.
--- 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: Sat Feb 22 09:43:27 2014
+# dlm: Tue Mar 4 13:35:21 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 37 0 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 273 60 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
# RDI Workhorse Coordinate Transformations
@@ -34,6 +34,7 @@
# Aug 7, 2013: - BUG: &velBeamToBPInstrument did not return any val unless
# all beam velocities are defined
# Nov 27, 2013: - added &RDI_pitch(), &tilt_azimuth()
+# Mar 4, 2014: - added support for missing PITCH/ROLL/HEADING
use strict;
use POSIX;
@@ -111,7 +112,10 @@
{
my($dta,$ens,$v1,$v2,$v3,$v4) = @_;
return undef unless (defined($v1) && defined($v2) &&
- defined($v3) && defined($v4));
+ defined($v3) && defined($v4) &&
+ defined($dta->{ENSEMBLE}[$ens]->{PITCH}) &&
+ defined($dta->{ENSEMBLE}[$ens]->{ROLL}) &&
+ defined($dta->{ENSEMBLE}[$ens]->{HEADING}));
unless (@I2E &&
$hdg == $dta->{ENSEMBLE}[$ens]->{HEADING}
@@ -162,6 +166,11 @@
my($dta,$ens,$b1,$b2,$b3,$b4) = @_;
my($v12,$w12,$v34,$w34);
+ return (undef,undef,undef,undef)
+ unless (defined($dta->{ENSEMBLE}[$ens]->{PITCH}) &&
+ defined($dta->{ENSEMBLE}[$ens]->{ROLL}) &&
+ defined($dta->{ENSEMBLE}[$ens]->{HEADING}));
+
unless (defined($TwoCosBAngle)) {
$TwoCosBAngle = 2 * cos(rad($dta->{BEAM_ANGLE}));
$TwoSinBAngle = 2 * sin(rad($dta->{BEAM_ANGLE}));
@@ -216,6 +225,11 @@
my($dta,$ens,$b1,$b2,$b3,$b4) = @_;
my($v12,$w12,$v34,$w34);
+ return (undef,undef,undef,undef)
+ unless (defined($dta->{ENSEMBLE}[$ens]->{PITCH}) &&
+ defined($dta->{ENSEMBLE}[$ens]->{ROLL}) &&
+ defined($dta->{ENSEMBLE}[$ens]->{HEADING}));
+
unless (defined($TwoCosBAngle)) {
$TwoCosBAngle = 2 * cos(rad($dta->{BEAM_ANGLE}));
$TwoSinBAngle = 2 * sin(rad($dta->{BEAM_ANGLE}));
@@ -254,7 +268,9 @@
sub velApplyHdgBias(@)
{
my($dta,$ens,$v1,$v2,$v3,$v4) = @_;
- return undef unless (defined($v1) && defined($v2));
+ return (undef,undef,undef,undef)
+ unless (defined($v1) && defined($v2) &&
+ defined($dta->{ENSEMBLE}[$ens]->{HEADING}));
my($sh) = sin(rad(-$dta->{HEADING_BIAS}));
my($ch) = cos(rad(-$dta->{HEADING_BIAS}));
@@ -272,22 +288,25 @@
sub gimbal_pitch($$) # RDI coord trans manual
{
my($RDI_pitch,$RDI_roll) = @_;
+ return 'nan' unless defined($RDI_pitch) && defined($RDI_roll);
return deg(atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll))));
}
sub RDI_pitch($$)
{
my($gimbal_pitch,$roll) = @_;
+ return 'nan' unless defined($gimbal_pitch) && defined($roll);
return deg(atan(tan(rad($gimbal_pitch))/cos(rad($roll))));
}
sub tilt_azimuth($$)
{
my($gimbal_pitch,$roll) = @_;
+ return 'nan' unless defined($gimbal_pitch) && defined($roll);
return angle(deg(atan2(sin(rad($gimbal_pitch)),sin(rad($roll)))));
}
-# - angle from vertical is home grown and should be treated with caution
+# - angle from vertical is home grown
# - angle between two unit vectors given by acos(v1 dot v2)
# - vertical unit vector v1 = (0 0 1) => dot product = z-component of v2
# - when vertical unit vector is pitched in x direction, followed by
@@ -301,6 +320,7 @@
sub angle_from_vertical($$)
{
my($RDI_pitch,$RDI_roll) = @_;
+ return 'nan' unless defined($RDI_pitch) && defined($RDI_roll);
my($rad_pitch) = atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll)));
return deg(acos(cos($rad_pitch) * cos(rad($RDI_roll))));
}
--- 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: Tue Nov 26 01:29:26 2013
+# dlm: Wed May 7 10:41:18 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 873 10 NIL 0 0 72 74 2 4 NIL ofnI
