source: ntrip/trunk/BNC/src/bncrinex.cpp@ 4500

Last change on this file since 4500 was 4500, 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
96// Destructor
97////////////////////////////////////////////////////////////////////////////
98bncRinex::~bncRinex() {
99 bncSettings settings;
100 if ((_header._version >= 3.0) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
101 _out << "> 4 1" << endl;
102 _out << "END OF FILE" << endl;
103 }
104 _out.close();
105}
106
107// Download Skeleton Header File
108////////////////////////////////////////////////////////////////////////////
109t_irc bncRinex::downloadSkeleton() {
110
111 t_irc irc = failure;
112
113 QStringList table;
114 bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
115 _mountPoint.port(), table, true);
116 QString net;
117 QStringListIterator it(table);
118 while (it.hasNext()) {
119 QString line = it.next();
120 if (line.indexOf("STR") == 0) {
121 QStringList tags = line.split(";");
122 if (tags.size() > 7) {
123 if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
124 net = tags.at(7);
125 break;
126 }
127 }
128 }
129 }
130 QString sklDir;
131 if (!net.isEmpty()) {
132 it.toFront();
133 while (it.hasNext()) {
134 QString line = it.next();
135 if (line.indexOf("NET") == 0) {
136 QStringList tags = line.split(";");
137 if (tags.size() > 6) {
138 if (tags.at(1) == net) {
139 sklDir = tags.at(6).trimmed();
140 break;
141 }
142 }
143 }
144 }
145 }
146 if (!sklDir.isEmpty() && sklDir != "none") {
147 QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
148 if (url.port() == -1) {
149 url.setPort(80);
150 }
151
152 bncNetQuery* query;
153 if (_ntripVersion == "2s") {
154 query = new bncNetQueryV2(true);
155 }
156 else if (_ntripVersion == "2") {
157 query = new bncNetQueryV2(false);
158 }
159 else {
160 query = new bncNetQueryV1;
161 }
162
163 QByteArray outData;
164 query->waitForRequestResult(url, outData);
165 if (query->status() == bncNetQuery::finished) {
166 irc = success;
167 QTextStream in(outData);
168 _header.read(&in);
169 }
170
171 delete query;
172 }
173
174 return irc;
175}
176
177// Read Skeleton Header File
178////////////////////////////////////////////////////////////////////////////
179void bncRinex::readSkeleton() {
180
181 // Read the local file
182 // -------------------
183 QFile skl(_sklName);
184 if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
185 QTextStream in(&skl);
186 _header.read(&in);
187 }
188
189 // Read downloaded file
190 // --------------------
191 else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
192 _ntripVersion != "S" ) {
193 QDate currDate = currentDateAndTimeGPS().date();
194 if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
195 downloadSkeleton();
196 _skeletonDate = currDate;
197 }
198 }
199
200 bncSettings settings;
201 if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
202 _header._version = 3.01;
203 }
204 else {
205 _header._version = 2.12;
206 }
207
208 // Default RINEX v2 Types
209 // -------------------------
210 if (_header._obsTypesV2.size() == 0) {
211 _header._obsTypesV2 << "C1" << "P1" << "L1" << "S1"
212 << "C2" << "P2" << "L2" << "S2";
213 }
214
215 // Default RINEX v3 Types
216 // -------------------------
217 if (_header._obsTypesV3.size() == 0) {
218 _header._obsTypesV3['G'] << "C1C" << "L1C" << "D1C" << "S1C"
219 << "C1P" << "L1P" << "D1P" << "S1P"
220 << "C2C" << "L2C" << "D2C" << "S2C"
221 << "C2P" << "L2P" << "D2P" << "S2P"
222 << "C5" << "D5" << "L5" << "S5";
223
224 _header._obsTypesV3['R'] << "C1C" << "L1C" << "D1C" << "S1C"
225 << "C1P" << "L1P" << "D1P" << "S1P"
226 << "C2C" << "L2C" << "D2C" << "S2C"
227 << "C2P" << "L2P" << "D2P" << "S2P";
228
229 _header._obsTypesV3['E'] << "C1" << "L1" << "D1" << "S1"
230 << "C5" << "L5" << "D5" << "S5"
231 << "C6" << "L6" << "D6" << "S6"
232 << "C7" << "L7" << "D7" << "S7"
233 << "C8" << "L8" << "D8" << "S8";
234
235 _header._obsTypesV3['J'] << "C1" << "L1" << "D1" << "S1"
236 << "C2" << "L2" << "D2" << "S2"
237 << "C5" << "L5" << "D5" << "S5"
238 << "C6" << "D6" << "L6" << "S6";
239
240 _header._obsTypesV3['S'] << "C1" << "L1" << "D1" << "S1"
241 << "C5" << "L5" << "D5" << "S5";
242
243 _header._obsTypesV3['C'] << "C2" << "L2" << "D2" << "S2"
244 << "C6" << "L6" << "D6" << "S6"
245 << "C7" << "L7" << "D7" << "S7";
246 }
247}
248
249// Next File Epoch (static)
