source: ntrip/trunk/BNC/src/bncrinex.cpp@ 4483

Last change on this file since 4483 was 4483, checked in by mervart, 12 years ago
File size: 20.4 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 _samplingRate = settings.value("rnxSampl").toInt();
94
95 // Initialize RINEX v3 Types
96 // -------------------------
97 _header._obsTypesV3['G'] << "C1C" << "L1C" << "D1C" << "S1C"
98 << "C1P" << "L1P" << "D1P" << "S1P"
99 << "C2C" << "L2C" << "D2C" << "S2C"
100 << "C2P" << "L2P" << "D2P" << "S2P"
101 << "C5" << "D5" << "L5" << "S5";
102
103 _header._obsTypesV3['R'] << "C1C" << "L1C" << "D1C" << "S1C"
104 << "C1P" << "L1P" << "D1P" << "S1P"
105 << "C2C" << "L2C" << "D2C" << "S2C"
106 << "C2P" << "L2P" << "D2P" << "S2P";
107
108 _header._obsTypesV3['E'] << "C1" << "L1" << "D1" << "S1"
109 << "C5" << "L5" << "D5" << "S5"
110 << "C6" << "L6" << "D6" << "S6"
111 << "C7" << "L7" << "D7" << "S7"
112 << "C8" << "L8" << "D8" << "S8";
113
114 _header._obsTypesV3['J'] << "C1" << "L1" << "D1" << "S1"
115 << "C2" << "L2" << "D2" << "S2"
116 << "C5" << "L5" << "D5" << "S5"
117 << "C6" << "D6" << "L6" << "S6";
118
119 _header._obsTypesV3['S'] << "C1" << "L1" << "D1" << "S1"
120 << "C5" << "L5" << "D5" << "S5";
121
122 _header._obsTypesV3['C'] << "C2" << "L2" << "D2" << "S2"
123 << "C6" << "L6" << "D6" << "S6"
124 << "C7" << "L7" << "D7" << "S7";
125}
126
127// Destructor
128////////////////////////////////////////////////////////////////////////////
129bncRinex::~bncRinex() {
130 bncSettings settings;
131 if ((_header._version >= 3.0) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
132 _out << "> 4 1" << endl;
133 _out << "END OF FILE" << endl;
134 }
135 _out.close();
136}
137
138// Download Skeleton Header File
139////////////////////////////////////////////////////////////////////////////
140t_irc bncRinex::downloadSkeleton() {
141
142 t_irc irc = failure;
143
144 QStringList table;
145 bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
146 _mountPoint.port(), table, true);
147 QString net;
148 QStringListIterator it(table);
149 while (it.hasNext()) {
150 QString line = it.next();
151 if (line.indexOf("STR") == 0) {
152 QStringList tags = line.split(";");
153 if (tags.size() > 7) {
154 if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
155 net = tags.at(7);
156 break;
157 }
158 }
159 }
160 }
161 QString sklDir;
162 if (!net.isEmpty()) {
163 it.toFront();
164 while (it.hasNext()) {
165 QString line = it.next();
166 if (line.indexOf("NET") == 0) {
167 QStringList tags = line.split(";");
168 if (tags.size() > 6) {
169 if (tags.at(1) == net) {
170 sklDir = tags.at(6).trimmed();
171 break;
172 }
173 }
174 }
175 }
176 }
177 if (!sklDir.isEmpty() && sklDir != "none") {
178 QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
179 if (url.port() == -1) {
180 url.setPort(80);
181 }
182
183 bncNetQuery* query;
184 if (_ntripVersion == "2s") {
185 query = new bncNetQueryV2(true);
186 }
187 else if (_ntripVersion == "2") {
188 query = new bncNetQueryV2(false);
189 }
190 else {
191 query = new bncNetQueryV1;
192 }
193
194 QByteArray outData;
195 query->waitForRequestResult(url, outData);
196 if (query->status() == bncNetQuery::finished) {
197 irc = success;
198 QTextStream in(outData);
199 _header.read(&in);
200 }
201
202 delete query;
203 }
204
205 return irc;
206}
207
208// Read Skeleton Header File
209////////////////////////////////////////////////////////////////////////////
210void bncRinex::readSkeleton() {
211
212 // Read the local file
213 // -------------------
214 QFile skl(_sklName);
215 if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
216 QTextStream in(&skl);
217 _header.read(&in);
218 }
219
220 // Read downloaded file
221 // --------------------
222 else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
223 _ntripVersion != "S" ) {
224 QDate currDate = currentDateAndTimeGPS().date();
225 if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
226 downloadSkeleton();
227 _skeletonDate = currDate;
228 }
229 }
230
231 bncSettings settings;
232 if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
233 _header._version = 3.01;
234 }
235 else {
236 _header._version = 2.12;
237 }
238}
239
240// Next File Epoch (static)
241////////////////////////////////////////////////////////////////////////////
242QString bncRinex::nextEpochStr(const QDateTime& datTim,
243 const QString& intStr, QDateTime* nextEpoch) {
244
