--- a/ADCP_tools_lib.pl
+++ b/ADCP_tools_lib.pl
@@ -1,9 +1,9 @@
#======================================================================
# A D C P _ T O O L S _ L I B . P L
# doc: Tue Jan 5 10:45:47 2016
-# dlm: Mon Apr 20 15:47:30 2020
+# dlm: Tue Mar 23 09:15:16 2021
# (c) 2016 A.M. Thurnherr
-# uE-Info: 19 25 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 18 0 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
# HISTORY:
@@ -15,8 +15,9 @@
# Dec 7, 2017: - updated to V2.1 for improvements to listHdr
# Feb 6, 2018: - updated to V2.2 for changes to PD0_IO
# Apr 20, 2020: - updated to V2.3 after adaptating to work with IMPed moored ADCP data
+# Mar 23, 2021: - updated to V2.4 after starting adaption to Nortek produced PD0 files
-$ADCP_tools_version = 2.3;
+$ADCP_tools_version = 2.4;
die(sprintf("$0: obsolete ADCP_tools V%.1f; V%.1f required\n",
$ADCP_tools_version,$ADCP_tools_minVersion))
--- 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: Mon Jun 29 10:59:01 2020
+# dlm: Wed Mar 17 23:20:13 2021
# (c) 2003 A.M. Thurnherr
-# uE-Info: 61 83 NIL 0 0 72 10 2 4 NIL ofnI
+# uE-Info: 66 9 NIL 0 0 72 10 2 4 NIL ofnI
#======================================================================
# RDI Workhorse Coordinate Transformations
@@ -59,6 +59,15 @@
# Mar 28, 2018: - added &loadInstrumentTransformation()
# Jun 5, 2020: - added sscorr_w & sscorr_w_mooring
# Jun 29, 2020: - added comments for sscorr_w, which conflicts with LADCP_w_ocean
+# Mar 17, 2021: - adapted velBeamToInstrument() to Nortek (checked w only)
+# - adapted velInstrumentToEarth() to Nortek, assuming Nortek pitch is gimbal pitch
+# HISTORY END
+
+# NORTEK TODO:
+# - check u, v sign convention for Nortek
+# - verify that gimbal pitch for Nortek gives better results
+# for A20 test profile 900, the differences in w have a stddev of 1.3e-5 m/s
+# - update gimbal pitch for Nortek in other routines
use strict;
use POSIX;
@@ -135,7 +144,7 @@
defined($v3) + defined($v4)
>= $RDI_Coords::minValidVels);
- unless (@B2I) {
+ unless (@B2I) { # nominal transformation matrix
my($a) = 1 / (2 * sin(rad($ADCP->{BEAM_ANGLE})));
my($b) = 1 / (4 * cos(rad($ADCP->{BEAM_ANGLE})));
my($c) = $ADCP->{CONVEX_BEAM_PATTERN} ? 1 : -1;
@@ -146,7 +155,14 @@
[$d, $d, -$d, -$d ]);
}
- if (!defined($v1)) { # 3-beam solutions
+ if ($ADCP->{PRODUCER} =~ '^Nortek') { # Nortek ADCPs use different coord system
+ $v1 *= -1 if defined($v1);
+ $v2 *= -1 if defined($v2);
+ $v3 *= -1 if defined($v3);
+ $v4 *= -1 if defined($v4);
+ }
+
+ if (!defined($v1)) { # 3-beam solutions
$RDI_Coords::threeBeamFlag = 1;
$RDI_Coords::threeBeam_1++;
$v1 = -($v2*$B2I[3][1]+$v3*$B2I[3][2]+$v4*$B2I[3][3])/$B2I[3][0];
@@ -211,7 +227,13 @@
if defined($ADCP->{ENSEMBLE}[$ens]->{HEADING});
$pitch = $ADCP->{ENSEMBLE}[$ens]->{PITCH};
$roll = $ADCP->{ENSEMBLE}[$ens]->{ROLL};
- my($rad_gimbal_pitch) = atan(tan(rad($pitch)) * cos(rad($roll)));
+ my($rad_gimbal_pitch);
+ if ($ADCP->{PRODUCER} =~ '^Nortek') {
+ $rad_gimbal_pitch = rad($pitch); # I am assuming that this is correct
+ } else {
+ $rad_gimbal_pitch = atan(tan(rad($pitch)) * cos(rad($roll)));
