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WII5Firmware/doc/PROCESSED.txt
T
scottp 295abb37ee Initial public release of WII5 Buoy firmware 
Firmware for an autonomous wave-measurement buoy (ATmega2560-based
WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU,
samples GPS and battery state, and reports back over Iridium SBD
satellite telemetry. Originally developed 2012-2024.

This is the first public release. Code, documentation, and field-tested
operating modes (Capture, Sleep, Position, ManualTest, SelfTest,
LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE.

See README.md for an overview and build instructions, CONTRIBUTING.md
for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
2026-05-07 16:27:18 +10:00

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New reordered array
process1.part1float
0..3 hz_max
4..7 hcm_max
8..11 htm_max
12..15 tz_mean
16 tp
17 hmod
18..72 psd
process2.parse2float
0..7 moment
8..16 ...
// 4
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hz_max[i]);
// 4
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hcm_max[i]);
// 4
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->htm_max[i]);
// 4 16
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->tz_mean[i]);
// 1
fprintf(ido_o,"%LF\n",return_data->tp);
// 1 18
fprintf(ido_o,"%LF\n",return_data->hmod);
// n_psd = 55 73
for (i=0;i<n_psd;i++) fprintf(ido_o,"%LF\n",return_data->psd[i]);
// n_mom = 7
for (i=0;i<n_mom;i++) fprintf(ido_o,"%LF\n",return_data->moment[i]);
// 8
fprintf(ido_o,"%d\n",return_data->qflg_open_water);
fprintf(ido_o,"%d\n",return_data->qflg_kist);
fprintf(ido_o,"%d\n",return_data->qflg_imu);
fprintf(ido_o,"%d\n",return_data->qflg_pkist);
fprintf(ido_o,"%d\n",return_data->qflg_accel);
fprintf(ido_o,"%d\n",return_data->qflg_gyro);
fprintf(ido_o,"%d\n",return_data->qflg_magno);
fprintf(ido_o,"%d\n",return_data->qflg_head);
// 54 62
155 lines
On average these are all floats - 4 Bytes
620 bytes - which does not fit into one block
OR:
101 * 4
54 * 2
= 512 - exactly the block size!
psd 55 = 220
Normal output from WII3/4
* All 4 byte float unless specified here
* direction - 54 * Int (2 byte) - total 108
* psd - 55 * float (4 byte) - total 220
hz_max: [1, 4], // Maximum wave height (trough - crest) in a 10 min segment
Double
4 * 4
= 16
hcm_max: [5, 8], // Maximum height of a crest above mean water level in a 10 min segment
Double
4 * 4
= 16
htm_max: [9, 12], // Maximum depth of a trough below mean water level in a 10 min segment
Double
4 * 4
= 16
tz_max: [13, 16], // Mean wave period in a 10 min segment
Double
4 * 4
= 16
tp: 17, // Peak period from the full (non averaged) spectra
Double
4
= 4
hmo: 18, // 4*standard deviation of elevation
Double
4
= 4
psd: [19, 73], // Using 1/f_avg = frequency
Double
55 * 4
= 220
moments: [74, 80], // Spectral moments
Double
7 * 4
= 28
theta: 81, // Mean wave direction
Double
4
= 4
dp: 82, // Peak wave direction
Double
4
= 4
s: 83, // Wave spread
Double
4
= 4
r: 84, // Ratio term to evaluate quality of wave direction approximation
Double
4
= 4
hs_dir:85, // Hs calculated using direction analysis
Double
4
= 4
a: 86, // Noise slope
Double
4
= 4
b: 87, // Noise intercept
Double
4
= 4
nstd: 88, // Noise standard deviation
Double
4
= 4
f2: 89, // Frequency cut-off
Double
4
= 4
qf_mvar: 90, // Quality flag: Mean vertical acceleration removed
Double
4
= 4
qf_kist: 91, // Quality flat: Kistler passed (0), Kistler failed (1)
Int
2
= 2
qf_imu: 92, // Quality flat: IMU passed (0), IMU failed (1)
Int
2
= 2
qf_p_kist: 93, // Quality flag: Percentage of flagged Kistler samples
Int
2
= 2
qf_p_accel: 94, // Quality flag: Percentage of flagged acceleration samples (averaged across 3 axis)
Int
2
= 2