245 QString epoStr;
246
247 QTime nextTime;
248 QDate nextDate;
249
250 int indHlp = intStr.indexOf("min");
251
252 if ( indHlp != -1) {
253 int step = intStr.left(indHlp-1).toInt();
254 char ch = 'A' + datTim.time().hour();
255 epoStr = ch;
256 if (datTim.time().minute() >= 60-step) {
257 epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
258 if (datTim.time().hour() < 23) {
259 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
260 nextDate = datTim.date();
261 }
262 else {
263 nextTime.setHMS(0, 0, 0);
264 nextDate = datTim.date().addDays(1);
265 }
266 }
267 else {
268 for (int limit = step; limit <= 60-step; limit += step) {
269 if (datTim.time().minute() < limit) {
270 epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
271 nextTime.setHMS(datTim.time().hour(), limit, 0);
272 nextDate = datTim.date();
273 break;
274 }
275 }
276 }
277 }
278 else if (intStr == "1 hour") {
279 char ch = 'A' + datTim.time().hour();
280 epoStr = ch;
281 if (datTim.time().hour() < 23) {
282 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
283 nextDate = datTim.date();
284 }
285 else {
286 nextTime.setHMS(0, 0, 0);
287 nextDate = datTim.date().addDays(1);
288 }
289 }
290 else {
291 epoStr = "0";
292 nextTime.setHMS(0, 0, 0);
293 nextDate = datTim.date().addDays(1);
294 }
295
296 if (nextEpoch) {
297 *nextEpoch = QDateTime(nextDate, nextTime);
298 }
299
300 return epoStr;
301}
302
303// File Name according to RINEX Standards
304////////////////////////////////////////////////////////////////////////////
305void bncRinex::resolveFileName(const QDateTime& datTim) {
306
307 bncSettings settings;
308 QString path = settings.value("rnxPath").toString();
309 expandEnvVar(path);
310
311 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
312 path += QDir::separator();
313 }
314
315 QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
316 &_nextCloseEpoch);
317
318 QString ID4 = _statID.left(4);
319
320 // Check name conflict
321 // -------------------
322 QString distStr;
323 int num = 0;
324 QListIterator<QString> it(settings.value("mountPoints").toStringList());
325 while (it.hasNext()) {
326 QString mp = it.next();
327 if (mp.indexOf(ID4) != -1) {
328 ++num;
329 }
330 }
331 if (num > 1) {
332 distStr = "_" + _statID.mid(4);
333 }
334
335 QString sklExt = settings.value("rnxSkel").toString();
336 if (!sklExt.isEmpty()) {
337 _sklName = path + ID4 + distStr + "." + sklExt;
338 }
339
340 path += ID4 +
341 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
342 hlpStr + distStr + datTim.toString(".yyO");
343
344 _fName = path.toAscii();
345}
346
347// Write RINEX Header
348////////////////////////////////////////////////////////////////////////////
349void bncRinex::writeHeader(const QByteArray& format, const QDateTime& datTim,
350 const QDateTime& datTimNom) {
351
352 bncSettings settings;
353
354 // Open the Output File
355 // --------------------
356 resolveFileName(datTimNom);
357
358 // Append to existing file and return
359 // ----------------------------------
360 if ( QFile::exists(_fName) ) {
361 if (_reconnectFlag ||
362 Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
363 _out.open(_fName.data(), ios::app);
364 _out.setf(ios::showpoint | ios::fixed);
365 _headerWritten = true;
366 _reconnectFlag = false;
367 return;
368 }
369 }
370
371 _out.open(_fName.data());
372 _out.setf(ios::showpoint | ios::fixed);
373
374 // Copy Skeleton Header
375 // --------------------
376 readSkeleton();
377
378 QByteArray headerLines;
379 QTextStream outHlp(&headerLines);
380 _header.write(&outHlp);
381 outHlp.flush();
382 _out << headerLines.data();
383
384 _headerWritten = true;
385}
386
387// Stores Observation into Internal Array
388////////////////////////////////////////////////////////////////////////////
389void bncRinex::deepCopy(t_obs obs) {
390 _obs.push_back(obs);
391}
392
393// Write One Epoch into the RINEX File
394////////////////////////////////////////////////////////////////////////////
395void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
396
397 // Select observations older than maxTime
398 // --------------------------------------
399 QList<t_obs> dumpList;
400 QMutableListIterator<t_obs> mIt(_obs);
401 while (mIt.hasNext()) {
402 t_obs obs = mIt.next();
403 if (obs.GPSWeek * 7*24*3600 + obs.GPSWeeks < maxTime - 0.05) {
404 dumpList.push_back(obs);
405 mIt.remove();
406 }
407 }
408
409 // Easy Return
