid of warning
# Aug 7, 2013: - BUG: &velBeamToBPInstrument did not return any val unless
# all beam velocities are defined
+# Nov 27, 2013: - added &RDI_pitch(), &tilt_azimuth()
use strict;
use POSIX;
@@ -274,6 +275,18 @@
return deg(atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll))));
}
+sub RDI_pitch($$)
+{
+ my($gimbal_pitch,$roll) = @_;
+ return deg(atan(tan(rad($gimbal_pitch))/cos(rad($roll))));
+}
+
+sub tilt_azimuth($$)
+{
+ my($gimbal_pitch,$roll) = @_;
+ return angle(deg(atan2(sin(rad($gimbal_pitch)),sin(rad($roll)))));
+}
+
# - angle from vertical is home grown and should be treated with caution
# - angle between two unit vectors given by acos(v1 dot v2)
# - vertical unit vector v1 = (0 0 1) => dot product = z-component of v2
new file mode 100644
--- /dev/null
+++ b/RDI_PD0_IO.pl
@@ -0,0 +1,967 @@
+#======================================================================
+# R D I _ P D 0 _ I O . P L
+# doc: Sat Jan 18 14:54:43 2003
+# dlm: Tue Nov 26 01:29:26 2013
+# (c) 2003 A.M. Thurnherr
+# uE-Info: 873 10 NIL 0 0 72 74 2 4 NIL ofnI
+#======================================================================
+
+# Read RDI BroadBand 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
+
+# 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
+
+# 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...
+
+# &readData() returns perl obj (ref to anonymous hash) with the following
+# structure:
+#
+# 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 ?
+# 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
+# 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]
+# CALCULATE_SPEED_OF_SOUND 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_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]
+# PITCH scalar -20.00-20.00 [deg]
+# ROLL scalar -20.00-20.00 [deg]
+# 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
+# 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
+# HIGH_GAIN bool 1, undefined
+# LOW_GAIN bool 1, undefined
+
+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);
+ }
+
+ $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";
+
+#----------------------------------------------------------------------
+# 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);
+}
+
+sub WBRhdr($)
+{
+ my($dta) = @_;
+ my($buf,$hid,$did,$Ndt,$B,$W,$i,$dummy,$id,@WBRofs);
+ my($B1,$B2,$B3,$B4,$B5,$B6,$B7,$W1,$W2,$W3,$W4,$W5);
+
+ #--------------------
+ # HEADER
+ #--------------------
+
+ sysread(WBRF,$buf,6) == 6 || die("$WBRcfn: $!");
+ ($hid,$did,$dta->{ENSEMBLE_BYTES},$dummy,$dta->{NUMBER_OF_DATA_TYPES})
+ = unpack('CCvCC',$buf);
+ $hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0));
+ $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0));
+ printf(STDERR "\n$WBRcfn: 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
+ #----------------------------------
+
+ sysseek(WBRF,$WBRofs[1],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0080 || die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,1));
+
+ sysseek(WBRF,$WBRofs[2],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0100 || die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,1));
+
+ sysseek(WBRF,$WBRofs[3],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0200 || die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,1));
+
+ sysseek(WBRF,$WBRofs[4],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0300 || die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,1));
+
+ sysseek(WBRF,$WBRofs[5],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0400 || die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,1));
+
+ if ($dta->{BT_PRESENT}) {
+ sysseek(WBRF,$WBRofs[6],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+ $id == 0x0600 || die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,1));
+ }
+
+ #--------------------
+ # FIXED LEADER
+ #--------------------
+
+ sysseek(WBRF,$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,
+ $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);
+
+ $id == 0x0000 || die(sprintf($FmtErr,$WBRcfn,"Fixed Leader",$id,0));
+
+ $dta->{BEAM_FREQUENCY} = 2**($B1 & 0x07) * 75;
+ $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->{CALCULATE_SPEED_OF_SOUND} = 1 if ($B6 & 0x40);
+ $dta->{USE_PRESSURE_SENSOR} = 1 if ($B6 & 0x20);
+ $dta->{USE_COMPASS} = 1 if ($B6 & 0x10);
+ $dta->{USE_PITCH_SENSOR} = 1 if ($B6 & 0x08);
+ $dta->{USE_ROLL_SENSOR} = 1 if ($B6 & 0x04);