+# uE-Info: 827 0 NIL 0 0 72 74 2 4 NIL ofnI
#======================================================================
# Read RDI BroadBand Binary Data Files (*.[0-9][0-9][0-9])
@@ -54,6 +54,11 @@
# Nov 25, 2013: - renamed from [RDI_BB_Read.pl]
# - begin implementing WBWens()
# - checkEnsemble() expunged
+# Mar 3, 2014: - BUG: WBPens() did not handle incomple ensembles at EOF correctly
+# Mar 4, 2014: - added support for DATA_SOURCE_ID
+# Apr 24, 2014: - added debug statements to log %-GOOD values
+# May 6, 2014: - loosened input format checks
+# May 7, 2014: - removed BT_present flag
# FIRMWARE VERSIONS:
# It appears that different firmware versions generate different file
@@ -67,6 +72,14 @@
# 16.21 WH300 (1) LDEO NBP0402 53
# 16.27 WH300 (2) Nash ? 59
+# PD0 IMP FILE FORMAT EXTENSIONS:
+# - DATA_SOURCE_ID = 0xA0 | PATCHED_MASK (vs. 0x7F for TRDI PD0 files)
+# PATCHED_MASK & 0x04: pitch value has been patched
+# PATCHED_MASK & 0x02: roll value has been patched
+# PATCHED_MASK & 0x01: heading value has been patched
+# - PITCH & ROLL can be missing (0x8000 badval as in velocities)
+# - HEADING can be missing (0xF000 badval, as 0x8000 is valid 327.68 heading)
+
# NOTES:
# - RDI stores data in VAX/Intel byte order (little endian)
# - the output data structure does not exactly mirror the file data
@@ -99,6 +112,7 @@
# &readData() returns perl obj (ref to anonymous hash) with the following
# structure:
#
+# DATA_SOURCE_ID scalar 0x7f (Workhorse, also DVL)
# NUMBER_OF_DATA_TYPES scalar 6 (no BT) or 7
# ENSEMBLE_BYTES scalar ?, number of bytes w/o checksum
# HEADER_BYTES scalar ?
@@ -183,9 +197,9 @@
# 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]
+# HEADING scalar 0--359.99 [deg] --- IMP EXTENSION: undef
+# PITCH scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef
+# ROLL scalar -20.00-20.00 [deg] --- IMP EXTENSION: undef
# SALINITY scalar 0-40 [psu]
# TEMPERATURE scalar -5.00--40.00 [deg]
# MIN_PRE_PING_WAIT_TIME scalar ? [s]
@@ -317,7 +331,7 @@
($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));
+## $did == 0x7f || die(sprintf($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 ||
@@ -553,7 +567,7 @@
{
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);
+ my($ens,$ensNo,$dayStart,$ens_length,$hid,$did,$ndt);
for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
# print(STDERR "ens = $ens\n");
@@ -567,10 +581,9 @@
sysread(WBRF,$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);
+## $did == 0x7f || die(sprintf($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 || $ndt == 7);
sysread(WBRF,$buf,2*$ndt) == 2*$ndt || die("$WBRcfn: $!");
@WBRofs = unpack("v$ndt",$buf);
$fixed_leader_bytes = $WBRofs[1] - $WBRofs[0];
@@ -594,6 +607,8 @@
# Variable Leader
#------------------------------
+ ${$E}[$ens]->{DATA_SOURCE_ID} = $did; # IMP extension
+
sysseek(WBRF,$start_ens+$WBRofs[1],0) || die("$WBRcfn: $!");
sysread(WBRF,$buf,4) == 4 || die("$WBRcfn: $!");
($id,$ensNo) = unpack("vv",$buf);
@@ -635,11 +650,22 @@
$BIT_errors++ if (${$E}[$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;
+
+ #-------------------------------------------------
+ # IMP EXTENSION: PITCH/ROLL/HEADING CAN BE MISSING
+ #-------------------------------------------------
+
+ ${$E}[$ens]->{HEADING} = (${$E}[$ens]->{HEADING} == 0xF000)
+ ? undef
+ : ${$E}[$ens]->{HEADING} / 100;
+ ${$E}[$ens]->{PITCH} = (${$E}[$ens]->{PITCH} == 0x8000)
+ ? undef
+ : unpack('s',pack('S',${$E}[$ens]->{PITCH})) / 100;