qf_p_gyro: 95, // Quality flag: Percentage of flagged gyro samples (averaged across 3 axis)
Int
2
= 2
qf_p_mag: 96, // Quality flag: Percentage of flagged magno samples (averaged across 3 axis)
Int
2
= 2
qf_head: 97, // Quality flag: GPS heading passed (0), GPS heading failed (1)
Int
2
= 2
power_diff: 98, // Difference between power in the time domain and frequency domain
Double
4
= 4
yaw_std: 99, // Yaw standard deviation
Double
4
= 4
open_water: 100, // Open Water flag
Int
2
= 2
direction: [101, 154], // direction data
Int
54 * 2
= 108
492 bytes
11.787015
9.582090
12.528253
14.153369
7.735189
5.657926
4.293090
5.485378
-7.106659
-5.864575
-8.348605
-8.667991
29.714286
28.750000
28.055556
30.400000
32.000000
10.224887
11.823206
46.393283
50.172329
45.776413
96.298192
69.859577
37.341004
29.351810
17.013856
24.406505
10.531730
6.074609
4.671587
3.752939
6.758200
5.808995
5.183176
4.280694
1.921353
2.080787
1.444816
1.249582
1.329185
0.709623
1.501197
1.624132
0.683771
1.638818
0.252953
0.567005
0.321616
0.659857
0.243726
0.682648
0.268455
0.297780
0.281510
0.218103
0.302124
0.219463
0.273396
0.091317
0.122532
0.145382
0.038717
0.057687
0.044266
0.035344
0.020552
0.013517
0.007770
0.006380
0.004311
0.002205
0.001864
5740.408809
186.498311
6.548624
0.253406
0.011854
0.000831
0.000111
55.514691
14.862172
75.469394
32.156745
3.584171
-4.368659
-10.127936
410.341584
0.031250
10.716096
1
0
99
1
99
0
2
4.583661
11165.160686
1
5.154564
214
149
245
815
687
659
204
455
253
786
371
692
550
430
490
358
201
440
431
388
644
676
389
521
855
550
728
583
863
635
818
863
795
567
674
482
884
429
787
299
619
787
328
742
572
712
798
130
650
780
336
680
547
434
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hz_max[i]);
4 Float
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hcm_max[i]);
4 Float
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->htm_max[i]);
4 Float
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->tz_mean[i]);
4 Float
fprintf(ido_o,"%LF\n",return_data->tp);
1 Float
fprintf(ido_o,"%LF\n",return_data->hmod);
1 Float
for (i=0;i<n_psd;i++) fprintf(ido_o,"%LF\n",return_data->psd[i]);
55 Float
for (i=0;i<n_mom;i++) fprintf(ido_o,"%LF\n",return_data->moment[i]);
7 Float
fprintf(ido_o,"%LF\n",return_data->direction*180.0/pi);
1 Float
fprintf(ido_o,"%LF\n",return_data->peak_direction*180.0/pi);
1 Float
fprintf(ido_o,"%LF\n",return_data->spread*180.0/pi);
1 Float
fprintf(ido_o,"%LF\n",return_data->ratio);
1 Float
fprintf(ido_o,"%LF\n",return_data->hs_dir);
1 Float
fprintf(ido_o,"%LF\n",return_data->a);
1 Float
fprintf(ido_o,"%LF\n",return_data->b);
1 Float
fprintf(ido_o,"%LF\n",return_data->nstd);
1 Float
fprintf(ido_o,"%LF\n",return_data->f2);
1 Float
fprintf(ido_o,"%LF\n",return_data->qflg_mean_removed_imu);
1 Float
fprintf(ido_o,"%d\n",return_data->qflg_kist);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_imu);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_pkist);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_accel);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_gyro);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_magno);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_head);
1 Int
fprintf(ido_o,"%LF\n",return_data->qflg_tot_pow_imu);
1 Float
fprintf(ido_o,"%LF\n",return_data->std_yaw*180.0/pi);
1 Float
fprintf(ido_o,"%d\n",return_data->qflg_open_water);
1 Int
fprintf(ido_o,"%LF\n",return_data->hz_mean[0]);
1 Float
direction
54 Int
4 Float
4 Float
4 Float
4 Float
1 Float
1 Float
55 Float
73
= 292 Bytes
7 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
17
= 68 bytes
1 Int
1 Int
1 Int
1 Int
1 Int
1 Int
1 Int
7
= 14 bytes
1 Float
1 Float
= 8 bytes
1 Int
= 2 bytes
1 Float
= 4 bytres
54 Int
= 108
= 204 total
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