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test_aris_reader.m
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filename = '/Volumes/Datos/collpen/aris_reader_tests/Calibration_position1_2014-08-26_123031.aris';
% get_frame_first(filename);
fid = fopen(filename,'rb');
fseek(fid,1024,'bof');
frameindex = fread(fid,1,'uint');
frametime = fread(fid,1,'uint64');
version = fread(fid,1,'uint');
status = fread(fid,1,'uint');
sonartimestamp = fread(fid,1,'uint64');
tsday = fread(fid,1,'uint');
tshour = fread(fid,1,'uint');
tsminute = fread(fid,1,'uint');
tssecond = fread(fid,1,'uint');
tshsecond = fread(fid,1,'uint');
transmitmode = fread(fid,1,'uint');
windowstart = fread(fid,1,'float');
windowlength = fread(fid,1,'float');
threshold = fread(fid,1,'uint');
intensity = fread(fid,1,'int');
receivergain = fread(fid,1,'uint'); %
degc1 = fread(fid,1,'uint'); %
degc2 = fread(fid,1,'uint'); %
humidity = fread(fid,1,'uint'); %
focus = fread(fid,1,'uint'); %
battery = fread(fid,1,'uint'); %
uservalue1 = fread(fid,1,'float'); %
uservalue2 = fread(fid,1,'float'); %
uservalue3 = fread(fid,1,'float'); %
uservalue4 = fread(fid,1,'float'); %
uservalue5 = fread(fid,1,'float'); %
uservalue6 = fread(fid,1,'float'); %
uservalue7 = fread(fid,1,'float'); %
uservalue8 = fread(fid,1,'float'); %
velocity = fread(fid,1,'float'); % Platform velocity from AUV integration
depth = fread(fid,1,'float'); % Platform depth from AUV integration
altitude = fread(fid,1,'float'); % Platform altitude from AUV integration
pitch = fread(fid,1,'float'); % Platform pitch from AUV integration
pitchrate = fread(fid,1,'float'); % Platform pitch rate from AUV integration
roll = fread(fid,1,'float'); % Platform roll from AUV integration
rollrate = fread(fid,1,'float'); % Platform roll rate from AUV integration
heading = fread(fid,1,'float'); % Platform heading from AUV integration
headingrate = fread(fid,1,'float'); % Platform heading rate from AUV integration
compassheading = fread(fid,1,'float'); % Sonar compass heading output
compasspitch = fread(fid,1,'float'); % Sonar compass pitch output
compassroll = fread(fid,1,'float'); % Sonar compass roll output
latitude = fread(fid,1,'double'); % from auxiliary GPS sensor
longitude = fread(fid,1,'double'); % from auxiliary GPS sensor
sonarposition = fread(fid,1,'float'); % special for PNNL
configflags = fread(fid,1,'uint'); %
beamtilt = fread(fid,1,'float'); %
targetrange = fread(fid,1,'float'); %
targetbearing = fread(fid,1,'float'); %
targetpresent = fread(fid,1,'uint'); %
firmwarerevision = fread(fid,1,'uint'); %
flags = fread(fid,1,'uint'); %
sourceframe = fread(fid,1,'uint'); % Source file frame number for CSOT output files
watertemp = fread(fid,1,'float'); % Water temperature from housing temperature sensor
timerperiod = fread(fid,1,'uint'); %
sonarx = fread(fid,1,'float'); % Sonar X location for 3D processing
sonary = fread(fid,1,'float'); % Sonar Y location for 3D processing
sonarz = fread(fid,1,'float'); % Sonar Z location for 3D processing
sonarpan = fread(fid,1,'float'); % X2 pan output
sonartilt = fread(fid,1,'float'); % X2 tilt output
sonarroll = fread(fid,1,'float'); % X2 roll output **** End of DDF_03 frame header data ****
panpnnl = fread(fid,1,'float'); %
tiltpnnl = fread(fid,1,'float'); %
rollpnnl = fread(fid,1,'float'); %
vehicletime = fread(fid,1,'double'); % special for Bluefin Robotics HAUV or other AUV integration
timeggk = fread(fid,1,'float'); % GPS output from NMEA GGK message
dateggk = fread(fid,1,'uint'); % GPS output from NMEA GGK message
qualityggk = fread(fid,1,'uint'); % GPS output from NMEA GGK message
numsatsggk = fread(fid,1,'uint'); % GPS output from NMEA GGK message
dopggk = fread(fid,1,'float'); % GPS output from NMEA GGK message
ehtggk = fread(fid,1,'float'); % GPS output from NMEA GGK message
heavetss = fread(fid,1,'float'); %
yeargps = fread(fid,1,'uint'); % GPS year output
monthgps = fread(fid,1,'uint'); % GPS month output
daygps = fread(fid,1,'uint'); % GPS day output
hourgps = fread(fid,1,'uint'); % GPS hour output
minutegps = fread(fid,1,'uint'); % GPS minute output
secondgps = fread(fid,1,'uint'); % GPS second output
hsecondgps = fread(fid,1,'uint'); % GPS 1/100th second output
sonarpanoffset = fread(fid,1,'float'); % Sonar mount location pan offset for 3D processing
sonartiltoffset = fread(fid,1,'float'); % Sonar mount location tilt offset for 3D processing