+ ${$E}[$ens]->{ROLL} = (${$E}[$ens]->{ROLL} == 0x8000)
+ ? undef
+ : unpack('s',pack('S',${$E}[$ens]->{ROLL})) / 100;
+
+ ${$E}[$ens]->{TEMPERATURE} = unpack('s',pack('S',${$E}[$ens]->{TEMPERATURE})) / 100;
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} *= 60;
${$E}[$ens]->{MIN_PRE_PING_WAIT_TIME} += $B1 + $B2/100;
${$E}[$ens]->{PITCH_STDDEV} /= 10;
@@ -780,84 +806,90 @@
die(sprintf($FmtErr,$WBRcfn,"Percent-Good Data",$id,$ens));
for ($i=0,$bin=0; $bin<$nbins; $bin++) {
+# printf(STDERR "%-GOOD($bin): ");
for ($beam=0; $beam<4; $beam++,$i++) {
+# printf(STDERR "$dta[$i] ");
${$E}[$ens]->{PERCENT_GOOD}[$bin][$beam] = $dta[$i];
}
+# printf(STDERR "\n");
}
- #--------------------
+ #-----------------------------------------
# Bottom-Track Data
- #--------------------
+ # - scan through remaining data types
+ #-----------------------------------------
- if ($BT_present) {
- sysseek(WBRF,$start_ens+$WBRofs[6],0) || die("$WBRcfn: $!");
+ my($nxt);
+ for ($nxt=6; $nxt<$ndt; $nxt++) { # scan until BT found
+ sysseek(WBRF,$start_ens+$WBRofs[$nxt],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
+ last if ($id == 0x0600);
+ }
+
+ next if ($nxt == $ndt); # no BT found => next ens
+
+
+ sysseek(WBRF,14,1) || die("$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]);
+ }
} # ens loop
}
@@ -886,22 +918,28 @@
{
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);
+ my($ens,$ensNo,$dayStart,$ens_length,$hid,$ndt);
- for ($ens=$start_ens=0; 1; $ens++,$start_ens+=$ens_length+2) {
+ for ($ens=$start_ens=0; $ens<=$#{$E}; $ens++,$start_ens+=$ens_length+2) {
- #----------------------------------------
- # Get ensemble length and # of data types
- #----------------------------------------
+ #------------------------------
+ # Patch Header (Data Source Id)
+ #------------------------------
sysseek(WBPF,$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));
+ sysread(WBPF,$buf,1) || die("$WBPcfn: unexpected EOF");
+ ($hid) = unpack('C',$buf);
+ $hid == 0x7f || die(sprintf($FmtErr,$WBPcfn,"Header",$hid,$ens));
+
+ $buf = pack('C',${$E}[$ens]->{DATA_SOURCE_ID});
+ my($nw) = syswrite(WBPF,$buf,1);
+ $nw == 1 || die("$WBPcfn: $nw bytes written ($!)");
+
+ sysread(WBPF,$buf,4) == 4 || die("$WBPcfn: unexpected EOF");
+ ($ens_length,$dummy,$ndt) = unpack('vCC',$buf);
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] - $WBPofs[0];
@@ -913,10 +951,19 @@
sysseek(WBPF,$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));
+
+ # IMP EXTENSIONS
+ #---------------
+ ${$E}[$ens]->{HEADING} = defined(${$E}[$ens]->{HEADING})
+ ? ${$E}[$ens]->{HEADING} * 100
+ : 0xF000;
+ ${$E}[$ens]->{PITCH} = defined(${$E}[$ens]->{PITCH})
+ ? unpack('S',pack('s',${$E}[$ens]->{PITCH}*100))
+ : 0x8000;
+ ${$E}[$ens]->{ROLL} = defined(${$E}[$ens]->{ROLL})
+ ? unpack('S',pack('s',${$E}[$ens]->{ROLL}*100))
+ : 0x8000;
+
${$E}[$ens]->{TEMPERATURE} =
unpack('S',pack('s',${$E}[$ens]->{TEMPERATURE}*100));
@@ -933,20 +980,6 @@
${$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: $nw bytes written ($!)");
--- a/beamStats
+++ b/beamStats
@@ -1,10 +1,10 @@
#!/usr/bin/perl
#======================================================================
-# L I S T B I N S
+# B E A M S T A T S
# doc: Fri Aug 25 15:57:05 2006
-# dlm: Thu Feb 21 15:05:40 2008
+# dlm: Tue Mar 4 13:09:14 2014
# (c) 2006 A.M. Thurnherr
-# uE-Info: 32 57 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 33 64 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
