source: ntrip/trunk/BNC/src/bncrinex.cpp@ 4481

Last change on this file since 4481 was 4481, checked in by mervart, 12 years ago
File size: 20.1 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncRinex
30 *
31 * Purpose: writes RINEX files
32 *
33 * Author: L. Mervart
34 *
35 * Created: 27-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iostream>
43#include <iomanip>
44#include <math.h>
45#include <sstream>
46
47#include <QtCore>
48#include <QUrl>
49#include <QString>
50
51#include "bncrinex.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bncconst.h"
55#include "bnctabledlg.h"
56#include "bncgetthread.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncsettings.h"
60#include "bncversion.h"
61#include "rtcm3torinex.h"
62
63using namespace std;
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
67bncRinex::bncRinex(const QByteArray& statID, const QUrl& mountPoint,
68 const QByteArray& latitude, const QByteArray& longitude,
69 const QByteArray& nmea, const QByteArray& ntripVersion) {
70
71 _statID = statID;
72 _mountPoint = mountPoint;
73 _latitude = latitude;
74 _longitude = longitude;
75 _nmea = nmea;
76 _ntripVersion = ntripVersion;
77 _headerWritten = false;
78 _reconnectFlag = false;
79
80 bncSettings settings;
81 _rnxScriptName = settings.value("rnxScript").toString();
82 expandEnvVar(_rnxScriptName);
83
84 _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
85#ifdef WIN32
86 _userName = QString("${USERNAME}");
87#else
88 _userName = QString("${USER}");
89#endif
90 expandEnvVar(_userName);
91 _userName = _userName.leftJustified(20, ' ', true);
92
93 if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
94 _rinexVers = 3;
95 }
96 else {
97 _rinexVers = 2;
98 }
99
100 _approxPos[0] = _approxPos[1] = _approxPos[2] = 0.0;
101
102 _samplingRate = settings.value("rnxSampl").toInt();
103
104 // Initialize RINEX v3 Types
105 // -------------------------
106 _rnxTypes['G'] << "C1C" << "L1C" << "D1C" << "S1C"
107 << "C1P" << "L1P" << "D1P" << "S1P"
108 << "C2C" << "L2C" << "D2C" << "S2C"
109 << "C2P" << "L2P" << "D2P" << "S2P"
110 << "C5" << "D5" << "L5" << "S5";
111
112 _rnxTypes['R'] << "C1C" << "L1C" << "D1C" << "S1C"
113 << "C1P" << "L1P" << "D1P" << "S1P"
114 << "C2C" << "L2C" << "D2C" << "S2C"
115 << "C2P" << "L2P" << "D2P" << "S2P";
116
117 _rnxTypes['E'] << "C1" << "L1" << "D1" << "S1"
118 << "C5" << "L5" << "D5" << "S5"
119 << "C6" << "L6" << "D6" << "S6"
120 << "C7" << "L7" << "D7" << "S7"
121 << "C8" << "L8" << "D8" << "S8";
122
123 _rnxTypes['J'] << "C1" << "L1" << "D1" << "S1"
124 << "C2" << "L2" << "D2" << "S2"
125 << "C5" << "L5" << "D5" << "S5"
126 << "C6" << "D6" << "L6" << "S6";
127
128 _rnxTypes['S'] << "C1" << "L1" << "D1" << "S1"
129 << "C5" << "L5" << "D5" << "S5";
130
131 _rnxTypes['C'] << "C2" << "L2" << "D2" << "S2"
132 << "C6" << "L6" << "D6" << "S6"
133 << "C7" << "L7" << "D7" << "S7";
134}
135
136// Destructor
137////////////////////////////////////////////////////////////////////////////
138bncRinex::~bncRinex() {
139 bncSettings settings;
140 if ((_rinexVers == 3) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
141 _out << "> 4 1" << endl;
142 _out << "END OF FILE" << endl;
143 }
144 _out.close();
145}
146
147// Download Skeleton Header File
148////////////////////////////////////////////////////////////////////////////
149t_irc bncRinex::downloadSkeleton() {
150
151 t_irc irc = failure;
152
153 QStringList table;
154 bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
155 _mountPoint.port(), table, true);
156 QString net;
157 QStringListIterator it(table);
158 while (it.hasNext()) {
159 QString line = it.next();
160 if (line.indexOf("STR") == 0) {
161 QStringList tags = line.split(";");
162 if (tags.size() > 7) {
163 if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
164 net = tags.at(7);
165 break;
166 }
167 }
168 }
169 }
170 QString sklDir;
171 if (!net.isEmpty()) {
172 it.toFront();
173 while (it.hasNext()) {
174 QString line = it.next();
175 if (line.indexOf("NET") == 0) {
176 QStringList tags = line.split(";");
177 if (tags.size() > 6) {
178 if (tags.at(1) == net) {
179 sklDir = tags.at(6).trimmed();
180 break;
181 }
182 }
183 }
184 }
185 }
186 if (!sklDir.isEmpty() && sklDir != "none") {
187 QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
188 if (url.port() == -1) {
189 url.setPort(80);
190 }
191
192 bncNetQuery* query;
193 if (_ntripVersion == "2s") {
194 query = new bncNetQueryV2(true);
195 }
196 else if (_ntripVersion == "2") {
197 query = new bncNetQueryV2(false);
198 }
199 else {
200 query = new bncNetQueryV1;
201 }
202
203 QByteArray outData;
204 query->waitForRequestResult(url, outData);
205 if (query->status() == bncNetQuery::finished) {