sonarrolloffset = fread(fid,1,'float'); % Sonar mount location roll offset for 3D processing
sonarxoffset = fread(fid,1,'float'); % Sonar mount location X offset for 3D processing
sonaryoffset = fread(fid,1,'float'); % Sonar mount location Y offset for 3D processing
sonarzoffset = fread(fid,1,'float'); % Sonar mount location Z offset for 3D processing
tmatrix = fread(fid,16,'float'); % 3D processing transformation matrix **** End of DDF_04 frame header data ****
samplerate = fread(fid,1,'float'); % Calculated as 1e6/SamplePeriod
accellx = fread(fid,1,'float'); % X-axis sonar acceleration
accelly = fread(fid,1,'float'); % Y-axis sonar acceleration
accellz = fread(fid,1,'float'); % Z-axis sonar acceleration
pingmode = fread(fid,1,'uint'); % ARIS ping mode [1..12]
frequencyhilow = fread(fid,1,'uint'); % 1 = HF, 0 = LF
pulsewidth = fread(fid,1,'uint'); % Width of transmit pulse in usec, [4..100]
cycleperiod = fread(fid,1,'uint'); % Ping cycle time in usec, [1802..65535]
sampleperiod = fread(fid,1,'uint'); % Downrange sample rate in usec, [4..100]
transmitenable = fread(fid,1,'uint'); % 1 = Transmit ON, 0 = Transmit OFF
framerate = fread(fid,1,'float'); % Instantaneous frame rate between frame N and frame N-1
soundspeed = fread(fid,1,'float'); % Sound velocity in water calculated from water temperature and salinity setting
samplesperbeam = fread(fid,1,'uint'); % Number of downrange samples in each beam
enable150v = fread(fid,1,'uint'); % 1 = 150V ON (Max Power), 0 = 150V OFF (Min Power, 12V)
samplestartdelay = fread(fid,1,'uint'); % Delay from transmit until start of sampling (window start) in usec, [930..65535]
largelens = fread(fid,1,'uint'); % 1 = telephoto lens (large lens, big lens, hi-res lens) present
thesystemtype = fread(fid,1,'uint'); % 1 = ARIS 3000, 0 = ARIS 1800, 2 = ARIS 1200
sonarserialnumber = fread(fid,1,'uint'); % Sonar serial number as labeled on housing
encryptedkey = fread(fid,1,'uint64'); % Reserved for future use
ariserrorflagsuint = fread(fid,1,'uint'); % Error flag code bits
missedpackets = fread(fid,1,'uint'); % Missed packet count for Ethernet statistics reporting
arisappversion = fread(fid,1,'uint'); % Version number of ArisApp sending frame data
available2 = fread(fid,1,'uint'); % Reserved for future use
reorderedsamples = fread(fid,1,'uint'); % 1 = frame data already ordered into [beam,sample] array, 0 = needs reordering
salinity = fread(fid,1,'uint'); % Water salinity code: 0 = fresh, 15 = brackish, 35 = salt
pressure = fread(fid,1,'float'); % Depth sensor output in meters
batteryvoltage = fread(fid,1,'float'); % Battery input voltage before power steering
mainvoltage = fread(fid,1,'float'); % Main cable input voltage before power steering
switchvoltage = fread(fid,1,'float'); % Input voltage after power steering
focusmotormoving = fread(fid,1,'uint'); % Added 14-Aug-2012 for AutomaticRecording
voltagechanging = fread(fid,1,'uint'); % Added 16-Aug (first two bits = 12V, second two bits = 150V, 00 = not changing, 01 = turning on, 10 = turning off)
focustimeoutfault = fread(fid,1,'uint'); %
focusovercurrentfault = fread(fid,1,'uint'); %
focusnotfoundfault = fread(fid,1,'uint'); %
focusstalledfault = fread(fid,1,'uint'); %
fpgatimeoutfault = fread(fid,1,'uint'); %
fpgabusyfault = fread(fid,1,'uint'); %
fpgastuckfault = fread(fid,1,'uint'); %
cputempfault = fread(fid,1,'uint'); %
psutempfault = fread(fid,1,'uint'); %
watertempfault = fread(fid,1,'uint'); %
humidityfault = fread(fid,1,'uint'); %
pressurefault = fread(fid,1,'uint'); %
voltagereadfault = fread(fid,1,'uint'); %
voltagewritefault = fread(fid,1,'uint'); %
focuscurrentposition = fread(fid,1,'uint'); % Focus shaft current position in motor units [0?1000]
targetpan = fread(fid,1,'float'); % Commanded pan position
targettilt = fread(fid,1,'float'); % Commanded tilt position
targetroll = fread(fid,1,'float'); % Commanded roll position
panmotorerrorcode = fread(fid,1,'uint'); %
tiltmotorerrorcode = fread(fid,1,'uint'); %
rollmotorerrorcode = fread(fid,1,'uint'); %
panabsposition = fread(fid,1,'float'); % Low-resolution magnetic encoder absolute pan position
tiltabsposition = fread(fid,1,'float'); % Low-resolution magnetic encoder absolute tilt position
rollabsposition = fread(fid,1,'float'); % Low-resolution magnetic encoder absolute roll position
panaccelx = fread(fid,1,'float'); % Accelerometer outputs from AR2 CPU board sensor
panaccely = fread(fid,1,'float'); % .