410 // -----------
411 if (dumpList.isEmpty()) {
412 return;
413 }
414
415 // Time of Epoch
416 // -------------
417 const t_obs& fObs = dumpList.first();
418 QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
419 QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
420 floor(fObs.GPSWeeks+0.5));
421
422 // Close the file
423 // --------------
424 if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
425 closeFile();
426 _headerWritten = false;
427 }
428
429 // Write RINEX Header
430 // ------------------
431 if (!_headerWritten) {
432 writeHeader(format, datTim, datTimNom);
433 }
434
435 double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
436
437 // Epoch header line: RINEX Version 3
438 // ----------------------------------
439 if (_header._version >= 3.0) {
440 _out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
441 << setw(10) << setprecision(7) << sec
442 << " " << 0 << setw(3) << dumpList.size() << endl;
443 }
444 // Epoch header line: RINEX Version 2
445 // ----------------------------------
446 else {
447 _out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
448 << setw(10) << setprecision(7) << sec
449 << " " << 0 << setw(3) << dumpList.size();
450
451 QListIterator<t_obs> it(dumpList); int iSat = 0;
452 while (it.hasNext()) {
453 iSat++;
454 const t_obs& obs = it.next();
455 _out << obs.satSys << setw(2) << obs.satNum;
456 if (iSat == 12 && it.hasNext()) {
457 _out << endl << " ";
458 iSat = 0;
459 }
460 }
461 _out << endl;
462 }
463
464 QListIterator<t_obs> it(dumpList);
465 while (it.hasNext()) {
466 const t_obs& obs = it.next();
467
468 // Cycle slips detection
469 // ---------------------
470 QString prn = QString("%1%2").arg(obs.satSys)
471 .arg(obs.satNum, 2, 10, QChar('0'));
472
473 char lli1 = ' ';
474 char lli2 = ' ';
475 char lli5 = ' ';
476 if ( obs.slip_cnt_L1 >= 0 ) {
477 if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
478 _slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
479 lli1 = '1';
480 }
481 }
482
483 if ( obs.slip_cnt_L2 >= 0 ) {
484 if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
485 _slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
486 lli2 = '1';
487 }
488 }
489
490 if ( obs.slip_cnt_L5 >= 0 ) {
491 if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
492 _slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
493 lli5 = '1';
494 }
495 }
496
497 _slip_cnt_L1[prn] = obs.slip_cnt_L1;
498 _slip_cnt_L2[prn] = obs.slip_cnt_L2;
499 _slip_cnt_L5[prn] = obs.slip_cnt_L5;
500
501 // RINEX Version 3
502 // ---------------
503 if (_header._version >= 3.0) {
504 _out << rinexSatLine(obs, lli1, lli2, lli5);
505 _out << endl;
506 }
507
508 // RINEX Version 2
509 // ---------------
510 else {
511 _out << setw(14) << setprecision(3) << obs.measdata("C1", _header._version) << ' ' << ' '
512 << setw(14) << setprecision(3) << obs.measdata("P1", _header._version) << ' ' << ' '
513 << setw(14) << setprecision(3) << obs.measdata("L1", _header._version) << lli1 << ' '
514 << setw(14) << setprecision(3) << obs.measdata("S1", _header._version) << ' ' << ' '
515 << setw(14) << setprecision(3) << obs.measdata("C2", _header._version) << ' ' << ' ' << endl
516 << setw(14) << setprecision(3) << obs.measdata("P2", _header._version) << ' ' << ' '
517 << setw(14) << setprecision(3) << obs.measdata("L2", _header._version) << lli2 << ' '
518 << setw(14) << setprecision(3) << obs.measdata("S2", _header._version) << endl;
519 }
520 }
521
522 _out.flush();
523}
524
525// Close the Old RINEX File
526////////////////////////////////////////////////////////////////////////////
527void bncRinex::closeFile() {
528 if (_header._version == 3) {
529 _out << "> 4 1" << endl;
530 _out << "END OF FILE" << endl;
531 }
532 _out.close();
533 if (!_rnxScriptName.isEmpty()) {
534 qApp->thread()->wait(100);
535#ifdef WIN32
536 QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
537#else
538 QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
539#endif
540
541 }
542}
543
544// One Line in RINEX v3
545////////////////////////////////////////////////////////////////////////////
546string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
547 char lli5) {
548 ostringstream str;
549 str.setf(ios::showpoint | ios::fixed);
550
551 str << obs.satSys
552 << setw(2) << setfill('0') << obs.satNum << setfill(' ');
553
554 const QVector<QString>& types = _header._obsTypesV3[obs.satSys];