# Split data file into per-bin time series.
@@ -30,6 +30,7 @@
# BUG: min() did not work with 1st elt undef
# Feb 21, 2008: - BUG: had forgotten to undo debugging changes
# - removed missing magdecl warning on -b
+# Mar 4, 2014: - added support for missing PITCH/ROLL/HEADING
# General Notes:
# - everything (e.g. beams) is numbered from 1
@@ -160,9 +161,9 @@
print(P "$dta{ENSEMBLE}[$e]->{DATE} ");
print(P "$dta{ENSEMBLE}[$e]->{TIME} ");
printf(P "%d ",$dta{ENSEMBLE}[$e]->{UNIX_TIME}-$t0);
- print(P "$dta{ENSEMBLE}[$e]->{HEADING} ");
- print(P "$dta{ENSEMBLE}[$e]->{PITCH} ");
- print(P "$dta{ENSEMBLE}[$e]->{ROLL} ");
+ print(P defined($dta{ENSEMBLE}[$e]->{HEADING}) ? "$dta{ENSEMBLE}[$e]->{HEADING} " : 'nan ');
+ print(P defined($dta{ENSEMBLE}[$e]->{PITCH}) ? "$dta{ENSEMBLE}[$e]->{PITCH} " : 'nan ');
+ print(P defined($dta{ENSEMBLE}[$e]->{ROLL}) ? "$dta{ENSEMBLE}[$e]->{ROLL} " : 'nan ');
print(P "$dta{ENSEMBLE}[$e]->{HEADING_STDDEV} ");
print(P "$dta{ENSEMBLE}[$e]->{PITCH_STDDEV} ");
print(P "$dta{ENSEMBLE}[$e]->{ROLL_STDDEV} ");
--- a/listBins
+++ b/listBins
@@ -2,9 +2,9 @@
#======================================================================
# L I S T B I N S
# doc: Fri Aug 25 15:57:05 2006
-# dlm: Wed Aug 7 10:04:28 2013
+# dlm: Tue Apr 22 12:39:09 2014
# (c) 2006 A.M. Thurnherr
-# uE-Info: 48 46 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 50 45 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# Split data file into per-bin time series.
