% -------------------------------------------------------
%       averaged881a.m
%
%       adapt Jim and Peter's program for use with 881a pencil
%
%            first skips 61 bytes of header for file then
%            for each of 50 pings
%               read 13 bytes of header
%               read 50 pings per record  (in arc)
%               each ping is 251 bytes of data
%               1 bytes per sample

% hacked by Marinna into a smarter avgpencil.m
% this works with s1080117.p59   rcs 8/1/02
% --------------------------------------------------------
clear
sect = 60;
%fname = input('What is the filename  ','s');
[filename, pathname] = uigetfile('*.p*','Select Pencil Beam File');
fname = filename;
fid = fopen(fname,'r');
%pingsperrec = 52;  % number of useable pings
pingsperrec = input('Number of useable pings for the pencil beam: ');
%pingsperrec = input('how many records (sector to sweep/step size) ?','d');
%
len=265;  %points per ping
lon=len*pingsperrec+61;
%[X1,count] = fread(fid,lon,'uint8');
%[X1,count] = fscanf(fid,'%x',lon);
[X1,count] = fread(fid,lon,'uint8');

% data size is a function of range, number of useable pings

%count
%X1
fclose(fid);
x1 = reshape(X1(62:lon),len,pingsperrec);
%
% clear X1 count fid 
%
%header type, should be IMX 
hdr(1:34)=setstr(X1(1:34)')
hdr(35:61)=X1(35:61)
imx=setstr(x1(1:3,:));
   if (imx(1:3,1)'=='IMX'), disp('Mode = IMX, OK'), end
   if (imx(1:3,1)'~='IMX'), disp('Mode is not IMX'), end
% sonar head ID, should be 16   
id=(x1(4,:));
   if (id==16), disp('ID = 16, OK'), end
   if (id~=16), disp('ID is not 16'), end
% serial Status, should be 64   
ss=(x1(5,:));
   if (ss==64), disp('Serial Status = 64, OK'), end
   if (ss~=64), disp('Serial Status is not 64'), end
   % head position 
   
   high=bitand(63,x1(7,:));

   low=bitand(127,x1(6,:));
   
   d=bitand(64,x1(7,:));
   hp=-180+0.3.*(128.*high+low); %881A Mod - rcs
   
% range, should be 10 for 3 m   
rr=(x1(8,:));
   if (rr==10), disp('Range = 10, OK'), end
   if (rr~=10), disp('Range is not 10'), end
% profile Rainge - should vary with data   
pr=(256*x1(10,:)+x1(9));
   if (pr==0), disp('Profile Range = 0, OK'), end
   if (pr~=0), disp('Profile Range is not 0'), end
   high=bitand(127,x1(12,:));
   low=bitand(127,x1(11,:));
% number of data points, with 25, should be 251 points
num=127*high+low;
   if (num==251), disp('Number of Data Bytes = 251, OK'), end
   if (num~=251), disp('Number of Data Bytes is not 251'), end
%   
% clear high low imx id ss r pr num 
%
% plot head position
figure(1)
clf
%plot(1:50,hp,1:50,d),grid  
plot(1:pingsperrec,hp,1:pingsperrec,d),grid %881A Mod - rcs 
title([fname])
xlabel('Step'),ylabel('Degrees Orientation')
%
% plot linear 
figure(2)
clf;
imagesc(x1(12:len,1:pingsperrec));
colormap(jet);
colorbar
title([fname])
%
% plot polar
figure(3)
clf
usenr=len-14;
nt=pingsperrec;
nr=length(0:(usenr-10));
	theta=-linspace(0,sect,nt)*pi/180;
	% R=linspace(0,210,nr)';
	%h=pingsperrec/4;
	r=linspace(10,usenr,nr)';
	%R= r.*sin(acos(h./r));R=R(:);
	x=r*cos(theta);y=r*sin(theta);
	Z = zeros(nr,nt);
	sx1 = x1(10:usenr,:);
	surface(x,y,Z,log10(sx1+eps));shading flat;colormap(jet)
   % axis([0,300,-300,0])
   axis('square'); 
   caxis([min(min(log10(1+sx1))) max(max(log10(1+sx1)))]);
   title([fname])
% cleanup   
%   clear