+ $dta->{USE_CONDUCTIVITY_SENSOR} = 1 if ($B6 & 0x02);
+ $dta->{USE_TEMPERATURE_SENSOR} = 1 if ($B6 & 0x01);
+
+ $dta->{SPEED_OF_SOUND_CALCULATED} = 1 if ($B7 & 0x40);
+ $dta->{PRESSURE_SENSOR_AVAILABLE} = 1 if ($B7 & 0x20);
+ $dta->{COMPASS_AVAILABLE} = 1 if ($B7 & 0x10);
+ $dta->{PITCH_SENSOR_AVAILABLE} = 1 if ($B7 & 0x08);
+ $dta->{ROLL_SENSOR_AVAILABLE} = 1 if ($B7 & 0x04);
+ $dta->{CONDUCTIVITY_SENSOR_AVAILABLE} = 1 if ($B7 & 0x02);
+ $dta->{TEMPERATURE_SENSOR_AVAILABLE} = 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') {
+ sysread(WBRF,$buf,11) == 11 || die("$WBRcfn: $!");
+ ($W1,$W2,$W3,$W4,$W5,$dta->{TRANSMIT_POWER}) =
+ unpack('vvvvvC',$buf);
+
+ $dta->{CPU_SERIAL_NUMBER} = sprintf("%04X%04X%04X%04X",$W1,$W2,$W3,$W4);
+
+ $dta->{NARROW_BANDWIDTH} = ($W5 == 1);
+ $dta->{WIDE_BANDWIDTH} = ($W5 == 0);
+ $dta->{TRANSMIT_POWER_HIGH} = ($dta->{TRANSMIT_POWER} == 255);
+
+ 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,$WBRofs[6],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 ||
+ die(sprintf($FmtErr,$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) WBRens(nbins,fixed_leader_bytes,^data)
+# - read all ensembles
+#----------------------------------------------------------------------
+
+sub readData(@)
+{
+ my($fn,$dta) = @_;
+ $WBRcfn = $fn;
+ open(WBRF,$WBRcfn) || die("$WBRcfn: $!");
+ WBRhdr($dta);
+ WBRens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},
+ \@{$dta->{ENSEMBLE}});
+ print(STDERR "$WBRcfn: $BIT_errors built-in-test errors\n")
+ if ($BIT_errors);
+}
+
+sub WBRens($$$)
+{
+ my($nbins,$fixed_leader_bytes,$E) = @_;
+ my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBRofs);
+ my($ens,$ensNo,$dayStart,$ens_length,$BT_present,$hid,$did,$ndt);
+
+ for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
+# print(STDERR "ens = $ens\n");
+# print(STDERR "start_ens = $start_ens\n");
+
+ #----------------------------------------
+ # Get ensemble length and # of data types
+ #----------------------------------------
+
+ sysseek(WBRF,$start_ens,0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,6) == 6 || last;
+ ($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf);
+ $hid == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Header",$hid,0));
+ $did == 0x7f || die(sprintf($FmtErr,$WBRcfn,"Data Source",$did,0));
+ printf(STDERR "\n$WBRcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
+ unless ($ndt == 6 || $ndt == 7);
+ $BT_present = ($ndt == 7);
+ sysread(WBRF,$buf,2*$ndt) == 2*$ndt || die("$WBRcfn: $!");
+ @WBRofs = unpack("v$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: $!");
+ sysread(WBRF,$buf,$ens_length) == $ens_length || last;
+
+ sysread(WBRF,$cs,2) == 2 || last;
+ last unless (unpack('%16C*',$buf) == unpack('v',$cs));
+
+ #------------------------------
+ # Variable Leader
+ #------------------------------
+
+ sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!");
+ ($id,$ensNo) = unpack("vv",$buf);
+
+ $id == 0x0080 ||
+ die(sprintf($FmtErr,$WBRcfn,"Variable Leader",$id,$ensNo+1));
+
+ if ($fixed_leader_bytes==42 || $fixed_leader_bytes==58) { # BB150 & Explorer DVL
+ sysread(WBRF,$buf,7) == 7 || die("$WBRcfn: $!");
+ (${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},
+ ${$E}[$ens]->{DAY},${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},
+ ${$E}[$ens]->{SECONDS},$B4) = unpack('CCCCCCC',$buf);
+ ${$E}[$ens]->{SECONDS} += $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;
+ ${$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;
+ ${$E}[$ens]->{HEADING} /= 100;
+ ${$E}[$ens]->{PITCH} = unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100;
+ ${$E}[$ens]->{ROLL} = unpack('s',pack('S',${$E}[$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 || $fixed_leader_bytes==59) { # Workhorse instruments
+ sysread(WBRF,$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}[$ens]->{SECONDS},$B4)
+ = unpack('VvVVCCCCCCCCC',$buf);
+
+ ${$E}[$ens]->{PRESSURE} /= 1000;
+ ${$E}[$ens]->{PRESSURE_STDDEV} /= 1000;
+ ${$E}[$ens]->{YEAR} *= 100; ${$E}[$ens]->{YEAR} += $B3;
+ ${$E}[$ens]->{SECONDS} += $B4/100;
+ }
+
+ if ($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]->{SECONDS});
+ ${$E}[$ens]->{DAYNO}
+ = &dayNo(${$E}[$ens]->{YEAR},${$E}[$ens]->{MONTH},${$E}[$ens]->{DAY},
+ ${$E}[$ens]->{HOUR},${$E}[$ens]->{MINUTE},${$E}[$ens]->{SECONDS});
+
+ # when analyzing an STA file from an OS75 SADCP (Poseidion),
+ # I noticed that there is no time information. This causes
+ # timegm to bomb.
