From 847db9ea10fba77a2de7d5ab519f70544b2c2b9a Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 6 May 2017 13:00:13 +0200
Subject: [PATCH] Make code more readable

---
 src/algorithms/libs/rtklib/rtklib_rtkpos.cc | 376 +++++++++++---------
 1 file changed, 200 insertions(+), 176 deletions(-)

diff --git a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
index 27f57ed4a..11a117b80 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
@@ -183,101 +183,113 @@ void rtkclosestat(void)
 /* write solution status to buffer -------------------------------------------*/
 void rtkoutstat(rtk_t *rtk,  char *buff)
 {
-  ssat_t *ssat;
-  double tow,pos[3],vel[3],acc[3],vela[3]={0},acca[3]={0},xa[3];
-  int i,j,week,est,nfreq,nf=NF_RTK(&rtk->opt);
-  char id[32];
+    ssat_t *ssat;
+    double tow, pos[3], vel[3], acc[3], vela[3] = {0}, acca[3] = {0}, xa[3];
+    int i, j, week, est, nfreq, nf = NF_RTK(&rtk->opt);
+    char id[32];
 
-  if (statlevel<=0||!fp_stat) return;
+    if (statlevel <= 0 || !fp_stat) return;
 
-  trace(3,"outsolstat:\n");
+    trace(3, "outsolstat:\n");
 
-  /* swap solution status file */
-  swapsolstat();
+    /* swap solution status file */
+    swapsolstat();
 
-  est=rtk->opt.mode>=PMODE_DGPS;
-  nfreq=est?nf:1;
-  tow=time2gpst(rtk->sol.time,&week);
+    est = rtk->opt.mode >= PMODE_DGPS;
+    nfreq = est ? nf : 1;
+    tow = time2gpst(rtk->sol.time, &week);
 
-  /* receiver position */
-  if (est) {
-      for (i=0;i<3;i++) xa[i]=i<rtk->na?rtk->xa[i]:0.0;
-      fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
-              rtk->sol.stat,rtk->x[0],rtk->x[1],rtk->x[2],xa[0],xa[1],xa[2]);
-  }
-  else {
-      fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
-              rtk->sol.stat,rtk->sol.rr[0],rtk->sol.rr[1],rtk->sol.rr[2],
-              0.0,0.0,0.0);
-  }
-  /* receiver velocity and acceleration */
-  if (est&&rtk->opt.dynamics) {
-      ecef2pos(rtk->sol.rr,pos);
-      ecef2enu(pos,rtk->x+3,vel);
-      ecef2enu(pos,rtk->x+6,acc);
-      if (rtk->na>=6) ecef2enu(pos,rtk->xa+3,vela);
-      if (rtk->na>=9) ecef2enu(pos,rtk->xa+6,acca);
-      fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
-              week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],acc[0],acc[1],acc[2],
-              vela[0],vela[1],vela[2],acca[0],acca[1],acca[2]);
-  }
-  else {
-      ecef2pos(rtk->sol.rr,pos);
-      ecef2enu(pos,rtk->sol.rr+3,vel);
-      fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
-              week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],
-              0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
-  }
-  /* receiver clocks */
-  fprintf(fp_stat,"$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
-          week,tow,rtk->sol.stat,1,rtk->sol.dtr[0]*1E9,rtk->sol.dtr[1]*1E9,
-          rtk->sol.dtr[2]*1E9,rtk->sol.dtr[3]*1E9);
+    /* receiver position */
+    if (est)
+        {
+            for (i = 0;i<3;i++) xa[i] = i < rtk->na ? rtk->xa[i] : 0.0;
+            fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
+                    rtk->sol.stat, rtk->x[0], rtk->x[1], rtk->x[2], xa[0], xa[1], xa[2]);
+        }
+    else
+        {
+            fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
+                    rtk->sol.stat, rtk->sol.rr[0], rtk->sol.rr[1], rtk->sol.rr[2],
+                    0.0, 0.0, 0.0);
+        }
+    /* receiver velocity and acceleration */
+    if (est && rtk->opt.dynamics)
+        {
+            ecef2pos(rtk->sol.rr, pos);
+            ecef2enu(pos, rtk->x+3, vel);
+            ecef2enu(pos, rtk->x+6, acc);
+            if (rtk->na >= 6) ecef2enu(pos, rtk->xa+3, vela);
+            if (rtk->na >= 9) ecef2enu(pos, rtk->xa+6, acca);
+            fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
+                    week, tow, rtk->sol.stat, vel[0], vel[1], vel[2], acc[0], acc[1], acc[2],
+                    vela[0], vela[1], vela[2], acca[0], acca[1], acca[2]);
+        }
+    else
+        {
+            ecef2pos(rtk->sol.rr, pos);
+            ecef2enu(pos, rtk->sol.rr+3, vel);
+            fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
+                    week, tow, rtk->sol.stat, vel[0], vel[1], vel[2],
+                    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+        }
+    /* receiver clocks */
+    fprintf(fp_stat, "$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
+            week, tow, rtk->sol.stat, 1, rtk->sol.dtr[0]*1E9, rtk->sol.dtr[1]*1E9,
+            rtk->sol.dtr[2]*1E9, rtk->sol.dtr[3]*1E9);
 