555 for (int ii = 0; ii < types.size(); ii++) {
556 double value = obs.measdata(types[ii], _header._version);
557 str << setw(14) << setprecision(3) << value;
558 if (value != 0.0 && types[ii].indexOf("L1") == 0) {
559 str << lli1 << ' ';
560 }
561 else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
562 str << lli2 << ' ';
563 }
564 else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
565 str << lli5 << ' ';
566 }
567 else {
568 str << " ";
569 }
570 }
571
572 return str.str();
573}
574
575//
576////////////////////////////////////////////////////////////////////////////
577string bncRinex::obsToStr(double val, int width, int precision) {
578 if (val != 0.0) {
579 ostringstream str;
580 str.setf(ios::showpoint | ios::fixed);
581 str << setw(width) << setprecision(precision) << val;
582 return str.str();
583 }
584 else {
585 return "0.0";
586 }
587}
588
589// One Line in ASCII (Internal) Format
590////////////////////////////////////////////////////////////////////////////
591string bncRinex::asciiSatLine(const t_obs& obs) {
592
593 ostringstream str;
594 str.setf(ios::showpoint | ios::fixed);
595
596 str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
597
598 if (obs.satSys == 'R') { // Glonass
599 str << ' ' << setw(2) << obs.slotNum;
600 }
601 else {
602 str << " ";
603 }
604
605 float rnxVers = 3.0;
606
607 if (obs.satSys == 'G') { // GPS
608 str << " 1C "
609 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
610 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
611 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
612 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
613 << setw(2) << obs.slip_cnt_L1;
614 str << " 1P "
615 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
616 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
617 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
618 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
619 << setw(2) << obs.slip_cnt_L1;
620 str << " 2P "
621 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
622 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
623 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
624 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
625 << setw(2) << obs.slip_cnt_L2;
626 str << " 5C "
627 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
628 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
629 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
630 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
631 << setw(2) << obs.slip_cnt_L5;
632 }
633 else if (obs.satSys == 'R') { // Glonass
634 str << " 1C "
635 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
636 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
637 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
638 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
639 << setw(2) << obs.slip_cnt_L1;
640 str << " 1P "
641 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
642 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
643 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
644 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
645 << setw(2) << obs.slip_cnt_L1;
646 str << " 2P "
647 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
648 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
649 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
650 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
651 << setw(2) << obs.slip_cnt_L2;
652 str << " 2C "
653 << obsToStr(obs.measdata("C2C", rnxVers)) << ' '
654 << obsToStr(obs.measdata("L2C", rnxVers)) << ' '
655 << obsToStr(obs.measdata("D2C", rnxVers)) << ' '
656 << obsToStr(obs.measdata("S2C", rnxVers), 8, 3) << ' '
657 << setw(2) << obs.slip_cnt_L2;
658 }
659 else if (obs.satSys == 'E') { // Galileo
660 str << " 1C "
661 << obsToStr(obs.measdata("C1", rnxVers)) << ' '
662 << obsToStr(obs.measdata("L1", rnxVers)) << ' '
663 << obsToStr(obs.measdata("D1", rnxVers)) << ' '
664 << obsToStr(obs.measdata("S1", rnxVers), 8, 3) << ' '
665 << setw(2) << obs.slip_cnt_L1;
666
667 str << " 5C "
668 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
669 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
670 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
671 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
672 << setw(2) << obs.slip_cnt_L5;
673 }
674 return str.str();
675}
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