source: ntrip/trunk/BNC/src/bncrinex.cpp@ 4495

Last change on this file since 4495 was 4495, checked in by mervart, 13 years ago
File size: 20.2 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 v2 Types
96 // -------------------------
97 _header._obsTypesV2 << "C1" << "P1" << "L1" << "S1"
98 << "C2" << "P2" << "L2" << "S2";
99
100 // Initialize RINEX v3 Types
101 // -------------------------
102 _header._obsTypesV3['G'] << "C1C" << "L1C" << "D1C" << "S1C"
103 << "C1P" << "L1P" << "D1P" << "S1P"
104 << "C2C" << "L2C" << "D2C" << "S2C"
105 << "C2P" << "L2P" << "D2P" << "S2P"
106 << "C5" << "D5" << "L5" << "S5";
107
108 _header._obsTypesV3['R'] << "C1C" << "L1C" << "D1C" << "S1C"
109 << "C1P" << "L1P" << "D1P" << "S1P"
110 << "C2C" << "L2C" << "D2C" << "S2C"
111 << "C2P" << "L2P" << "D2P" << "S2P";
112
113 _header._obsTypesV3['E'] << "C1" << "L1" << "D1" << "S1"
114 << "C5" << "L5" << "D5" << "S5"
115 << "C6" << "L6" << "D6" << "S6"
116 << "C7" << "L7" << "D7" << "S7"
117 << "C8" << "L8" << "D8" << "S8";
118
119 _header._obsTypesV3['J'] << "C1" << "L1" << "D1" << "S1"
120 << "C2" << "L2" << "D2" << "S2"
121 << "C5" << "L5" << "D5" << "S5"
122 << "C6" << "D6" << "L6" << "S6";
123
124 _header._obsTypesV3['S'] << "C1" << "L1" << "D1" << "S1"
125 << "C5" << "L5" << "D5" << "S5";
126
127 _header._obsTypesV3['C'] << "C2" << "L2" << "D2" << "S2"
128 << "C6" << "L6" << "D6" << "S6"
129 << "C7" << "L7" << "D7" << "S7";
130}
131
132// Destructor
133////////////////////////////////////////////////////////////////////////////
134bncRinex::~bncRinex() {
135 bncSettings settings;
136 if ((_header._version >= 3.0) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
137 _out << "> 4 1" << endl;
138 _out << "END OF FILE" << endl;
139 }
140 _out.close();
141}
142
143// Download Skeleton Header File
144////////////////////////////////////////////////////////////////////////////
145t_irc bncRinex::downloadSkeleton() {
146
147 t_irc irc = failure;
148
149 QStringList table;
150 bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
151 _mountPoint.port(), table, true);
152 QString net;
153 QStringListIterator it(table);
154 while (it.hasNext()) {
155 QString line = it.next();
156 if (line.indexOf("STR") == 0) {
157 QStringList tags = line.split(";");
158 if (tags.size() > 7) {
159 if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
160 net = tags.at(7);
161 break;
162 }
163 }
164 }
165 }
166 QString sklDir;
167 if (!net.isEmpty()) {
168 it.toFront();
169 while (it.hasNext()) {
170 QString line = it.next();
171 if (line.indexOf("NET") == 0) {
172 QStringList tags = line.split(";");
173 if (tags.size() > 6) {
174 if (tags.at(1) == net) {
175 sklDir = tags.at(6).trimmed();
176 break;
177 }
178 }
179 }
180 }
181 }
182 if (!sklDir.isEmpty() && sklDir != "none") {
183 QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
184 if (url.port() == -1) {
185 url.setPort(80);
186 }
187
188 bncNetQuery* query;
189 if (_ntripVersion == "2s") {
190 query = new bncNetQueryV2(true);
191 }
192 else if (_ntripVersion == "2") {
193 query = new bncNetQueryV2(false);
194 }
195 else {
196 query = new bncNetQueryV1;
197 }
198
199 QByteArray outData;
200 query->waitForRequestResult(url, outData);
201 if (query->status() == bncNetQuery::finished) {
202 irc = success;
203 QTextStream in(outData);
204 _header.read(&in);
205 }
206
207 delete query;
208 }
209
210 return irc;
211}
212
213// Read Skeleton Header File
214////////////////////////////////////////////////////////////////////////////
215void bncRinex::readSkeleton() {
216
217 // Read the local file
218 // -------------------
219 QFile skl(_sklName);
220 if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
221 QTextStream in(&skl);
222 _header.read(&in);
223 }
224
225 // Read downloaded file
226 // --------------------
227 else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
228 _ntripVersion != "S" ) {
229 QDate currDate = currentDateAndTimeGPS().date();
230 if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
231 downloadSkeleton();
232 _skeletonDate = currDate;
233 }
234 }
235
236 bncSettings settings;
237 if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
238 _header._version = 3.01;
239 }
240 else {
241 _header._version = 2.12;
242 }
243}
244
245// Next File Epoch (static)