206 irc = success;
207 QTextStream in(outData);
208 _header.read(&in);
209 }
210
211 delete query;
212 }
213
214 return irc;
215}
216
217// Read Skeleton Header File
218////////////////////////////////////////////////////////////////////////////
219void bncRinex::readSkeleton() {
220
221 // Read the local file
222 // -------------------
223 QFile skl(_sklName);
224 if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
225 QTextStream in(&skl);
226 _header.read(&in);
227 }
228
229 // Read downloaded file
230 // --------------------
231 else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
232 _ntripVersion != "S" ) {
233 QDate currDate = currentDateAndTimeGPS().date();
234 if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
235 downloadSkeleton();
236 _skeletonDate = currDate;
237 }
238 }
239}
240
241// Next File Epoch (static)
242////////////////////////////////////////////////////////////////////////////
243QString bncRinex::nextEpochStr(const QDateTime& datTim,
244 const QString& intStr, QDateTime* nextEpoch) {
245
246 QString epoStr;
247
248 QTime nextTime;
249 QDate nextDate;
250
251 int indHlp = intStr.indexOf("min");
252
253 if ( indHlp != -1) {
254 int step = intStr.left(indHlp-1).toInt();
255 char ch = 'A' + datTim.time().hour();
256 epoStr = ch;
257 if (datTim.time().minute() >= 60-step) {
258 epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
259 if (datTim.time().hour() < 23) {
260 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
261 nextDate = datTim.date();
262 }
263 else {
264 nextTime.setHMS(0, 0, 0);
265 nextDate = datTim.date().addDays(1);
266 }
267 }
268 else {
269 for (int limit = step; limit <= 60-step; limit += step) {
270 if (datTim.time().minute() < limit) {
271 epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
272 nextTime.setHMS(datTim.time().hour(), limit, 0);
273 nextDate = datTim.date();
274 break;
275 }
276 }
277 }
278 }
279 else if (intStr == "1 hour") {
280 char ch = 'A' + datTim.time().hour();
281 epoStr = ch;
282 if (datTim.time().hour() < 23) {
283 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
284 nextDate = datTim.date();
285 }
286 else {
287 nextTime.setHMS(0, 0, 0);
288 nextDate = datTim.date().addDays(1);
289 }
290 }
291 else {
292 epoStr = "0";
293 nextTime.setHMS(0, 0, 0);
294 nextDate = datTim.date().addDays(1);
295 }
296
297 if (nextEpoch) {
298 *nextEpoch = QDateTime(nextDate, nextTime);
299 }
300
301 return epoStr;
302}
303
304// File Name according to RINEX Standards
305////////////////////////////////////////////////////////////////////////////
306void bncRinex::resolveFileName(const QDateTime& datTim) {
307
308 bncSettings settings;
309 QString path = settings.value("rnxPath").toString();
310 expandEnvVar(path);
311
312 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
313 path += QDir::separator();
314 }
315
316 QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
317 &_nextCloseEpoch);
318
319 QString ID4 = _statID.left(4);
320
321 // Check name conflict
322 // -------------------
323 QString distStr;
324 int num = 0;
325 QListIterator<QString> it(settings.value("mountPoints").toStringList());
326 while (it.hasNext()) {
327 QString mp = it.next();
328 if (mp.indexOf(ID4) != -1) {
329 ++num;
330 }
331 }
332 if (num > 1) {
333 distStr = "_" + _statID.mid(4);
334 }
335
336 QString sklExt = settings.value("rnxSkel").toString();
337 if (!sklExt.isEmpty()) {
338 _sklName = path + ID4 + distStr + "." + sklExt;
339 }
340
341 path += ID4 +
342 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
343 hlpStr + distStr + datTim.toString(".yyO");
344
345 _fName = path.toAscii();
346}
347
348// Write RINEX Header
349////////////////////////////////////////////////////////////////////////////
350void bncRinex::writeHeader(const QByteArray& format, const QDateTime& datTim,
351 const QDateTime& datTimNom) {
352
353 bncSettings settings;
354
355 // Open the Output File
356 // --------------------
357 resolveFileName(datTimNom);
358
359 // Append to existing file and return
360 // ----------------------------------
361 if ( QFile::exists(_fName) ) {
362 if (_reconnectFlag ||
363 Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
364 _out.open(_fName.data(), ios::app);
365 _out.setf(ios::showpoint | ios::fixed);
366 _headerWritten = true;
367 _reconnectFlag = false;
368 return;
369 }
370 }
371
372 _out.open(_fName.data());
373 _out.setf(ios::showpoint | ios::fixed);
374
375 // Copy Skeleton Header
376 // --------------------
377 readSkeleton();
378
379 QByteArray headerLines;
380 QTextStream outHlp(&headerLines);
381 _header.write(&outHlp);
382 outHlp.flush();
383 _out << headerLines.data();
384
385 _headerWritten = true;
386}
387
388// Stores Observation into Internal Array