+ if (${$E}[$ens]->{MONTH} == 0) { # no time info
+ ${$E}[$ens]->{UNIX_TIME} = 0;
+ ${$E}[$ens]->{SECNO} = 0;
+ } else {
+ ${$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]->{SECONDS};
+
+ $dayStart = timegm(0,0,0,${$E}[$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) = $nbins * 4;
+
+ sysseek(WBRF,$start_ens+$WBRofs[2],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!");
+ ($id,@dta) = unpack("vv$ndata",$buf);
+
+ $id == 0x0100 ||
+ die(sprintf($FmtErr,$WBRcfn,"Velocity Data",$id,$ens));
+
+ for ($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[$i] != 0x8000);
+ }
+ }
+
+ #--------------------
+ # Correlation Data
+ #--------------------
+
+ sysseek(WBRF,$start_ens+$WBRofs[3],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
+ ($id,@dta) = unpack("vC$ndata",$buf);
+
+ $id == 0x0200 ||
+ die(sprintf($FmtErr,$WBRcfn,"Correlation Data",$id,$ens));
+
+ for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+ for ($beam=0; $beam<4; $beam++,$i++) {
+ ${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i]
+ if ($dta[$i]);
+ }
+ }
+
+ #--------------------
+ # Echo Intensity Data
+ #--------------------
+
+ sysseek(WBRF,$start_ens+$WBRofs[4],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,$ens));
+
+ for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+ for ($beam=0; $beam<4; $beam++,$i++) {
+ ${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i];
+ }
+ }
+
+ #--------------------
+ # Percent Good Data
+ #--------------------
+
+ sysseek(WBRF,$start_ens+$WBRofs[5],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,$ens));
+
+ for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+ for ($beam=0; $beam<4; $beam++,$i++) {
+ ${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i];
+ }
+ }
+
+ #--------------------
+ # Bottom-Track Data
+ #--------------------
+
+ if ($BT_present) {
+ sysseek(WBRF,$start_ens+$WBRofs[6],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
+ $id = unpack('v',$buf);
+
+ $id == 0x0600 ||
+ die(sprintf($FmtErr,$WBRcfn,"Bottom Track",$id,$ens));
+
+ sysseek(WBRF,14,1) || die("$WBRcfn: $!"); # BT config
+
+ sysread(WBRF,$buf,28) == 28 || die("$WBRcfn: $!");
+ @dta = unpack('v4v4C4C4C4',$buf);
+
+ for ($beam=0; $beam<4; $beam++) {
+ ${$E}[$ens]->{BT_RANGE}[$beam] = $dta[$beam] / 100
+ if ($dta[$beam]);
+ }
+ 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++) {
+ ${$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: $!"); # BT config
+
+ sysread(WBRF,$buf,20) == 20 || die("$WBRcfn: $!");
+ @dta = unpack('v4C4C4C4',$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: $!"); # BT config
+
+ sysread(WBRF,$buf,9) == 9 || die("$WBRcfn: $!");
+ @dta = unpack('C4CC4',$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++) {
+ ${$E}[$ens]->{BT_RANGE}[$beam] += $dta[5+$beam] * 655.36
+ if ($dta[5+$beam]);
+ }
+ } # BT present
+ } # ens loop
+}
+
+#----------------------------------------------------------------------
+# WBPens(nbins,fixed_leader_bytes,^data)
+# - patch PD0 file with new data
+# - file must already exist and have correct structure
+# - currently only does part of variable leader data, esp. attitude
+#----------------------------------------------------------------------
+