246////////////////////////////////////////////////////////////////////////////
247QString bncRinex::nextEpochStr(const QDateTime& datTim,
248 const QString& intStr, QDateTime* nextEpoch) {
249
250 QString epoStr;
251
252 QTime nextTime;
253 QDate nextDate;
254
255 int indHlp = intStr.indexOf("min");
256
257 if ( indHlp != -1) {
258 int step = intStr.left(indHlp-1).toInt();
259 char ch = 'A' + datTim.time().hour();
260 epoStr = ch;
261 if (datTim.time().minute() >= 60-step) {
262 epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
263 if (datTim.time().hour() < 23) {
264 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
265 nextDate = datTim.date();
266 }
267 else {
268 nextTime.setHMS(0, 0, 0);
269 nextDate = datTim.date().addDays(1);
270 }
271 }
272 else {
273 for (int limit = step; limit <= 60-step; limit += step) {
274 if (datTim.time().minute() < limit) {
275 epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
276 nextTime.setHMS(datTim.time().hour(), limit, 0);
277 nextDate = datTim.date();
278 break;
279 }
280 }
281 }
282 }
283 else if (intStr == "1 hour") {
284 char ch = 'A' + datTim.time().hour();
285 epoStr = ch;
286 if (datTim.time().hour() < 23) {
287 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
288 nextDate = datTim.date();
289 }
290 else {
291 nextTime.setHMS(0, 0, 0);
292 nextDate = datTim.date().addDays(1);
293 }
294 }
295 else {
296 epoStr = "0";
297 nextTime.setHMS(0, 0, 0);
298 nextDate = datTim.date().addDays(1);
299 }
300
301 if (nextEpoch) {
302 *nextEpoch = QDateTime(nextDate, nextTime);
303 }
304
305 return epoStr;
306}
307
308// File Name according to RINEX Standards
309////////////////////////////////////////////////////////////////////////////
310void bncRinex::resolveFileName(const QDateTime& datTim) {
311
312 bncSettings settings;
313 QString path = settings.value("rnxPath").toString();
314 expandEnvVar(path);
315
316 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
317 path += QDir::separator();
318 }
319
320 QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
321 &_nextCloseEpoch);
322
323 QString ID4 = _statID.left(4);
324
325 // Check name conflict
326 // -------------------
327 QString distStr;
328 int num = 0;
329 QListIterator<QString> it(settings.value("mountPoints").toStringList());
330 while (it.hasNext()) {
331 QString mp = it.next();
332 if (mp.indexOf(ID4) != -1) {
333 ++num;
334 }
335 }
336 if (num > 1) {
337 distStr = "_" + _statID.mid(4);
338 }
339
340 QString sklExt = settings.value("rnxSkel").toString();
341 if (!sklExt.isEmpty()) {
342 _sklName = path + ID4 + distStr + "." + sklExt;
343 }
344
345 path += ID4 +
346 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
347 hlpStr + distStr + datTim.toString(".yyO");
348
349 _fName = path.toAscii();
350}
351
352// Write RINEX Header
353////////////////////////////////////////////////////////////////////////////
354void bncRinex::writeHeader(const QByteArray& format,
355 const QDateTime& datTimNom) {
356
357 bncSettings settings;
358
359 // Open the Output File
360 // --------------------
361 resolveFileName(datTimNom);
362
363 // Append to existing file and return
364 // ----------------------------------
365 if ( QFile::exists(_fName) ) {
366 if (_reconnectFlag ||
367 Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
368 _out.open(_fName.data(), ios::app);
369 _out.setf(ios::showpoint | ios::fixed);
370 _headerWritten = true;
371 _reconnectFlag = false;
372 return;
373 }
374 }
375
376 _out.open(_fName.data());
377 _out.setf(ios::showpoint | ios::fixed);
378
379 // Copy Skeleton Header
380 // --------------------
381 readSkeleton();
382 if (_header._markerName.isEmpty()) {
383 _header._markerName = _statID;
384 }
385
386 // A few additional comments
387 // -------------------------
388 QMap<QString, QString> txtMap;
389 QStringList addComments;
390
391 addComments << format.left(6) + " " + _mountPoint.host() + _mountPoint.path();
392
393 if (_nmea == "yes") {
394 addComments << "NMEA LAT=" + _latitude + " " + "LONG=" + _longitude;
395 }
396
397 txtMap["COMMENT"] = addComments.join("\\n");
398
399 QByteArray headerLines;
400 QTextStream outHlp(&headerLines);
401 _header.write(&outHlp, &txtMap);
402 outHlp.flush();
403 _out << headerLines.data();
404
405 _headerWritten = true;
406}
407
408// Stores Observation into Internal Array