@@ -46,6 +46,8 @@
# Apr 29, 2013: - cosmetics
# - added warning on missing -S
# Aug 7, 2013: - BUG: -w did not respect -d
+# Mar 4, 2014: - added support for missing PITCH/ROLL/HEADING
+# Apr 22, 2014: - BUG: extraneous semicolon
# General Notes:
# - everything (e.g. beams) is numbered from 1
@@ -174,9 +176,9 @@
print(P "$dta{ENSEMBLE}[$e]->{DATE} ");
print(P "$dta{ENSEMBLE}[$e]->{TIME} ");
printf(P "%d ",$dta{ENSEMBLE}[$e]->{UNIX_TIME}-$t0);
- print(P "$dta{ENSEMBLE}[$e]->{HEADING} ");
- print(P "$dta{ENSEMBLE}[$e]->{PITCH} ");
- print(P "$dta{ENSEMBLE}[$e]->{ROLL} ");
+ print(P defined($dta{ENSEMBLE}[$e]->{HEADING}) ? "$dta{ENSEMBLE}[$e]->{HEADING} " : 'nan ');
+ print(P defined($dta{ENSEMBLE}[$e]->{PITCH}) ? "$dta{ENSEMBLE}[$e]->{PITCH} " : 'nan ');
+ print(P defined($dta{ENSEMBLE}[$e]->{ROLL}) ? "$dta{ENSEMBLE}[$e]->{ROLL} " : 'nan ');
print(P "$dta{ENSEMBLE}[$e]->{HEADING_STDDEV} ");
print(P "$dta{ENSEMBLE}[$e]->{PITCH_STDDEV} ");
print(P "$dta{ENSEMBLE}[$e]->{ROLL_STDDEV} ");
@@ -250,8 +252,10 @@
next if (defined($first_ens) &&
$dta{ENSEMBLE}[$e]->{NUMBER} < $first_ens);
- $dta{ENSEMBLE}[$e]->{PITCH} -= $P{pitch_bias};
- $dta{ENSEMBLE}[$e]->{ROLL} -= $P{roll_bias};
+ $dta{ENSEMBLE}[$e]->{PITCH} -= $P{pitch_bias}
+ if defined($dta{ENSEMBLE}[$e]->{PITCH});
+ $dta{ENSEMBLE}[$e]->{ROLL} -= $P{roll_bias}
+ if defined($dta{ENSEMBLE}[$e]->{ROLL});
$P{first_ens} = $dta{ENSEMBLE}[$e]->{NUMBER},$fe = $e
unless defined($P{first_ens});
--- a/listEns
+++ b/listEns
@@ -2,9 +2,9 @@
#======================================================================
# L I S T E N S
# doc: Sat Jan 18 18:41:49 2003
-# dlm: Wed Aug 7 10:38:17 2013
+# dlm: Tue Mar 4 12:56:36 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 215 0 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 46 64 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# Print useful info from the ensemble list or dump ensembles to
@@ -42,6 +42,8 @@
# - added sounspeed correction warning
# - changed -E from prefix to suffix
# - added active header line to -E output
+# Mar 4, 2014: - added partial support for DATA_SOURCE_ID
+# - added support for missing PITCH/ROLL/HEADING
# Notes:
# - -E outputs data in earth coordinates, unless -b is set also
@@ -134,14 +136,19 @@
{
my($e) = @_;
- printf('%d %lf %d %g %g %g %g %g %g',
+ printf('%d %lf %d %g',
$dta{ENSEMBLE}[$e]->{NUMBER},
$dta{ENSEMBLE}[$e]->{UNIX_TIME},
$dta{ENSEMBLE}[$e]->{XDUCER_FACING_UP} ? 1 : 0,
$dta{ENSEMBLE}[$e]->{TEMPERATURE},
- $dta{ENSEMBLE}[$e]->{HEADING},
- $dta{ENSEMBLE}[$e]->{PITCH},
- $dta{ENSEMBLE}[$e]->{ROLL},
+ );
+ if (defined($dta{ENSEMBLE}[$e]->{HEADING})) { printf(' %g',$dta{ENSEMBLE}[$e]->{HEADING}); }
+ else { printf(' nan'); }
+ if (defined($dta{ENSEMBLE}[$e]->{PITCH})) { printf(' %g',$dta{ENSEMBLE}[$e]->{PITCH}); }
+ else { printf(' nan'); }
+ if (defined($dta{ENSEMBLE}[$e]->{ROLL})) { printf(' %g',$dta{ENSEMBLE}[$e]->{ROLL}); }
+ else { printf(' nan'); }
+ printf(' %g %g',
$dta{ENSEMBLE}[$e]->{ADC_XMIT_VOLTAGE},
$dta{ENSEMBLE}[$e]->{ADC_XMIT_CURRENT},
);
@@ -244,10 +251,10 @@
} else { # neither ANTS nor ens files
unless ($opt_Q) {
if ($dta{FIXED_LEADER_BYTES} >= 53) {