250////////////////////////////////////////////////////////////////////////////
251QString bncRinex::nextEpochStr(const QDateTime& datTim,
252 const QString& intStr, QDateTime* nextEpoch) {
253
254 QString epoStr;
255
256 QTime nextTime;
257 QDate nextDate;
258
259 int indHlp = intStr.indexOf("min");
260
261 if ( indHlp != -1) {
262 int step = intStr.left(indHlp-1).toInt();
263 char ch = 'A' + datTim.time().hour();
264 epoStr = ch;
265 if (datTim.time().minute() >= 60-step) {
266 epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
267 if (datTim.time().hour() < 23) {
268 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
269 nextDate = datTim.date();
270 }
271 else {
272 nextTime.setHMS(0, 0, 0);
273 nextDate = datTim.date().addDays(1);
274 }
275 }
276 else {
277 for (int limit = step; limit <= 60-step; limit += step) {
278 if (datTim.time().minute() < limit) {
279 epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
280 nextTime.setHMS(datTim.time().hour(), limit, 0);
281 nextDate = datTim.date();
282 break;
283 }
284 }
285 }
286 }
287 else if (intStr == "1 hour") {
288 char ch = 'A' + datTim.time().hour();
289 epoStr = ch;
290 if (datTim.time().hour() < 23) {
291 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
292 nextDate = datTim.date();
293 }
294 else {
295 nextTime.setHMS(0, 0, 0);
296 nextDate = datTim.date().addDays(1);
297 }
298 }
299 else {
300 epoStr = "0";
301 nextTime.setHMS(0, 0, 0);
302 nextDate = datTim.date().addDays(1);
303 }
304
305 if (nextEpoch) {
306 *nextEpoch = QDateTime(nextDate, nextTime);
307 }
308
309 return epoStr;
310}
311
312// File Name according to RINEX Standards
313////////////////////////////////////////////////////////////////////////////
314void bncRinex::resolveFileName(const QDateTime& datTim) {
315
316 bncSettings settings;
317 QString path = settings.value("rnxPath").toString();
318 expandEnvVar(path);
319
320 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
321 path += QDir::separator();
322 }
323
324 QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
325 &_nextCloseEpoch);
326
327 QString ID4 = _statID.left(4);
328
329 // Check name conflict
330 // -------------------
331 QString distStr;
332 int num = 0;
333 QListIterator<QString> it(settings.value("mountPoints").toStringList());
334 while (it.hasNext()) {
335 QString mp = it.next();
336 if (mp.indexOf(ID4) != -1) {
337 ++num;
338 }
339 }
340 if (num > 1) {
341 distStr = "_" + _statID.mid(4);
342 }
343
344 QString sklExt = settings.value("rnxSkel").toString();
345 if (!sklExt.isEmpty()) {
346 _sklName = path + ID4 + distStr + "." + sklExt;
347 }
348
349 path += ID4 +
350 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
351 hlpStr + distStr + datTim.toString(".yyO");
352
353 _fName = path.toAscii();
354}
355
356// Write RINEX Header
357////////////////////////////////////////////////////////////////////////////
358void bncRinex::writeHeader(const QByteArray& format,
359 const QDateTime& datTimNom) {
360
361 bncSettings settings;
362
363 // Open the Output File
364 // --------------------
365 resolveFileName(datTimNom);
366
367 // Append to existing file and return
368 // ----------------------------------
369 if ( QFile::exists(_fName) ) {
370 if (_reconnectFlag ||
371 Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
372 _out.open(_fName.data(), ios::app);
373 _out.setf(ios::showpoint | ios::fixed);
374 _headerWritten = true;
375 _reconnectFlag = false;
376 return;
377 }
378 }
379
380 _out.open(_fName.data());
381 _out.setf(ios::showpoint | ios::fixed);
382
383 // Copy Skeleton Header
384 // --------------------
385 readSkeleton();
386 if (_header._markerName.isEmpty()) {
387 _header._markerName = _statID;
388 }
389
390 // A few additional comments
391 // -------------------------
392 QMap<QString, QString> txtMap;
393 QStringList addComments;
394
395 addComments << format.left(6) + " " + _mountPoint.host() + _mountPoint.path();
396
397 if (_nmea == "yes") {
398 addComments << "NMEA LAT=" + _latitude + " " + "LONG=" + _longitude;
399 }
400
401 txtMap["COMMENT"] = addComments.join("\\n");
402
403 QByteArray headerLines;
404 QTextStream outHlp(&headerLines);
405 _header.write(&outHlp, &txtMap);
406 outHlp.flush();
407 _out << headerLines.data();
408
409 _headerWritten = true;
410}
411
412// Stores Observation into Internal Array