+sub writeData(@)
+{
+ my($fn,$dta) = @_;
+
+ die("writeData() needs \$WBRcfn from previous readData()")
+ unless (-r $WBRcfn);
+ $WBPcfn = $fn;
+ system("cp $WBRcfn $WBPcfn");
+
+ open(WBPF,"+<$WBPcfn") || die("$WBPcfn: $!");
+ WBPens($dta->{N_BINS},$dta->{FIXED_LEADER_BYTES},
+ \@{$dta->{ENSEMBLE}});
+}
+
+sub WBPens($$$)
+{
+ my($nbins,$fixed_leader_bytes,$E) = @_;
+ my($start_ens,$B1,$B2,$B3,$B4,$I,$id,$bin,$beam,$buf,$dummy,@dta,$i,$cs,@WBPofs);
+ my($ens,$ensNo,$dayStart,$ens_length,$BT_present,$hid,$did,$ndt);
+
+ for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
+
+ #----------------------------------------
+ # Get ensemble length and # of data types
+ #----------------------------------------
+
+ sysseek(WBPF,$start_ens,0) || die("$WBPcfn: $!");
+ sysread(WBPF,$buf,6) == 6 || last;
+ ($hid,$did,$ens_length,$dummy,$ndt) = unpack('CCvCC',$buf);
+ $hid == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Header",$hid,0));
+ $did == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Data Source",$did,0));
+ printf(STDERR "\n$WBPcfn: WARNING: unexpected number of data types (%d, ens=$ens)\n",$ndt),last
+ unless ($ndt == 6 || $ndt == 7);
+ $BT_present = ($ndt == 7);
+ sysread(WBPF,$buf,2*$ndt) == 2*$ndt || die("$WBPcfn: $!");
+ @WBPofs = unpack("v$ndt",$buf);
+ $fixed_leader_bytes = $WBPofs[1] - $WBPofs[0];
+
+ #------------------------------
+ # Variable Leader
+ #------------------------------
+
+ sysseek(WBPF,$start_ens+$WBPofs[1]+12,0) || die("$WBPcfn: $!");
+
+ ${$E}[$ens]->{XDUCER_DEPTH} *= 10;
+ ${$E}[$ens]->{HEADING} *= 100;
+
+ ${$E}[$ens]->{PITCH} = unpack('S',pack('s',${$E}[$ens]->{PITCH}*100));
+ ${$E}[$ens]->{ROLL} = unpack('S',pack('s',${$E}[$ens]->{ROLL} *100));
+ ${$E}[$ens]->{TEMPERATURE} =
+ unpack('S',pack('s',${$E}[$ens]->{TEMPERATURE}*100));
+
+ sysseek(WBPF,2,1); # skip built-in test which reads as 0 but is usually undef
+ # this was found not to matter, but there is no reason to edit
+# my($b1); # this field
+# sysread(WBPF,$b1,14);
+# sysseek(WBPF,-14,1);
+# my($sos,$xd,$hdg,$pit,$rol,$sal,$tem) = unpack('vvvvvvv',$b1);
+
+ $buf = pack('vvvvvvv',
+ ${$E}[$ens]->{SPEED_OF_SOUND},
+ ${$E}[$ens]->{XDUCER_DEPTH},${$E}[$ens]->{HEADING},
+ ${$E}[$ens]->{PITCH},${$E}[$ens]->{ROLL},
+ ${$E}[$ens]->{SALINITY},${$E}[$ens]->{TEMPERATURE});
+
+# unless ($b1 eq $buf) {
+# printf(STDERR "ens = $ens\n");
+# printf(STDERR "hdg: $hdg, ${$E}[$ens]->{HEADING}\n");
+# printf(STDERR "xd: $xd, ${$E}[$ens]->{XDUCER_DEPTH}\n");
+# printf(STDERR "pit: $pit, ${$E}[$ens]->{PITCH}\n");
+# printf(STDERR "rol: $rol, ${$E}[$ens]->{ROLL}\n");
+# printf(STDERR "sal: $sal, ${$E}[$ens]->{SALINITY}\n");
+# printf(STDERR "tem: $tem, ${$E}[$ens]->{TEMPERATURE}\n");
+#
+# printf(STDERR "read: %04X %04X %04X %04X %04X %04X %04X written: %04X %04X %04X %04X %04X %04X %04X\n",unpack('v7',$b1),unpack('v7',$buf));
+#
+# die;
+# }
+
+ my($nw) = syswrite(WBPF,$buf,14);
+ $nw == 14 || die("$WBPcfn: $nw bytes written ($!)");
+
+ #----------------
+ # 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 ($!)");
+
+ } # ens loop
+}
+
+1; # return true for all the world to see
--- a/RDI_Utils.pl
+++ b/RDI_Utils.pl
@@ -1,9 +1,9 @@
#======================================================================