-  /* ionospheric parameters */
-  if (est&&rtk->opt.ionoopt==IONOOPT_EST) {
-      for (i=0;i<MAXSAT;i++) {
-          ssat=rtk->ssat+i;
-          if (!ssat->vs) continue;
-          satno2id(i+1,id);
-          j=II_RTK(i+1,&rtk->opt);
-          xa[0]=j<rtk->na?rtk->xa[j]:0.0;
-          fprintf(fp_stat,"$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n",week,tow,rtk->sol.stat,
-                  id,ssat->azel[0]*R2D,ssat->azel[1]*R2D,rtk->x[j],xa[0]);
-      }
-  }
-  /* tropospheric parameters */
-  if (est&&(rtk->opt.tropopt==TROPOPT_EST||rtk->opt.tropopt==TROPOPT_ESTG)) {
-      for (i=0;i<2;i++) {
-          j=IT_RTK(i,&rtk->opt);
-          xa[0]=j<rtk->na?rtk->xa[j]:0.0;
-          fprintf(fp_stat,"$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
-                  i+1,rtk->x[j],xa[0]);
-      }
-  }
-  /* receiver h/w bias */
-  if (est&&rtk->opt.glomodear==2) {
-      for (i=0;i<nfreq;i++) {
-          j=IL_RTK(i,&rtk->opt);
-          xa[0]=j<rtk->na?rtk->xa[j]:0.0;
-          fprintf(fp_stat,"$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
-                  i+1,rtk->x[j],xa[0]);
-      }
-  }
-  if (rtk->sol.stat==SOLQ_NONE||statlevel<=1) return;
+    /* ionospheric parameters */
+    if (est && rtk->opt.ionoopt == IONOOPT_EST)
+        {
+            for (i = 0;i<MAXSAT;i++)
+                {
+                    ssat = rtk->ssat+i;
+                    if (!ssat->vs) continue;
+                    satno2id(i+1, id);
+                    j = II_RTK(i+1, &rtk->opt);
+                    xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
+                    fprintf(fp_stat, "$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n", week, tow, rtk->sol.stat,
+                            id, ssat->azel[0]*R2D, ssat->azel[1]*R2D, rtk->x[j], xa[0]);
+                }
+        }
+    /* tropospheric parameters */
+    if (est && (rtk->opt.tropopt == TROPOPT_EST || rtk->opt.tropopt == TROPOPT_ESTG))
+        {
+            for (i = 0;i<2;i++)
+                {
+                    j = IT_RTK(i, &rtk->opt);
+                    xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
+                    fprintf(fp_stat, "$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
+                            i+1, rtk->x[j], xa[0]);
+                }
+        }
+    /* receiver h/w bias */
+    if (est && rtk->opt.glomodear == 2)
+        {
+            for (i = 0;i<nfreq;i++)
+                {
+                    j = IL_RTK(i, &rtk->opt);
+                    xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
+                    fprintf(fp_stat, "$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
+                            i+1, rtk->x[j], xa[0]);
+                }
+        }
+    if (rtk->sol.stat == SOLQ_NONE || statlevel <= 1) return;
 
-  /* residuals and status */
-  for (i=0;i<MAXSAT;i++) {
-      ssat=rtk->ssat+i;
-      if (!ssat->vs) continue;
-      satno2id(i+1,id);
-      for (j=0;j<nfreq;j++) {
-          fprintf(fp_stat,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
-                  week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D,
-                  ssat->resp [j],ssat->resc[j],  ssat->vsat[j],ssat->snr[j]*0.25,
-                  ssat->fix  [j],ssat->slip[j]&3,ssat->lock[j],ssat->outc[j],
-                  ssat->slipc[j],ssat->rejc[j]);
-      }
-  }
+    /* residuals and status */
+    for (i = 0;i<MAXSAT;i++)
+        {
+            ssat = rtk->ssat+i;
+            if (!ssat->vs) continue;
+            satno2id(i+1, id);
+            for (j = 0;j<nfreq;j++)
+                {
+                    fprintf(fp_stat, "$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
+                            week, tow, id, j+1, ssat->azel[0]*R2D, ssat->azel[1]*R2D,
+                            ssat->resp [j], ssat->resc[j],   ssat->vsat[j], ssat->snr[j]*0.25,
+                            ssat->fix  [j], ssat->slip[j]&3, ssat->lock[j], ssat->outc[j],
+                            ssat->slipc[j], ssat->rejc[j]);
+                }
+        }
 }
 