- printf(" # Date Time XD Temp Headng Pitch Roll vels(bin1) ESW$addLayout\n");
+ printf(" # Date Time XD Temp Headng Pitch Roll #vv DSID ESW$addLayout\n");
printf("-----------------------------------------------------------------------\n");
} else {
- printf(" # Date Time XD Temp Headng Pitch Roll vels(bin1)$addLayout\n");
+ printf(" # Date Time XD Temp Headng Pitch Roll #vv DSID$addLayout\n");
printf("-------------------------------------------------------------------\n");
}
}
@@ -256,16 +263,22 @@
{
my($e) = @_;
- printf('%5d %s %s %s %5.1f %6.1f %5.1f %5.1f %3d',
+ printf('%5d %s %s %s %5.1f',
$dta{ENSEMBLE}[$e]->{NUMBER},
$dta{ENSEMBLE}[$e]->{DATE},
$dta{ENSEMBLE}[$e]->{TIME},
$dta{ENSEMBLE}[$e]->{XDUCER_FACING_UP} ? "UP" : "DN",
$dta{ENSEMBLE}[$e]->{TEMPERATURE},
- $dta{ENSEMBLE}[$e]->{HEADING},
- $dta{ENSEMBLE}[$e]->{PITCH},
- $dta{ENSEMBLE}[$e]->{ROLL},
+ );
+ if (defined($dta{ENSEMBLE}[$e]->{HEADING})) { printf(' %6.1f',$dta{ENSEMBLE}[$e]->{HEADING}); }
+ else { printf(' nan'); }
+ if (defined($dta{ENSEMBLE}[$e]->{PITCH})) { printf(' %5.1f',$dta{ENSEMBLE}[$e]->{PITCH}); }
+ else { printf(' nan'); }
+ if (defined($dta{ENSEMBLE}[$e]->{ROLL})) { printf(' %5.1f',$dta{ENSEMBLE}[$e]->{ROLL}); }
+ else { printf(' nan'); }
+ printf(' %3d 0x%02X',
$dta{ENSEMBLE}[$e]->{BIN1VELS},
+ $dta{ENSEMBLE}[$e]->{DATA_SOURCE_ID},
);
printf(' 0x%08X',$dta{ENSEMBLE}[$e]->{ERROR_STATUS_WORD})
if ($dta{FIXED_LEADER_BYTES} >= 53);
--- a/listHdr
+++ b/listHdr
@@ -2,9 +2,9 @@
#======================================================================
# L I S T H D R
# doc: Sat Jan 18 18:41:49 2003
-# dlm: Mon Mar 25 19:20:19 2013
+# dlm: Thu Apr 24 14:50:23 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 79 0 NIL 0 0 72 8 2 4 NIL ofnI
+# uE-Info: 33 81 NIL 0 0 72 8 2 4 NIL ofnI
#======================================================================
# Print useful info from the RDI BB header
@@ -30,6 +30,7 @@
# Jul 9, 2008: - added output regarding available sensors
# Mar 20, 2013: - removed DATA_FORMAT stuff
# Mar 25, 2013: - added INSTRUMENT_TYPE stuff instead
+# Apr 24, 2014: - BUG: USE_3_BEAM_ON_LOW_CORR was reported in water-track setup
$0 =~ m{(.*/)[^/]+};
require "$1RDI_BB_Read.pl";
@@ -103,6 +104,7 @@
printf("EARTH_COORDINATES ") if ($hdr{EARTH_COORDINATES});
printf("PITCH_AND_ROLL_USED ") if ($hdr{PITCH_AND_ROLL_USED});
printf("BIN_MAPPING_ALLOWED ") if ($hdr{ALLOW_BIN_MAPPING});
+ printf("USE_3_BEAM_ON_LOW_CORR ") if ($hdr{USE_3_BEAM_ON_LOW_CORR});
print("\n");
@@ -149,7 +151,6 @@
printf("NARROW_BANDWIDTH ") if ($hdr{NARROW_BANDWIDTH});
printf("WIDE_BANDWIDTH ") if ($hdr{WIDE_BANDWIDTH});
printf("TRANSMIT_POWER_HIGH ") if ($hdr{TRANSMIT_POWER_HIGH});
- printf("USE_3_BEAM_ON_LOW_CORR ") if ($hdr{USE_3_BEAM_ON_LOW_CORR});
print("\n");
#----------------------------------------------------------------------
--- a/mkProfile
+++ b/mkProfile
@@ -2,9 +2,9 @@
#======================================================================
# M K P R O F I L E
# doc: Sun Jan 19 18:55:26 2003
-# dlm: Thu Feb 13 15:45:20 2014
+# dlm: Sat May 24 22:50:02 2014
# (c) 2003 A.M. Thurnherr
-# uE-Info: 283 0 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 797 76 NIL 0 0 72 10 2 4 NIL ofnI