# R D I _ U T I L S . P L
# doc: Wed Feb 12 10:21:32 2003
-# dlm: Thu Jun 20 15:26:47 2013
+# dlm: Thu Feb 13 16:23:34 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 125 0 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 206 31 NIL 0 0 72 10 2 4 NIL ofnI
#======================================================================
# miscellaneous RDI-specific utilities
@@ -45,6 +45,8 @@
# May 14, 2013: - added incident-velocity, w12 & w34 to mkProfile
# Jun 5, 2013: - BUG: incident-flow warning was printed repeatedly
# Jun 20, 2013: - BUG: warning had used &antsInfo()
+# Feb 13, 2014: - replaced {DEPTH_BT} by {seabed}
+# - added set_range_lim()
use strict;
@@ -131,51 +133,85 @@
@{$d->{ENSEMBLE}[$i]->{BT_VELOCITY}}))
: velApplyHdgBias($d,$i,@{$d->{ENSEMBLE}[$i]->{BT_VELOCITY}});
next unless (abs($BT[3]) < 0.05);
- $d->{ENSEMBLE}[$i]->{DEPTH_BT} =
+ $d->{ENSEMBLE}[$i]->{seabed} =
$d->{ENSEMBLE}[$i]->{BT_RANGE}[0]/4 +
$d->{ENSEMBLE}[$i]->{BT_RANGE}[1]/4 +
$d->{ENSEMBLE}[$i]->{BT_RANGE}[2]/4 +
$d->{ENSEMBLE}[$i]->{BT_RANGE}[3]/4;
- next unless ($d->{ENSEMBLE}[$i]->{DEPTH_BT} >= $min_dist);
- $d->{ENSEMBLE}[$i]->{DEPTH_BT} *= -1
+ next
+ unless ($d->{ENSEMBLE}[$i]->{seabed} >= $min_dist);
+ $d->{ENSEMBLE}[$i]->{seabed} *= -1
if ($d->{ENSEMBLE}[$i]->{XDUCER_FACING_UP});
- $d->{ENSEMBLE}[$i]->{DEPTH_BT} += $d->{ENSEMBLE}[$i]->{DEPTH};
- if ($d->{ENSEMBLE}[$i]->{DEPTH_BT} > $d->{ENSEMBLE}[$be]->{DEPTH}) {
- $guesses[int($d->{ENSEMBLE}[$i]->{DEPTH_BT})+$z_offset]++;
+ $d->{ENSEMBLE}[$i]->{seabed} += $d->{ENSEMBLE}[$i]->{DEPTH};
+ if ($d->{ENSEMBLE}[$i]->{seabed} > $d->{ENSEMBLE}[$be]->{DEPTH}) {
+ $guesses[int($d->{ENSEMBLE}[$i]->{seabed})+$z_offset]++;
$nd++;
} else {
- undef($d->{ENSEMBLE}[$i]->{DEPTH_BT});
+ undef($d->{ENSEMBLE}[$i]->{seabed});
}
}
return undef unless ($nd>5);
my($mode,$nmax);
for ($i=0; $i<=$#guesses; $i++) { # find mode
- $nmax=$guesses[$i],$mode=$i-$z_offset
+ $nmax=$guesses[$i],$mode=$i-$z_offset
if ($guesses[$i] > $nmax);
}
$nd = 0;
for ($i=$be-$search_width; $i<=$be+$search_width; $i++) {
- next unless defined($d->{ENSEMBLE}[$i]->{DEPTH_BT});
- if (abs($d->{ENSEMBLE}[$i]->{DEPTH_BT}-$mode) <= $mode_width) {
- $dd += $d->{ENSEMBLE}[$i]->{DEPTH_BT};
+ next unless defined($d->{ENSEMBLE}[$i]->{seabed});
+ if (abs($d->{ENSEMBLE}[$i]->{seabed}-$mode) <= $mode_width) {
+ $dd += $d->{ENSEMBLE}[$i]->{seabed};
$nd++;
} else {
- $d->{ENSEMBLE}[$i]->{DEPTH_BT} = undef;
+ $d->{ENSEMBLE}[$i]->{seabed} = undef;
}
}
return undef unless ($nd >= 2);
$dd /= $nd;
for ($i=$be-$search_width; $i<=$be+$search_width; $i++) {
- next unless defined($d->{ENSEMBLE}[$i]->{DEPTH_BT});
- $sd += ($d->{ENSEMBLE}[$i]->{DEPTH_BT}-$dd)**2;
+ next unless defined($d->{ENSEMBLE}[$i]->{seabed});
+ $sd += ($d->{ENSEMBLE}[$i]->{seabed}-$dd)**2;
}
return ($dd, sqrt($sd/($nd-1)));
}
+#----------------------------------------------------------------------
+# set_range_lim(d)
+# - set field range_lim
+#----------------------------------------------------------------------
+
+sub set_range_lim($)
+{
+ my($d) = @_;
+
+ for (my($e)=0; $e<=$#{$d->{ENSEMBLE}}; $e++) {
+ my($lastGood) = 1; my($b);
+ for ($b=0; $b<$d->{N_BINS}; $b++) {
+ if (defined($d->{ENSEMBLE}[$e]->{VELOCITY}[$b][0]) &&