413////////////////////////////////////////////////////////////////////////////
414void bncRinex::deepCopy(t_obs obs) {
415 _obs.push_back(obs);
416}
417
418// Write One Epoch into the RINEX File
419////////////////////////////////////////////////////////////////////////////
420void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
421
422 // Select observations older than maxTime
423 // --------------------------------------
424 QList<t_obs> dumpList;
425 QMutableListIterator<t_obs> mIt(_obs);
426 while (mIt.hasNext()) {
427 t_obs obs = mIt.next();
428 if (obs.GPSWeek * 7*24*3600 + obs.GPSWeeks < maxTime - 0.05) {
429 dumpList.push_back(obs);
430 mIt.remove();
431 }
432 }
433
434 // Easy Return
435 // -----------
436 if (dumpList.isEmpty()) {
437 return;
438 }
439
440 // Time of Epoch
441 // -------------
442 const t_obs& fObs = dumpList.first();
443 QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
444 QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
445 floor(fObs.GPSWeeks+0.5));
446
447 // Close the file
448 // --------------
449 if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
450 closeFile();
451 _headerWritten = false;
452 }
453
454 // Write RINEX Header
455 // ------------------
456 if (!_headerWritten) {
457 _header._startTime.set(fObs.GPSWeek, fObs.GPSWeeks);
458 writeHeader(format, datTimNom);
459 }
460
461 double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
462
463 // Epoch header line: RINEX Version 3
464 // ----------------------------------
465 if (_header._version >= 3.0) {
466 _out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
467 << setw(10) << setprecision(7) << sec
468 << " " << 0 << setw(3) << dumpList.size() << endl;
469 }
470 // Epoch header line: RINEX Version 2
471 // ----------------------------------
472 else {
473 _out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
474 << setw(10) << setprecision(7) << sec
475 << " " << 0 << setw(3) << dumpList.size();
476
477 QListIterator<t_obs> it(dumpList); int iSat = 0;
478 while (it.hasNext()) {
479 iSat++;
480 const t_obs& obs = it.next();
481 _out << obs.satSys << setw(2) << obs.satNum;
482 if (iSat == 12 && it.hasNext()) {
483 _out << endl << " ";
484 iSat = 0;
485 }
486 }
487 _out << endl;
488 }
489
490 QListIterator<t_obs> it(dumpList);
491 while (it.hasNext()) {
492 const t_obs& obs = it.next();
493
494 // Cycle slips detection
495 // ---------------------
496 QString prn = QString("%1%2").arg(obs.satSys)
497 .arg(obs.satNum, 2, 10, QChar('0'));
498
499 char lli1 = ' ';
500 char lli2 = ' ';
501 char lli5 = ' ';
502 if ( obs.slip_cnt_L1 >= 0 ) {
503 if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
504 _slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
505 lli1 = '1';
506 }
507 }
508
509 if ( obs.slip_cnt_L2 >= 0 ) {
510 if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
511 _slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
512 lli2 = '1';
513 }
514 }
515
516 if ( obs.slip_cnt_L5 >= 0 ) {
517 if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
518 _slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
519 lli5 = '1';
520 }
521 }
522
523 _slip_cnt_L1[prn] = obs.slip_cnt_L1;
524 _slip_cnt_L2[prn] = obs.slip_cnt_L2;
525 _slip_cnt_L5[prn] = obs.slip_cnt_L5;
526
527 // Write the data
528 // --------------
529 _out << rinexSatLine(obs, lli1, lli2, lli5) << endl;
530 }
531
532 _out.flush();
533}
534
535// Close the Old RINEX File
536////////////////////////////////////////////////////////////////////////////
537void bncRinex::closeFile() {
538 if (_header._version == 3) {
539 _out << "> 4 1" << endl;
540 _out << "END OF FILE" << endl;
541 }
542 _out.close();
543 if (!_rnxScriptName.isEmpty()) {
544 qApp->thread()->wait(100);
545#ifdef WIN32
546 QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
547#else
548 QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
549#endif
550
551 }
552}
553
554// One Line in RINEX v2 or v3
555////////////////////////////////////////////////////////////////////////////
556string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
557 char lli5) {
558 ostringstream str;
559 str.setf(ios::showpoint | ios::fixed);
560
561 if (_header._version >= 3.0) {
562 str << obs.satSys
563 << setw(2) << setfill('0') << obs.satNum << setfill(' ');
564 }
565
566 const QVector<QString>& types = (_header._version > 3.0) ?