389////////////////////////////////////////////////////////////////////////////
390void bncRinex::deepCopy(t_obs obs) {
391 _obs.push_back(obs);
392}
393
394// Write One Epoch into the RINEX File
395////////////////////////////////////////////////////////////////////////////
396void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
397
398 // Select observations older than maxTime
399 // --------------------------------------
400 QList<t_obs> dumpList;
401 QMutableListIterator<t_obs> mIt(_obs);
402 while (mIt.hasNext()) {
403 t_obs obs = mIt.next();
404 if (obs.GPSWeek * 7*24*3600 + obs.GPSWeeks < maxTime - 0.05) {
405 dumpList.push_back(obs);
406 mIt.remove();
407 }
408 }
409
410 // Easy Return
411 // -----------
412 if (dumpList.isEmpty()) {
413 return;
414 }
415
416 // Time of Epoch
417 // -------------
418 const t_obs& fObs = dumpList.first();
419 QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
420 QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
421 floor(fObs.GPSWeeks+0.5));
422
423 // Close the file
424 // --------------
425 if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
426 closeFile();
427 _headerWritten = false;
428 }
429
430 // Write RINEX Header
431 // ------------------
432 if (!_headerWritten) {
433 writeHeader(format, datTim, datTimNom);
434 }
435
436 double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
437
438 // Epoch header line: RINEX Version 3
439 // ----------------------------------
440 if (_rinexVers == 3) {
441 _out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
442 << setw(10) << setprecision(7) << sec
443 << " " << 0 << setw(3) << dumpList.size() << endl;
444 }
445 // Epoch header line: RINEX Version 2
446 // ----------------------------------
447 else {
448 _out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
449 << setw(10) << setprecision(7) << sec
450 << " " << 0 << setw(3) << dumpList.size();
451
452 QListIterator<t_obs> it(dumpList); int iSat = 0;
453 while (it.hasNext()) {
454 iSat++;
455 const t_obs& obs = it.next();
456 _out << obs.satSys << setw(2) << obs.satNum;
457 if (iSat == 12 && it.hasNext()) {
458 _out << endl << " ";
459 iSat = 0;
460 }
461 }
462 _out << endl;
463 }
464
465 QListIterator<t_obs> it(dumpList);
466 while (it.hasNext()) {
467 const t_obs& obs = it.next();
468
469 // Cycle slips detection
470 // ---------------------
471 QString prn = QString("%1%2").arg(obs.satSys)
472 .arg(obs.satNum, 2, 10, QChar('0'));
473
474 char lli1 = ' ';
475 char lli2 = ' ';
476 char lli5 = ' ';
477 if ( obs.slip_cnt_L1 >= 0 ) {
478 if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
479 _slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
480 lli1 = '1';
481 }
482 }
483
484 if ( obs.slip_cnt_L2 >= 0 ) {
485 if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
486 _slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
487 lli2 = '1';
488 }
489 }
490
491 if ( obs.slip_cnt_L5 >= 0 ) {
492 if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
493 _slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
494 lli5 = '1';
495 }
496 }
497
498 _slip_cnt_L1[prn] = obs.slip_cnt_L1;
499 _slip_cnt_L2[prn] = obs.slip_cnt_L2;
500 _slip_cnt_L5[prn] = obs.slip_cnt_L5;
501
502 // RINEX Version 3
503 // ---------------
504 if (_rinexVers == 3) {
505 _out << rinexSatLine(obs, lli1, lli2, lli5);
506 _out << endl;
507 }
508
509 // RINEX Version 2
510 // ---------------
511 else {
512 _out << setw(14) << setprecision(3) << obs.measdata("C1", _rinexVers) << ' ' << ' '
513 << setw(14) << setprecision(3) << obs.measdata("P1", _rinexVers) << ' ' << ' '
514 << setw(14) << setprecision(3) << obs.measdata("L1", _rinexVers) << lli1 << ' '
515 << setw(14) << setprecision(3) << obs.measdata("S1", _rinexVers) << ' ' << ' '
516 << setw(14) << setprecision(3) << obs.measdata("C2", _rinexVers) << ' ' << ' ' << endl
517 << setw(14) << setprecision(3) << obs.measdata("P2", _rinexVers) << ' ' << ' '
518 << setw(14) << setprecision(3) << obs.measdata("L2", _rinexVers) << lli2 << ' '
519 << setw(14) << setprecision(3) << obs.measdata("S2", _rinexVers) << endl;
520 }
521 }
522
523 _out.flush();
524}
525
526// Close the Old RINEX File
527////////////////////////////////////////////////////////////////////////////
528void bncRinex::closeFile() {
529 if (_rinexVers == 3) {
530 _out << "> 4 1" << endl;
531 _out << "END OF FILE" << endl;
532 }
533 _out.close();
534 if (!_rnxScriptName.isEmpty()) {
535 qApp->thread()->wait(100);
536#ifdef WIN32
537 QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
538#else
539 QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
540#endif
541
542 }
543}
544
545// One Line in RINEX v3
546////////////////////////////////////////////////////////////////////////////