+ }
+
my($rad_calc_pitch) = ($RDI_Coords::beamTransformation eq 'RDI') ? $rad_gimbal_pitch :
asin(sin($rad_gimbal_pitch)*cos(rad($roll)) /
sqrt(1-sin(rad($roll))**2*sin($rad_gimbal_pitch)**2));
--- a/RDI_PD0_IO.pl
+++ b/RDI_PD0_IO.pl
@@ -1,9 +1,9 @@
#======================================================================
# R D I _ P D 0 _ I O . P L
# doc: Sat Jan 18 14:54:43 2003
-# dlm: Sat Mar 6 14:13:23 2021
+# dlm: Wed Mar 17 22:54:27 2021
# (c) 2003 A.M. Thurnherr
-# uE-Info: 643 43 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 129 35 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# Read RDI PD0 binary data files (*.[0-9][0-9][0-9])
@@ -125,6 +125,8 @@
# O(N^2) process
# Apr 14, 2020: - BUG: WBPens did not work for ens# > 65535 (high byte)
# Mar 3, 2021: - adapted to Nortek PD0 files
+# Mar 13, 2021: - finished adaptation to Nortek files
+# Mar 17, 2021: - updated HISTORY
# END OF HISTORY
# FIRMWARE VERSIONS:
@@ -983,59 +985,65 @@
my($ndata) = $nbins * 4;
my($vel_di) = WBRdtaIndex(0x0100);
- die("no velocity data in ensemble #$ensNo\n")
- unless defined($vel_di);
-
- sysseek(WBRF,$start_ens+$WBRofs[$vel_di],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vv$ndata",$buf);
-
- for ($i=0,$bin=0; $bin<$nbins; $bin++) {
- for ($beam=0; $beam<4; $beam++,$i++) {
- ${$E}[$ens]->{VELOCITY}[$bin][$beam] =
- unpack('s',pack('S',$dta[$i])) / 1000
- if ($dta[$i] != 0x8000);
- }
- }
+ if (defined($vel_di)) {
+ sysseek(WBRF,$start_ens+$WBRofs[$vel_di],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2+$ndata*2) == 2+$ndata*2 || die("$WBRcfn: $!");
+ ($id,@dta) = unpack("vv$ndata",$buf);
+
+ for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+ for ($beam=0; $beam<4; $beam++,$i++) {
+ ${$E}[$ens]->{VELOCITY}[$bin][$beam] =
+ unpack('s',pack('S',$dta[$i])) / 1000
+ if ($dta[$i] != 0x8000);
+ }
+ }
+ } else {
+# die("no velocity data in ensemble #$ensNo\n");
+ print(STDERR "WARNING: no velocity data in ensemble #$ensNo\n");
+ }
#--------------------
# Correlation Data
#--------------------
my($corr_di) = WBRdtaIndex(0x0200);
- die("no correlation data in ensemble #$ensNo\n")
- unless defined($corr_di);
-
- sysseek(WBRF,$start_ens+$WBRofs[$corr_di],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vC$ndata",$buf);
-
- for ($i=0,$bin=0; $bin<$nbins; $bin++) {
- for ($beam=0; $beam<4; $beam++,$i++) {
- ${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i]
- if ($dta[$i]);
- }
- }
+ if (defined($corr_di)) {
+ sysseek(WBRF,$start_ens+$WBRofs[$corr_di],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
+ ($id,@dta) = unpack("vC$ndata",$buf);
+
+ for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+ for ($beam=0; $beam<4; $beam++,$i++) {
+ ${$E}[$ens]->{CORRELATION}[$bin][$beam] = $dta[$i]
+ if ($dta[$i]);
+ }
+ }
+ } else {
+# die("no correlation data in ensemble #$ensNo\n")
+ print(STDERR "WARNING: no correlation data in ensemble #$ensNo\n")
+ }
#--------------------
# Echo Intensity Data
#--------------------
my($echo_di) = WBRdtaIndex(0x0300);