 
@@ -312,101 +324,113 @@ void swapsolstat(void)
 /* output solution status ----------------------------------------------------*/
 void outsolstat(rtk_t *rtk)
 {
-  ssat_t *ssat;
-double tow,pos[3],vel[3],acc[3],vela[3]={0},acca[3]={0},xa[3];
-int i,j,week,est,nfreq,nf=NF_RTK(&rtk->opt);
-char id[32];
+    ssat_t *ssat;
+    double tow, pos[3], vel[3], acc[3], vela[3] = {0}, acca[3] = {0}, xa[3];
+    int i, j, week, est, nfreq, nf = NF_RTK(&rtk->opt);
+    char id[32];
 
-if (statlevel<=0||!fp_stat) return;
+    if (statlevel <= 0 || !fp_stat) return;
 
-trace(3,"outsolstat:\n");
+    trace(3, "outsolstat:\n");
 
-/* swap solution status file */
-swapsolstat();
+    /* swap solution status file */
+    swapsolstat();
 
-est=rtk->opt.mode >= PMODE_DGPS;
-nfreq=est?nf:1;
-tow=time2gpst(rtk->sol.time,&week);
+    est = rtk->opt.mode >= PMODE_DGPS;
+    nfreq = est ? nf : 1;
+    tow = time2gpst(rtk->sol.time, &week);
 
-/* receiver position */
-if (est) {
-   for (i=0;i<3;i++) xa[i]=i<rtk->na?rtk->xa[i]:0.0;
-   fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
-           rtk->sol.stat,rtk->x[0],rtk->x[1],rtk->x[2],xa[0],xa[1],xa[2]);
-}
-else {
-   fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
-           rtk->sol.stat,rtk->sol.rr[0],rtk->sol.rr[1],rtk->sol.rr[2],
-           0.0,0.0,0.0);
-}
-/* receiver velocity and acceleration */
-if (est&&rtk->opt.dynamics) {
-   ecef2pos(rtk->sol.rr,pos);
-   ecef2enu(pos,rtk->x+3,vel);
-   ecef2enu(pos,rtk->x+6,acc);
-   if (rtk->na>=6) ecef2enu(pos,rtk->xa+3,vela);
-   if (rtk->na>=9) ecef2enu(pos,rtk->xa+6,acca);
-   fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
-           week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],acc[0],acc[1],acc[2],
-           vela[0],vela[1],vela[2],acca[0],acca[1],acca[2]);
-}
-else {
-   ecef2pos(rtk->sol.rr,pos);
-   ecef2enu(pos,rtk->sol.rr+3,vel);
-   fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
-           week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],
-           0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
-}
-/* receiver clocks */
-fprintf(fp_stat,"$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
-       week,tow,rtk->sol.stat,1,rtk->sol.dtr[0]*1E9,rtk->sol.dtr[1]*1E9,
-       rtk->sol.dtr[2]*1E9,rtk->sol.dtr[3]*1E9);
+    /* receiver position */
+    if (est)
+        {
+            for (i = 0;i<3;i++) xa[i] = i < rtk->na ? rtk->xa[i] : 0.0;
+            fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
+                    rtk->sol.stat, rtk->x[0], rtk->x[1], rtk->x[2], xa[0], xa[1], xa[2]);
+        }
+    else
+        {
+            fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
+                    rtk->sol.stat, rtk->sol.rr[0], rtk->sol.rr[1], rtk->sol.rr[2],
+                    0.0, 0.0, 0.0);
+        }
+    /* receiver velocity and acceleration */
+    if (est && rtk->opt.dynamics)
+        {
+            ecef2pos(rtk->sol.rr, pos);
+            ecef2enu(pos, rtk->x+3, vel);
+            ecef2enu(pos, rtk->x+6, acc);
+            if (rtk->na >= 6) ecef2enu(pos, rtk->xa+3, vela);
+            if (rtk->na >= 9) ecef2enu(pos, rtk->xa+6, acca);
+            fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
+                    week, tow, rtk->sol.stat, vel[0], vel[1], vel[2], acc[0], acc[1], acc[2],
+                    vela[0], vela[1], vela[2], acca[0], acca[1], acca[2]);
+        }
+    else
+        {
+            ecef2pos(rtk->sol.rr, pos);
+            ecef2enu(pos, rtk->sol.rr+3, vel);
+            fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
+                    week, tow, rtk->sol.stat, vel[0], vel[1], vel[2],
+                    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+        }
+    /* receiver clocks */
+    fprintf(fp_stat, "$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
+            week, tow, rtk->sol.stat, 1, rtk->sol.dtr[0]*1E9, rtk->sol.dtr[1]*1E9,
+            rtk->sol.dtr[2]*1E9, rtk->sol.dtr[3]*1E9);
 