+ defined($d->{ENSEMBLE}[$e]->{VELOCITY}[$b][1]) &&
+ defined($d->{ENSEMBLE}[$e]->{VELOCITY}[$b][2]) &&
+ defined($d->{ENSEMBLE}[$e]->{VELOCITY}[$b][3])) {
+ $lastGood = 1;
+ } elsif ($lastGood) {
+ $lastGood = 0;
+ } else {
+ last;
+ }
+ }
+
+ next unless ($b>=2) && defined($d->{ENSEMBLE}[$e]->{DEPTH});
+ $d->{ENSEMBLE}[$e]->{range_lim} =
+ $d->{DISTANCE_TO_BIN1_CENTER} + ($b-2) * $d->{BIN_LENGTH};
+ $d->{ENSEMBLE}[$e]->{range_lim} *= -1
+ if ($d->{ENSEMBLE}[$e]->{XDUCER_FACING_UP});
+ $d->{ENSEMBLE}[$e]->{range_lim} += $d->{ENSEMBLE}[$e]->{DEPTH};
+ }
+}
+
#======================================================================
# c = soundSpeed($salin,$temp,$depth)
#======================================================================
new file mode 100755
--- /dev/null
+++ b/editPD0
@@ -0,0 +1,88 @@
+#!/usr/bin/perl
+#======================================================================
+# E D I T P D 0
+# doc: Mon Nov 25 20:24:31 2013
+# dlm: Tue Nov 26 10:31:05 2013
+# (c) 2013 A.M. Thurnherr
+# uE-Info: 70 1 NIL 0 0 72 2 2 4 NIL ofnI
+#======================================================================
+
+# edit RDI PD0 file, e.g. to replace pitch/roll/heading with external values
+
+# HISTORY:
+# Nov 25, 2013: - created
+
+$0 =~ m{(.*)/[^/]+};
+require "$1/RDI_PD0_IO.pl";
+require "getopts.pl";
+
+$USAGE = "$0 @ARGV";
+die("Usage: $0 " .
+ '-e) <edit-file> ' .
+ "<input file> <output file>\n")
+ unless (&Getopts('e:') && @ARGV == 2);
+
+die("$0: -e <edit-file> is required\n")
+ unless (-r $opt_e);
+
+print(STDERR "Reading $ARGV[0]..."); # read data
+readData($ARGV[0],\%dta);
+print(STDERR "done\n");
+
+#----------------------------------------------------------------------
+
+print(STDERR "Editing according to <$opt_e>...");
+
+#--------------------------------------------------
+# INTERFACE
+# - example <edit_file> entry:
+# 162 p(3), r(4), h(3.14)
+#--------------------------------------------------
+
+sub p($) { $dta{ENSEMBLE}[$e]->{PITCH} = $_[0]; }
+sub r($) { $dta{ENSEMBLE}[$e]->{ROLL} = $_[0]; }
+sub h($) { $dta{ENSEMBLE}[$e]->{HEADING} = $_[0]; }
+
+#--------------------------------------------------
+# Main Routine
+#--------------------------------------------------
+
+open(EF,$opt_e) || die("$opt_e: $!\n");
+while (<EF>) {
+ s/\#.*//;
+ next if m/^\s+$/;
+ my($ens,$expr) = m/^\s*(\d+)\s+(.*)$/;
+
+ my($id) = ($expr =~ m/^([A-Z]+)\s/); # e.g. PITCH, ROLL, HEADING
+ $expr = sprintf('$dta{ENSEMBLE}[$e]->{%s}',$id)
+ if defined($id);
+
+ push(@EE,$ens);
+ push(@EX,$expr);
+}
+close(EF);
+
+for (local($e)=my($eei)=0; $e<@{$dta{ENSEMBLE}}; $e++) { # local() needed for p(), r(), h()
+ if ($EE[$eei] == $dta{ENSEMBLE}[$e]->{NUMBER}) { # match => edit
+# print(STDERR "\n\@ens=$EE[$eei]: $EX[$eei]");
+# print(STDERR "\n\tp($dta{ENSEMBLE}[$e]->{PITCH}), r($dta{ENSEMBLE}[$e]->{ROLL}), h($dta{ENSEMBLE}[$e]->{HEADING})");
+ eval($EX[$eei]) || die("$@ while executing <$EX[$eei]>\n");
+# print(STDERR "\n\tp($dta{ENSEMBLE}[$e]->{PITCH}), r($dta{ENSEMBLE}[$e]->{ROLL}), h($dta{ENSEMBLE}[$e]->{HEADING})...");
+ } elsif ($EE[$eei] > $dta{ENSEMBLE}[$e]->{NUMBER}) { # next edit later in file => skip
+ next;
+ } else { # need next edit