- die("no echo intensity data in ensemble #$ensNo\n")
- unless defined($echo_di);
-
- sysseek(WBRF,$start_ens+$WBRofs[$echo_di],0) || die("$WBRcfn: $!");
- sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
- ($id,@dta) = unpack("vC$ndata",$buf);
-
- $id == 0x0300 ||
- die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ensNo));
-
- for ($i=0,$bin=0; $bin<$nbins; $bin++) {
- for ($beam=0; $beam<4; $beam++,$i++) {
- ${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i];
- }
+ if (defined($echo_di)) {
+ sysseek(WBRF,$start_ens+$WBRofs[$echo_di],0) || die("$WBRcfn: $!");
+ sysread(WBRF,$buf,2+$ndata) == 2+$ndata || die("$WBRcfn: $!");
+ ($id,@dta) = unpack("vC$ndata",$buf);
+
+ $id == 0x0300 ||
+ die(sprintf($FmtErr,$WBRcfn,"Echo Intensity",$id,$ensNo));
+
+ for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+ for ($beam=0; $beam<4; $beam++,$i++) {
+ ${$E}[$ens]->{ECHO_AMPLITUDE}[$bin][$beam] = $dta[$i];
+ }
+ }
+ } else {
+# die("no echo intensity data in ensemble #$ensNo\n");
+ print(STDERR "WARNING: no echo intensity data in ensemble #$ensNo\n");
}
#--------------------
@@ -1145,10 +1153,12 @@
my($trgid) = @_;
our($ndt,$buf,$id,$start_ens,@WBRofs);
+# printf(STDERR "WBRdtaIndex(%04X)\n",$trgid);
for (my($di)=2; $di<$ndt; $di++) {
sysseek(WBRF,$start_ens+$WBRofs[$di],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,2) == 2 || die("$WBRcfn: $!");
$id = unpack('v',$buf);
+# printf(STDERR "\tid = %04X\n",$id);
return $di if ($id == $trgid);
}
return undef;
--- a/listHdr
+++ b/listHdr
@@ -2,9 +2,9 @@
#======================================================================
# L I S T H D R
# doc: Sat Jan 18 18:41:49 2003
-# dlm: Sat Mar 6 14:19:53 2021
+# dlm: Wed Mar 17 22:53:25 2021
# (c) 2003 A.M. Thurnherr
-# uE-Info: 208 75 NIL 0 0 72 10 2 4 NIL ofnI
+# uE-Info: 50 35 NIL 0 0 72 10 2 4 NIL ofnI
#======================================================================
# Print useful info from the RDI BB header
@@ -46,6 +46,8 @@
# Jun 13, 2019: - removed BT_PRESENT flag support
# Jun 26, 2019: - added comment to the effect that BT setup cannot be listed
# with this utility any more
+# Mar 6, 2021: - adapted to Nortek Signature data files
+# Mar 17, 2021: - updated HISTORY
use Getopt::Std;
--- 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: Thu Apr 18 16:28:13 2019
+# dlm: Sat Apr 10 05:51:48 2021
# (c) 2003 A.M. Thurnherr
-# uE-Info: 98 54 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 99 35 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
# Make an LADCP Profile by Integrating W (similar to Firing's scan*).
@@ -96,6 +96,8 @@
# Apr 2, 2018: - BUG: velBeamToInstrument() used old usage
# Apr 24, 2018: - BUG: bin1 was used even with zero blanking
# Apr 18, 2019: - added coord-transformation %PARAMs
+# Apr 10, 2021: - adapted to V2.4
+# HISTORY END
# NOTES:
# - the battery values are based on transmission voltages (different
@@ -226,7 +228,7 @@
print(STDERR "WARNING: $0 WIDE BANDWIDTH!\n");
}
-unless ($dta{TRANSMIT_POWER_HIGH}) {
+unless ($dta{TRANSMIT_POWER_MAX}) {
print(STDERR "WARNING: $0 LOW TRANSMIT POWER!\n");
}