547string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
548 char lli5) {
549 ostringstream str;
550 str.setf(ios::showpoint | ios::fixed);
551
552 str << obs.satSys
553 << setw(2) << setfill('0') << obs.satNum << setfill(' ');
554
555 const QVector<QString>& types = _rnxTypes[obs.satSys];
556 for (int ii = 0; ii < types.size(); ii++) {
557 double value = obs.measdata(types[ii], _rinexVers);
558 str << setw(14) << setprecision(3) << value;
559 if (value != 0.0 && types[ii].indexOf("L1") == 0) {
560 str << lli1 << ' ';
561 }
562 else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
563 str << lli2 << ' ';
564 }
565 else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
566 str << lli5 << ' ';
567 }
568 else {
569 str << " ";
570 }
571 }
572
573 return str.str();
574}
575
576//
577////////////////////////////////////////////////////////////////////////////
578string bncRinex::obsToStr(double val, int width, int precision) {
579 if (val != 0.0) {
580 ostringstream str;
581 str.setf(ios::showpoint | ios::fixed);
582 str << setw(width) << setprecision(precision) << val;
583 return str.str();
584 }
585 else {
586 return "0.0";
587 }
588}
589
590// One Line in ASCII (Internal) Format
591////////////////////////////////////////////////////////////////////////////
592string bncRinex::asciiSatLine(const t_obs& obs) {
593
594 ostringstream str;
595 str.setf(ios::showpoint | ios::fixed);
596
597 str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
598
599 if (obs.satSys == 'R') { // Glonass
600 str << ' ' << setw(2) << obs.slotNum;
601 }
602 else {
603 str << " ";
604 }
605
606 float rnxVers = 3.0;
607
608 if (obs.satSys == 'G') { // GPS
609 str << " 1C "
610 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
611 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
612 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
613 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
614 << setw(2) << obs.slip_cnt_L1;
615 str << " 1P "
616 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
617 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
618 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
619 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
620 << setw(2) << obs.slip_cnt_L1;
621 str << " 2P "
622 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
623 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
624 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
625 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
626 << setw(2) << obs.slip_cnt_L2;
627 str << " 5C "
628 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
629 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
630 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
631 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
632 << setw(2) << obs.slip_cnt_L5;
633 }
634 else if (obs.satSys == 'R') { // Glonass
635 str << " 1C "
636 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
637 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
638 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
639 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
640 << setw(2) << obs.slip_cnt_L1;
641 str << " 1P "
642 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
643 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
644 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
645 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
646 << setw(2) << obs.slip_cnt_L1;
647 str << " 2P "
648 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
649 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
650 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
651 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
652 << setw(2) << obs.slip_cnt_L2;
653 str << " 2C "
654 << obsToStr(obs.measdata("C2C", rnxVers)) << ' '
655 << obsToStr(obs.measdata("L2C", rnxVers)) << ' '
656 << obsToStr(obs.measdata("D2C", rnxVers)) << ' '
657 << obsToStr(obs.measdata("S2C", rnxVers), 8, 3) << ' '
658 << setw(2) << obs.slip_cnt_L2;
659 }
660 else if (obs.satSys == 'E') { // Galileo
661 str << " 1C "
662 << obsToStr(obs.measdata("C1", rnxVers)) << ' '
663 << obsToStr(obs.measdata("L1", rnxVers)) << ' '
664 << obsToStr(obs.measdata("D1", rnxVers)) << ' '
665 << obsToStr(obs.measdata("S1", rnxVers), 8, 3) << ' '
666 << setw(2) << obs.slip_cnt_L1;
667
668 str << " 5C "
669 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
670 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
671 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
672 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
673 << setw(2) << obs.slip_cnt_L5;
674 }
675 return str.str();
676}
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