409////////////////////////////////////////////////////////////////////////////
410void bncRinex::deepCopy(t_obs obs) {
411 _obs.push_back(obs);
412}
413
414// Write One Epoch into the RINEX File
415////////////////////////////////////////////////////////////////////////////
416void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
417
418 // Select observations older than maxTime
419 // --------------------------------------
420 QList<t_obs> dumpList;
421 QMutableListIterator<t_obs> mIt(_obs);
422 while (mIt.hasNext()) {
423 t_obs obs = mIt.next();
424 if (obs.GPSWeek * 7*24*3600 + obs.GPSWeeks < maxTime - 0.05) {
425 dumpList.push_back(obs);
426 mIt.remove();
427 }
428 }
429
430 // Easy Return
431 // -----------
432 if (dumpList.isEmpty()) {
433 return;
434 }
435
436 // Time of Epoch
437 // -------------
438 const t_obs& fObs = dumpList.first();
439 QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
440 QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
441 floor(fObs.GPSWeeks+0.5));
442
443 // Close the file
444 // --------------
445 if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
446 closeFile();
447 _headerWritten = false;
448 }
449
450 // Write RINEX Header
451 // ------------------
452 if (!_headerWritten) {
453 _header._startTime.set(fObs.GPSWeek, fObs.GPSWeeks);
454 writeHeader(format, datTimNom);
455 }
456
457 double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
458
459 // Epoch header line: RINEX Version 3
460 // ----------------------------------
461 if (_header._version >= 3.0) {
462 _out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
463 << setw(10) << setprecision(7) << sec
464 << " " << 0 << setw(3) << dumpList.size() << endl;
465 }
466 // Epoch header line: RINEX Version 2
467 // ----------------------------------
468 else {
469 _out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
470 << setw(10) << setprecision(7) << sec
471 << " " << 0 << setw(3) << dumpList.size();
472
473 QListIterator<t_obs> it(dumpList); int iSat = 0;
474 while (it.hasNext()) {
475 iSat++;
476 const t_obs& obs = it.next();
477 _out << obs.satSys << setw(2) << obs.satNum;
478 if (iSat == 12 && it.hasNext()) {
479 _out << endl << " ";
480 iSat = 0;
481 }
482 }
483 _out << endl;
484 }
485
486 QListIterator<t_obs> it(dumpList);
487 while (it.hasNext()) {
488 const t_obs& obs = it.next();
489
490 // Cycle slips detection
491 // ---------------------
492 QString prn = QString("%1%2").arg(obs.satSys)
493 .arg(obs.satNum, 2, 10, QChar('0'));
494
495 char lli1 = ' ';
496 char lli2 = ' ';
497 char lli5 = ' ';
498 if ( obs.slip_cnt_L1 >= 0 ) {
499 if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
500 _slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
501 lli1 = '1';
502 }
503 }
504
505 if ( obs.slip_cnt_L2 >= 0 ) {
506 if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
507 _slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
508 lli2 = '1';
509 }
510 }
511
512 if ( obs.slip_cnt_L5 >= 0 ) {
513 if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
514 _slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
515 lli5 = '1';
516 }
517 }
518
519 _slip_cnt_L1[prn] = obs.slip_cnt_L1;
520 _slip_cnt_L2[prn] = obs.slip_cnt_L2;
521 _slip_cnt_L5[prn] = obs.slip_cnt_L5;
522
523 // Write the data
524 // --------------
525 _out << rinexSatLine(obs, lli1, lli2, lli5) << endl;
526 }
527
528 _out.flush();
529}
530
531// Close the Old RINEX File
532////////////////////////////////////////////////////////////////////////////
533void bncRinex::closeFile() {
534 if (_header._version == 3) {
535 _out << "> 4 1" << endl;
536 _out << "END OF FILE" << endl;
537 }
538 _out.close();
539 if (!_rnxScriptName.isEmpty()) {
540 qApp->thread()->wait(100);
541#ifdef WIN32
542 QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
543#else
544 QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
545#endif
546
547 }
548}
549
550// One Line in RINEX v2 or v3
551////////////////////////////////////////////////////////////////////////////
552string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
553 char lli5) {
554 ostringstream str;
555 str.setf(ios::showpoint | ios::fixed);
556
557 if (_header._version >= 3.0) {
558 str << obs.satSys
559 << setw(2) << setfill('0') << obs.satNum << setfill(' ');
560 }
561
562 const QVector<QString>& types = (_header._version > 3.0) ?