+ $eei++;
+ last if ($eei >= @EE);
+ redo;
+ }
+}
+
+print(STDERR "done\n");
+
+#----------------------------------------------------------------------
+
+print(STDERR "Writing $ARGV[1]..."); # write data
+writeData($ARGV[1],\%dta);
+print(STDERR "done\n");
+
+exit(0);
--- a/listBT
+++ b/listBT
@@ -2,9 +2,9 @@
#======================================================================
# L I S T B T
# doc: Sat Jan 18 18:41:49 2003
-# dlm: Sat Aug 21 23:24:42 2010
+# dlm: Mon Nov 25 18:30:11 2013
# (c) 2003 A.M. Thurnherr
-# uE-Info: 123 56 NIL 0 0 72 11 2 4 NIL ofnI
+# uE-Info: 42 44 NIL 0 0 72 11 2 4 NIL ofnI
#======================================================================
# Extract Bottom-Track Data
@@ -39,6 +39,7 @@
# Sep 19, 2007: - adapted to new [RDI_BB_Read.pl] (not tested)
# Nov 1, 2008: - BUG: sig(u) was reported instead of sig(v)
# Jul 30, 2009: - NaN => nan
+# Nov 25, 2013: - checkEnsemble() expunged
# NOTES:
# - the RDI BT data contains ranges that are greater than the
@@ -417,7 +418,6 @@
#======================================================================
for ($e=0; $e<=$#{$dta{ENSEMBLE}}; $e++) {
- checkEnsemble(\%dta,$e);
$dta{ENSEMBLE}[$e]->{W_REF} = w($e);
next unless (defined($start_e) ||
defined($dta{ENSEMBLE}[$e]->{W_REF}));
--- a/listW
+++ b/listW
@@ -2,9 +2,9 @@
#======================================================================
# L I S T W
# doc: Wed Mar 24 06:45:09 2004
-# dlm: Thu Jul 30 17:42:33 2009
+# dlm: Mon Nov 25 18:30:33 2013
# (c) 2004 A.M. Thurnherr
-# uE-Info: 205 53 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 23 0 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# dump vertical velocities
@@ -19,6 +19,7 @@
# Nov 8, 2005: - UNIXTIME => UNIX_TIME
# Sep 19, 2007: - adapted to new [RDI_BB_Read.pl] (not tested)
# Jul 30, 2009: - NaN => nan
+# Nov 25, 2013: - checkEnsemble() expunged
$0 =~ m{(.*)/[^/]+};
require "$1/WorkhorseBinRead.pl";
@@ -123,7 +124,6 @@
print(STDERR "Generating profile by integrating w...");
for ($e=0; $e<=$#{$dta{ENSEMBLE}}; $e++) {
- checkEnsemble(\%dta,$e); # sanity checks
filterEnsemble(\%dta,$e) # filter ensemble
if (defined($opt_F) &&
$dta{ENSEMBLE}[$e]->{PERCENT_GOOD}[0][0] > 0);
--- a/mkProfile
+++ b/mkProfile
@@ -2,9 +2,9 @@
#======================================================================
# M K P R O F I L E
# doc: Sun Jan 19 18:55:26 2003
-# dlm: Tue May 14 11:37:04 2013
+# dlm: Thu Feb 13 15:45:20 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 169 15 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 283 0 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# Make an LADCP Profile by Integrating W (similar to Firing's scan*).
@@ -83,6 +83,8 @@
# May 14, 2013: - added heading to output
# - added err_vel to output
# - finally removed -d/-g
+# Nov 25, 2013: - expunged checkEnsemble
+# Feb 13, 2014: - added support set_range_lim()
# NOTES:
# - the battery values are based on transmission voltages (different
@@ -107,7 +109,6 @@
$USAGE = "$0 @ARGV";
die("Usage: $0 " .
"[-Q)uiet] [-F)ilter <script>] " .
- "[-s)uppress checkensemble()] " .
"[require -4)-beam solutions] [-d)iscard <beam#>] [apply beamvel-m)ask <file>] " .
"[-r)ef-layer <bin|1,bin|6>] [-n) vels <min|2>] " .