567 _header._obsTypesV3[obs.satSys] : _header._obsTypesV2;
568 for (int ii = 0; ii < types.size(); ii++) {
569 double value = obs.measdata(types[ii], _header._version);
570 str << setw(14) << setprecision(3) << value;
571 if (value != 0.0 && types[ii].indexOf("L1") == 0) {
572 str << lli1 << ' ';
573 }
574 else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
575 str << lli2 << ' ';
576 }
577 else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
578 str << lli5 << ' ';
579 }
580 else {
581 str << " ";
582 }
583 }
584
585 return str.str();
586}
587
588//
589////////////////////////////////////////////////////////////////////////////
590string bncRinex::obsToStr(double val, int width, int precision) {
591 if (val != 0.0) {
592 ostringstream str;
593 str.setf(ios::showpoint | ios::fixed);
594 str << setw(width) << setprecision(precision) << val;
595 return str.str();
596 }
597 else {
598 return "0.0";
599 }
600}
601
602// One Line in ASCII (Internal) Format
603////////////////////////////////////////////////////////////////////////////
604string bncRinex::asciiSatLine(const t_obs& obs) {
605
606 ostringstream str;
607 str.setf(ios::showpoint | ios::fixed);
608
609 str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
610
611 if (obs.satSys == 'R') { // Glonass
612 str << ' ' << setw(2) << obs.slotNum;
613 }
614 else {
615 str << " ";
616 }
617
618 float rnxVers = 3.0;
619
620 if (obs.satSys == 'G') { // GPS
621 str << " 1C "
622 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
623 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
624 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
625 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
626 << setw(2) << obs.slip_cnt_L1;
627 str << " 1P "
628 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
629 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
630 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
631 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
632 << setw(2) << obs.slip_cnt_L1;
633 str << " 2P "
634 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
635 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
636 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
637 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
638 << setw(2) << obs.slip_cnt_L2;
639 str << " 5C "
640 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
641 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
642 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
643 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
644 << setw(2) << obs.slip_cnt_L5;
645 }
646 else if (obs.satSys == 'R') { // Glonass
647 str << " 1C "
648 << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
649 << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
650 << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
651 << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
652 << setw(2) << obs.slip_cnt_L1;
653 str << " 1P "
654 << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
655 << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
656 << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
657 << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
658 << setw(2) << obs.slip_cnt_L1;
659 str << " 2P "
660 << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
661 << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
662 << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
663 << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
664 << setw(2) << obs.slip_cnt_L2;
665 str << " 2C "
666 << obsToStr(obs.measdata("C2C", rnxVers)) << ' '
667 << obsToStr(obs.measdata("L2C", rnxVers)) << ' '
668 << obsToStr(obs.measdata("D2C", rnxVers)) << ' '
669 << obsToStr(obs.measdata("S2C", rnxVers), 8, 3) << ' '
670 << setw(2) << obs.slip_cnt_L2;
671 }
672 else if (obs.satSys == 'E') { // Galileo
673 str << " 1C "
674 << obsToStr(obs.measdata("C1", rnxVers)) << ' '
675 << obsToStr(obs.measdata("L1", rnxVers)) << ' '
676 << obsToStr(obs.measdata("D1", rnxVers)) << ' '
677 << obsToStr(obs.measdata("S1", rnxVers), 8, 3) << ' '
678 << setw(2) << obs.slip_cnt_L1;
679
680 str << " 5C "
681 << obsToStr(obs.measdata("C5", rnxVers)) << ' '
682 << obsToStr(obs.measdata("L5", rnxVers)) << ' '
683 << obsToStr(obs.measdata("D5", rnxVers)) << ' '
684 << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
685 << setw(2) << obs.slip_cnt_L5;
686 }
687 return str.str();
688}
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