#======================================================================
# Make an LADCP Profile by Integrating W (similar to Firing's scan*).
@@ -85,6 +85,9 @@
# - finally removed -d/-g
# Nov 25, 2013: - expunged checkEnsemble
# Feb 13, 2014: - added support set_range_lim()
+# Mar 4, 2014: - added support to allow missing PITCH/ROLL/HEADING values
+# May 24, 2014: - finally added (gimbal-)pitch & roll to default output
+# - renamed heading to hdg and pitchroll to tilt
# NOTES:
# - the battery values are based on transmission voltages (different
@@ -564,12 +567,19 @@
# Step 6: Pitch, Roll, Rotation
#======================================================================
+# in case of PITCH/ROLL/HEADING data gaps (IMP data), the calculations
+# are not entirely correct, as
+# i) the rotation implied by the pre-/post-gap headings is not counted
+# ii) the gappy ensembles are counted for calculating the rms vals
+
my($prrms,$dnprrms,$upprrms) = (0,0,0);
my($rotrms,$prerot,$dnrot,$uprot,$postrot) = (0,0,0,0,0);
sub rot($)
{
my($e) = @_;
+ return 0
+ unless defined($dta{ENSEMBLE}[$e]->{HEADING}) && defined($dta{ENSEMBLE}[$e-1]->{HEADING});
my($rot) = $dta{ENSEMBLE}[$e]->{HEADING} -
$dta{ENSEMBLE}[$e-1]->{HEADING};
$rot -= 360 if ($rot > 180);
@@ -582,10 +592,11 @@
}
for (; $e<= $atbottom; $e++) { # downcast
- $dta{ENSEMBLE}[$e]->{PITCHROLL} =
+ $dta{ENSEMBLE}[$e]->{TILT} =
&angle_from_vertical($dta{ENSEMBLE}[$e]->{PITCH},
$dta{ENSEMBLE}[$e]->{ROLL});
- $prrms += $dta{ENSEMBLE}[$e]->{PITCHROLL}**2;
+ $prrms += $dta{ENSEMBLE}[$e]->{TILT}**2
+ if numberp($dta{ENSEMBLE}[$e]->{TILT});
$dta{ENSEMBLE}[$e]->{ROTATION} = rot($e);
$dnrot += $dta{ENSEMBLE}[$e]->{ROTATION};
@@ -594,10 +605,11 @@
$dnprrms = $prrms;
for (; $e<=$lastgood; $e++) { # upcast
- $dta{ENSEMBLE}[$e]->{PITCHROLL} =
+ $dta{ENSEMBLE}[$e]->{TILT} =
&angle_from_vertical($dta{ENSEMBLE}[$e]->{PITCH},
$dta{ENSEMBLE}[$e]->{ROLL});
- $prrms += $dta{ENSEMBLE}[$e]->{PITCHROLL}**2;
+ $prrms += $dta{ENSEMBLE}[$e]->{TILT}**2
+ if numberp($dta{ENSEMBLE}[$e]->{TILT});
$dta{ENSEMBLE}[$e]->{ROTATION} = rot($e);
$uprot += $dta{ENSEMBLE}[$e]->{ROTATION};
@@ -689,7 +701,7 @@
if defined($opt_M);
print("#ANTS#FIELDS# {ens} {time} {elapsed} {secno} {downcast} " .
"{w} {w_err} {err_vel} {depth} {depth_err} {seabed} " .
- "{pitchroll} {heading} {rotation} " .
+ "{pitch} {roll} {tilt} {hdg} {rotation} " .
"$uFields $addFields\n");
printf("#ANTS#PARAMS# date{$dta{ENSEMBLE}[$firstgood]->{DATE}} " .
@@ -704,18 +716,18 @@
"0.8_valid_range{%.1f} " .
"max_depth{%.1f} " .
"depth_error{%.1f} " .
- "min_range{%d} " .
- "n_ensembles{%d} " .
- "w_gap_time{%d} " .
+ "min_range{%d} " .
+ "n_ensembles{%d} " .
+ "w_gap_time{%d} " .
"stderr_w{%.4f} " .
- "rms_pitchroll{%.1f} " .
- "downcast_rms_pitchroll{%.1f} " .
- "upcast_rms_pitchroll{%.1f} " .