-/* ionospheric parameters */
-if (est&&rtk->opt.ionoopt==IONOOPT_EST) {
-   for (i=0;i<MAXSAT;i++) {
-       ssat=rtk->ssat+i;
-       if (!ssat->vs) continue;
-       satno2id(i+1,id);
-       j=II_RTK(i+1,&rtk->opt);
-       xa[0]=j<rtk->na?rtk->xa[j]:0.0;
-       fprintf(fp_stat,"$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n",week,tow,rtk->sol.stat,
-               id,ssat->azel[0]*R2D,ssat->azel[1]*R2D,rtk->x[j],xa[0]);
-   }
-}
-/* tropospheric parameters */
-if (est&&(rtk->opt.tropopt==TROPOPT_EST||rtk->opt.tropopt==TROPOPT_ESTG)) {
-   for (i=0;i<2;i++) {
-       j=IT_RTK(i,&rtk->opt);
-       xa[0]=j<rtk->na?rtk->xa[j]:0.0;
-       fprintf(fp_stat,"$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
-               i+1,rtk->x[j],xa[0]);
-   }
-}
-/* receiver h/w bias */
-if (est&&rtk->opt.glomodear==2) {
-   for (i=0;i<nfreq;i++) {
-       j=IL_RTK(i,&rtk->opt);
-       xa[0]=j<rtk->na?rtk->xa[j]:0.0;
-       fprintf(fp_stat,"$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
-               i+1,rtk->x[j],xa[0]);
-   }
-}
-if (rtk->sol.stat==SOLQ_NONE||statlevel<=1) return;
+    /* ionospheric parameters */
+    if (est && rtk->opt.ionoopt == IONOOPT_EST)
+        {
+            for (i = 0;i<MAXSAT;i++)
+                {
+                    ssat = rtk->ssat+i;
+                    if (!ssat->vs) continue;
+                    satno2id(i+1, id);
+                    j = II_RTK(i+1, &rtk->opt);
+                    xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
+                    fprintf(fp_stat, "$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n", week, tow, rtk->sol.stat,
+                            id, ssat->azel[0]*R2D, ssat->azel[1]*R2D, rtk->x[j], xa[0]);
+                }
+        }
+    /* tropospheric parameters */
+    if (est && (rtk->opt.tropopt == TROPOPT_EST || rtk->opt.tropopt == TROPOPT_ESTG))
+        {
+            for (i = 0;i<2;i++)
+                {
+                    j = IT_RTK(i, &rtk->opt);
+                    xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
+                    fprintf(fp_stat, "$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
+                            i+1, rtk->x[j], xa[0]);
+                }
+        }
+    /* receiver h/w bias */
+    if (est && rtk->opt.glomodear == 2)
+        {
+            for (i = 0;i<nfreq;i++)
+                {
+                    j = IL_RTK(i, &rtk->opt);
+                    xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
+                    fprintf(fp_stat, "$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
+                            i+1, rtk->x[j], xa[0]);
+                }
+        }
+    if (rtk->sol.stat == SOLQ_NONE || statlevel <= 1) return;
 
-/* residuals and status */
-for (i=0;i<MAXSAT;i++) {
-   ssat=rtk->ssat+i;
-   if (!ssat->vs) continue;
-   satno2id(i+1,id);
-   for (j=0;j<nfreq;j++) {
-       fprintf(fp_stat,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
-               week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D,
-               ssat->resp [j],ssat->resc[j],  ssat->vsat[j],ssat->snr[j]*0.25,
-               ssat->fix  [j],ssat->slip[j]&3,ssat->lock[j],ssat->outc[j],
-               ssat->slipc[j],ssat->rejc[j]);
-   }
-}
+    /* residuals and status */
+    for (i = 0;i<MAXSAT;i++)
+        {
+            ssat = rtk->ssat+i;
+            if (!ssat->vs) continue;
+            satno2id(i+1, id);
+            for (j = 0;j<nfreq;j++)
+                {
+                    fprintf(fp_stat, "$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
+                            week, tow, id, j+1, ssat->azel[0]*R2D, ssat->azel[1]*R2D,
+                            ssat->resp [j], ssat->resc[j],   ssat->vsat[j], ssat->snr[j]*0.25,
+                            ssat->fix  [j], ssat->slip[j]&3, ssat->lock[j], ssat->outc[j],
+                            ssat->slipc[j], ssat->rejc[j]);
+                }
+        }
 }