panaccelz = fread(fid,1,'float'); % .
tiltaccelx = fread(fid,1,'float'); % .
tiltaccely = fread(fid,1,'float'); % .
tiltaccelz = fread(fid,1,'float'); % .
rollaccelx = fread(fid,1,'float'); % .
rollaccely = fread(fid,1,'float'); % .
rollaccelz = fread(fid,1,'float'); % .
appliedsettings = fread(fid,1,'uint'); % Cookie indices for command acknowlege in frame header
constrainedsettings = fread(fid,1,'uint'); % .
invalidsettings = fread(fid,1,'uint'); % .
enableinterpacketdelay = fread(fid,1,'uint'); % If true delay is added between sending out image data packets
interpacketdelayperiod = fread(fid,1,'uint'); % packet delay factor in us (does not include function overhead time)
uptime = fread(fid,1,'uint'); % Total number of seconds sonar has been running
arisappversionmajor = fread(fid,1,'uint16'); % Major version number
arisappversionminor = fread(fid,1,'uint16'); % Minor version number
gotime = fread(fid,1,'uint64'); % Sonar time when frame cycle is initiated in hardware
panvelocity = fread(fid,1,'float'); % AR2 pan velocity in degrees/second
tiltvelocity = fread(fid,1,'float'); % AR2 tilt velocity in degrees/second
rollvelocity = fread(fid,1,'float'); % AR2 roll velocity in degrees/second
sentinel = fread(fid,1,'uint'); % Used to measure the frame header size
% str = char(fread(fid,3,'char'));
% disp(str);
% version=fread(fid,1,'uint8'); %get version number
% disp(version);
%
% frames = fread(fid,1,'uint');
% disp(frames(:));
%
% framerate = fread(fid,1,'uint');
% disp(framerate);
%
% highresolution = fread(fid,1,'uint');
% disp(highresolution);
%
% numbeams = fread(fid,1,'uint');
% disp(numbeams);
%
% samplerate = fread(fid,1,'float');
% disp(samplerate);
%
% sampleperchannel = fread(fid,1,'uint');
% disp(sampleperchannel);
%
% receivergain = fread(fid,1,'uint');
% disp(receivergain);
%
% windowstart = fread(fid,1,'float');
% disp(windowstart);
%
% windowlength = fread(fid,1,'float');
% disp(windowlength);
%
% reverse = fread(fid,1,'uint');
% disp(reverse);
%
% sn = fread(fid,1,'uint');
% disp(sn);
%
% strdate = dec2hex(fread(fid,32,'char'));
% disp(strdate);
% disp('change');
%
% idstring = dec2hex(fread(fid,256,'char')); %User supplied identification notes
% disp(idstring);
%
% id1 = fread(fid,1,'int32'); %four user supplied integers
% id2 = fread(fid,1,'int32');
% id3 = fread(fid,1,'int32');
% id4 = fread(fid,1,'int32');
%
% startframe = fread(fid,1,'uint'); %used if this is a snippet file from source file
% disp(startframe);
%
% endframe = fread(fid,1,'uint'); %Used if this is a snippet file from source file
% disp(endframe);
%
% timelapse = fread(fid,1,'uint'); %Logic 0 or 1 (1 = timelapse active);
% disp(timelapse);
%
% recordInterval = fread(fid,1,'uint'); %Ask Bill
% disp(recordInterval);
%
% radioseconds = fread(fid,1,'uint'); % Needed for timelapse -- ask Bill
% disp(radioseconds);
%
% frameinterval= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(frameinterval);
%
% flags= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(flags);
%
% auxflags= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(auxflags);
%
% sspd= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(sspd);
%
% flags3d= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(flags3d);
%
% softwareversion= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(softwareversion);
%
% watertemperature= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(watertemperature);
%
% salinity= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(salinity);
%
% pulselength= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(pulselength);
%
% txmode= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(txmode);
%
% versionfgpa= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(versionfgpa);
%
% versionpsuc= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(versionpsuc);
%
% thumbnailfi= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(thumbnailfi);
%
% filesize= fread(fid,1,'uint64'); % Interval between frames in time lapse
% disp(filesize);
%
% optionalheadersize= fread(fid,1,'uint64'); % Interval between frames in time lapse
% disp(optionalheadersize);
%
% optionaltailsize= fread(fid,1,'uint64'); % Interval between frames in time lapse
% disp(optionaltailsize);
%
% versionminor= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(versionminor);
%
% largelens= fread(fid,1,'uint'); % Interval between frames in time lapse
% disp(largelens);
%
% % userassigned = fread(fid,136,'char'); %User assigned space
length= ftell(fid); %byte offset to the last byte in file header
% disp(length);
%
fclose(fid);