563 _header._obsTypesV3[obs.satSys] : _header._obsTypesV2;
564 for (int ii = 0; ii < types.size(); ii++) {
565 double value = obs.measdata(types[ii], _header._version);
566 str << setw(14) << setprecision(3) << value;
567 if (value != 0.0 && types[ii].indexOf("L1") == 0) {
568 str << lli1 << ' ';
569 }
570 else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
571 str << lli2 << ' ';
572 }
573 else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
574 str << lli5 << ' ';
575 }
576 else {
577 str << " ";
578 }
579 }
580
581 return str.str();
582}
583
584//
585////////////////////////////////////////////////////////////////////////////
586string bncRinex::obsToStr(double val, int width, int precision) {
587 if (val != 0.0) {
588 ostringstream str;
589 str.setf(ios::showpoint | ios::fixed);
590 str << setw(width) << setprecision(precision) << val;
591 return str.str();
592 }
593 else {
594 return "0.0";
595 }
596}
597
598// One Line in ASCII (Internal) Format
599////////////////////////////////////////////////////////////////////////////
600string bncRinex::asciiSatLine(const t_obs& obs) {
601
602 ostringstream str;
603 str.setf(ios::showpoint | ios::fixed);
604
605 str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
606
607 if (obs.satSys == 'R') { // Glonass
608 str << ' ' << setw(2) << obs.slotNum;
609 }
610 else {
611 str << " ";
612 }
613
614 float rnxVers = 3.0;
615
616 if (obs.satSys == 'G') { // GPS
617 str << " 1C "
618 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
619 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
620 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
621 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
622 << setw(2) << obs.slip_cnt_L1;
623 str << " 1P "
624 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
625 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
626 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
627 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
628 << setw(2) << obs.slip_cnt_L1;
629 str << " 2P "
630 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
631 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
632 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
633 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
634 << setw(2) << obs.slip_cnt_L2;
635 str << " 5C "
636 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
637 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
638 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
639 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
640 << setw(2) << obs.slip_cnt_L5;
641 }
642 else if (obs.satSys == 'R') { // Glonass
643 str << " 1C "
644 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
645 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
646 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
647 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
648 << setw(2) << obs.slip_cnt_L1;
649 str << " 1P "
650 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
651 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
652 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
653 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
654 << setw(2) << obs.slip_cnt_L1;
655 str << " 2P "
656 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
657 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
658 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
659 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
660 << setw(2) << obs.slip_cnt_L2;
661 str << " 2C "
662 << obsToStr(obs.measdata("C2C", rnxVers)) << ' '
663 << obsToStr(obs.measdata("L2C", rnxVers)) << ' '
664 << obsToStr(obs.measdata("D2C", rnxVers)) << ' '
665 << obsToStr(obs.measdata("S2C", rnxVers), 8, 3) << ' '
666 << setw(2) << obs.slip_cnt_L2;
667 }
668 else if (obs.satSys == 'E') { // Galileo
669 str << " 1C "
670 << obsToStr(obs.measdata("C1", rnxVers)) << ' '
671 << obsToStr(obs.measdata("L1", rnxVers)) << ' '
672 << obsToStr(obs.measdata("D1", rnxVers)) << ' '
673 << obsToStr(obs.measdata("S1", rnxVers), 8, 3) << ' '
674 << setw(2) << obs.slip_cnt_L1;
675
676 str << " 5C "
677 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
678 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
679 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
680 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
681 << setw(2) << obs.slip_cnt_L5;
682 }
683 return str.str();
684}
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