+ "rms_tilt{%.1f} " .
+ "downcast_rms_tilt{%.1f} " .
+ "upcast_rms_tilt{%.1f} " .
"rms_rotation{%.2f} " .
- "deployment_rotations{%d} " .
- "downcast_rotations{%d} " .
- "upcast_rotations{%d} " .
- "recovery_rotations{%d} " .
+ "deployment_rotations{%d} " .
+ "downcast_rotations{%d} " .
+ "upcast_rotations{%d} " .
+ "recovery_rotations{%d} " .
"rms_heave_acceleration{%.2f} " .
"bin1_dist{%.1f} " .
"bin_length{%.1f} " .
@@ -782,7 +794,9 @@
p($dta{ENSEMBLE}[$e]->{DEPTH});
p($dta{ENSEMBLE}[$e]->{DEPTH_ERR});
p($dta{ENSEMBLE}[$e]->{seabed});
- p($dta{ENSEMBLE}[$e]->{PITCHROLL});
+ p(&gimbal_pitch($dta{ENSEMBLE}[$e]->{PITCH},$dta{ENSEMBLE}[$e]->{ROLL}));
+ p($dta{ENSEMBLE}[$e]->{ROLL});
+ p($dta{ENSEMBLE}[$e]->{TILT});
p($dta{ENSEMBLE}[$e]->{HEADING});
p($dta{ENSEMBLE}[$e]->{ROTATION});
if (defined($opt_M)) {
--- 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: Thu Feb 13 14:42:02 2014
+# dlm: Wed Mar 19 16:35:45 2014
# (c) 2010 A.M. Thurnherr
-# uE-Info: 19 0 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 36 43 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
# split RDI files based on list of ensemble numbers (e.g. from yoyo -t)
@@ -13,6 +13,7 @@
# Aug 21, 2010: - created
# Jun 24, 2011: - replaced -b, -n by -o
# Feb 13, 2014: - updated doc
+# Mar 19, 2014: - added -s)kip small files
# NOTES:
# - it is assumed that the input file begins with ensemble #1
@@ -32,13 +33,16 @@
die("Usage: $0 " .
"[-o)ut-file <fmt[e.g. 017%02dDL000.000]>] " .
+ "[require -m)in <ens> to produce output] " .
"<RDI file> <ens> <ens[...]>\n")
- unless (&getopts('o:') && @ARGV>=3);
+ unless (&getopts('o:m:') && @ARGV>=3);
$opt_o = substr($ARGV[0],0,3) # default output filename format
. '%02d'
. substr($ARGV[0],-9)
unless defined($opt_o);
+
+$opt_m = 0 unless defined($opt_m); # default: produce tiny files as well
readHeader($ARGV[0],\%hdr); shift; # get length of ensembles
$ens_len = $hdr{ENSEMBLE_BYTES} + 2;
@@ -48,19 +52,21 @@
$cnr = 0;
do { # split data
- sysseek(WBRF,($first_ens-2)*$ens_len,0) ||
+ sysseek(WBRF,($first_ens-2)*$ens_len,0) || # read next block of data
die("$WBRcfn: $!");
$last_ens++ unless defined($ARGV[0]);
$nBytes = ($last_ens-$first_ens+1) * $ens_len;
sysread(WBRF,$buf,$nBytes) == $nBytes ||
die("$WBRcfn: file truncated");
- $fn = sprintf($opt_o,$cnr++);
- open(F,">$fn") || die("$fn: $!\n");
- syswrite(F,$buf,$nBytes) == $nBytes ||
- die("$fn: $!\n");
- close(F);
- printf(STDERR "$fn: %d ensembles ($nBytes bytes)\n",$last_ens-$first_ens+1);
+ if ($last_ens-$first_ens+1 > $opt_m) { # produce file only if sufficient # of ensembles
+ $fn = sprintf($opt_o,$cnr++);
+ open(F,">$fn") || die("$fn: $!\n");
+ syswrite(F,$buf,$nBytes) == $nBytes ||
+ die("$fn: $!\n");
+ close(F);
+ printf(STDERR "$fn: %d ensembles ($nBytes bytes)\n",$last_ens-$first_ens+1);
+ }
$first_ens = $last_ens+1;
$last_ens = $ARGV[0]; shift;