"[-e)rr-vel <max[0.1]] [-c)orrelation <min>] [-p)ct-good <min[100]>] " .
@@ -115,7 +116,7 @@
"[output -f)ields <field[,...]> " .
"[-M)agnetic <declination>] [profile -B)ottom <depth>] " .
"<RDI file>\n")
- unless (&Getopts("4AB:F:M:Qd:g:r:n:e:c:f:m:sp:") && @ARGV == 1);
+ unless (&Getopts("4AB:F:M:Qd:g:r:n:e:c:f:m:p:") && @ARGV == 1);
$RDI_Coords::minValidVels = 4 if ($opt_4); # no 3-beam solutions
@@ -188,7 +189,7 @@
$dta{HEADING_BIAS} = 0;
}
-ensure_BT_RANGE(\%dta); # calc if missing
+ensure_BT_RANGE(\%dta); # set BT_RANGE field if it is missing (old firmware bug)
if ($opt_f) { # additional fields
@f = split(',',$opt_f);
@@ -245,7 +246,7 @@
#======================================================================
($firstgood,$lastgood,$atbottom,$w_gap_time,$zErr,$maxz,$rms_heave_accel) =
- mk_prof(\%dta,!$opt_s,$opt_F,$minb,$maxb,$opt_c,$opt_e,$opt_g,$opt_p);
+ mk_prof(\%dta,0,$opt_F,$minb,$maxb,$opt_c,$opt_e,$opt_g,$opt_p);
unless (($atbottom > $firstgood) && ($lastgood > $atbottom)) {
if ($opt_Q) {
@@ -278,6 +279,8 @@
}
}
+set_range_lim(\%dta); # set {range_lim} field
+
($water_depth,$sig_wd) = # sea bed
find_seabed(\%dta,$atbottom,$beamCoords);
@@ -685,7 +688,7 @@
$uFields = "{u} {u_err} {v} {v_err} {x} {x_err} {y} {y_err}"
if defined($opt_M);
print("#ANTS#FIELDS# {ens} {time} {elapsed} {secno} {downcast} " .
- "{w} {w_err} {err_vel} {depth} {depth_err} {depth_BT} " .
+ "{w} {w_err} {err_vel} {depth} {depth_err} {seabed} " .
"{pitchroll} {heading} {rotation} " .
"$uFields $addFields\n");
@@ -778,7 +781,7 @@
p($dta{ENSEMBLE}[$e]->{ERR_VEL});
p($dta{ENSEMBLE}[$e]->{DEPTH});
p($dta{ENSEMBLE}[$e]->{DEPTH_ERR});
- p($dta{ENSEMBLE}[$e]->{DEPTH_BT});
+ p($dta{ENSEMBLE}[$e]->{seabed});
p($dta{ENSEMBLE}[$e]->{PITCHROLL});
p($dta{ENSEMBLE}[$e]->{HEADING});
p($dta{ENSEMBLE}[$e]->{ROTATION});
--- a/splitRDI
+++ b/splitRDI
@@ -2,9 +2,9 @@
#======================================================================
# S P L I T R D I
# doc: Sat Aug 21 22:20:27 2010
-# dlm: Fri Jun 24 11:30:06 2011
+# dlm: Thu Feb 13 14:42:02 2014
# (c) 2010 A.M. Thurnherr
-# uE-Info: 27 68 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 19 0 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# split RDI files based on list of ensemble numbers (e.g. from yoyo -t)
@@ -12,19 +12,19 @@
# HISTORY:
# Aug 21, 2010: - created
# Jun 24, 2011: - replaced -b, -n by -o
+# Feb 13, 2014: - updated doc
# NOTES:
-# - it is assumed that the input file begins with ensemble #1
-# - input file extension 000 is assumed
-# - turning-point ensembles are written to preceding profile,
-# for compatibility with [yoyo]
+# - it is assumed that the input file begins with ensemble #1
+# - turning-point ensembles are written to preceding profile,
+# for compatibility with [yoyo]
# FILE NAME CONVENTION:
-# - in order to assign individual yoyo casts numerical station numbers,
-# by default, the yoyo cast number is inserted after the station number
+# - in order to assign individual yoyo casts numerical station numbers,
+# by default, the yoyo cast number is inserted after the station number
-# EXAMPLE:
-# splitRDI 017DL000.000 `mkProfile 017DL000.000 | yoyo -QFens -ut`
+# EXAMPLES:
+# splitRDI 017DL000.000 `mkProfile 017DL000.000 | yoyo -QFens -ut`
$0 =~ m{(.*/)[^/]+};
require "$1RDI_BB_Read.pl";