Reading ADCP Data with MHKiT
The following example demonstrates a simple workflow for analyzing Acoustic Doppler Current Profiler (ADCP) data using MHKiT. MHKiT has brought the DOLfYN codebase in as an MHKiT module for working with ADCP and Acoustic Doppler Velocimeter (ADV) data.
A typical ADCP data workflow is broken down into 1. Review the raw data - Check timestamps - Calculate/check that the depth bin locations are correct - Look at velocity, beam amplitude and/or beam correlation data quality 2. Remove data located above the water surface or below the seafloor 3. Check for spurious datapoints and remove if necessary 4. If not already done within the instrument, average the data into time bins of a set time length (normally 5 to 10 min) 5. Conduct further analysis as required
Start by importing the necessary tools:
[1]:
from mhkit import dolfyn
from mhkit.dolfyn.adp import api
Read Raw Instrument Data
The core benefit of DOLfYN is that it can read in raw data directly after transferring it off of the ADCP. The ADCP used here is a Nortek Signature1000, with the file extension ‘.ad2cp’. This specific dataset contains several hours worth of velocity data collected at 1 Hz from the ADCP mounted on a bottom lander in a tidal inlet. The instruments that DOLfYN supports are listed in the docs.
Start by reading in the raw datafile downloaded from the instrument. The read
function reads the raw file and dumps the information into an xarray Dataset, which contains a few groups of variables:
Velocity in the instrument-saved coordinate system (beam, XYZ, ENU)
Beam amplitude and correlation data
Measurements of the instrument’s bearing and environment
Orientation matrices DOLfYN uses for rotating through coordinate frames.
[2]:
ds = dolfyn.read('data/dolfyn/Sig1000_tidal.ad2cp')
Indexing data/dolfyn/Sig1000_tidal.ad2cp... Done.
Reading file data/dolfyn/Sig1000_tidal.ad2cp ...
There are two ways to see what’s in a Dataset. The first is to simply type the dataset’s name to see the standard xarray output. To access a particular variable in a dataset, use dict-style (ds['vel']
) or attribute-style syntax (ds.vel
). See the xarray docs for more details on how to use the xarray format.
[3]:
# print the dataset
ds
[3]:
<xarray.Dataset> Dimensions: (time: 55000, time_b5: 55000, dirIMU: 3, range_b5: 28, beam: 4, range: 28, dir: 4, earth: 3, inst: 3, q: 4, x: 4, x*: 4) Coordinates: * time (time) datetime64[ns] 2020-08-15T00:20:00.500999 ...... * time_b5 (time_b5) datetime64[ns] 2020-08-15T00:20:00.438499 ... * dirIMU (dirIMU) <U1 'E' 'N' 'U' * range_b5 (range_b5) float64 0.6 1.1 1.6 2.1 ... 13.1 13.6 14.1 * beam (beam) int32 1 2 3 4 * range (range) float64 0.6 1.1 1.6 2.1 ... 12.6 13.1 13.6 14.1 * dir (dir) <U2 'E' 'N' 'U1' 'U2' * earth (earth) <U1 'E' 'N' 'U' * inst (inst) <U1 'X' 'Y' 'Z' * q (q) <U1 'w' 'x' 'y' 'z' * x (x) int32 1 2 3 4 * x* (x*) int32 1 2 3 4 Data variables: (12/38) c_sound (time) float32 1.502e+03 1.502e+03 ... 1.498e+03 temp (time) float32 14.55 14.55 14.55 ... 13.47 13.47 13.47 pressure (time) float32 9.713 9.718 9.718 ... 9.596 9.594 9.596 mag (dirIMU, time) float32 72.5 72.7 72.6 ... -197.2 -195.7 accel (dirIMU, time) float32 -0.00479 -0.01437 ... 9.729 batt (time) float32 16.6 16.6 16.6 16.6 ... 16.4 16.4 15.2 ... ... telemetry_data (time) uint8 0 0 0 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0 0 boost_running (time) uint8 0 0 0 0 0 0 0 0 1 0 ... 0 1 0 0 0 0 0 0 1 heading (time) float32 -12.52 -12.51 -12.51 ... -12.52 -12.5 pitch (time) float32 -0.065 -0.06 -0.06 ... -0.06 -0.05 -0.05 roll (time) float32 -7.425 -7.42 -7.42 ... -6.45 -6.45 -6.45 beam2inst_orientmat (x, x*) float32 1.183 0.0 -1.183 ... 0.5518 0.0 0.5518 Attributes: (12/33) filehead_config: {'CLOCKSTR': {'TIME': '"2020-08-13 13:56:21"'}, 'I... inst_model: Signature1000 inst_make: Nortek inst_type: ADCP rotate_vars: ['vel', 'accel', 'accel_b5', 'angrt', 'angrt_b5', ... burst_config: {'press_valid': True, 'temp_valid': True, 'compass... ... ... proc_idle_less_3pct: 0 proc_idle_less_6pct: 0 proc_idle_less_12pct: 0 coord_sys: earth has_imu: 1 fs: 1
- time: 55000
- time_b5: 55000
- dirIMU: 3
- range_b5: 28
- beam: 4
- range: 28
- dir: 4
- earth: 3
- inst: 3
- q: 4
- x: 4
- x*: 4
- time(time)datetime64[ns]2020-08-15T00:20:00.500999 ... 2...
array(['2020-08-15T00:20:00.500999000', '2020-08-15T00:20:01.501100000', '2020-08-15T00:20:02.500999000', ..., '2020-08-15T15:36:37.500999000', '2020-08-15T15:36:38.500999000', '2020-08-15T15:36:39.500999000'], dtype='datetime64[ns]')
- time_b5(time_b5)datetime64[ns]2020-08-15T00:20:00.438499 ... 2...
array(['2020-08-15T00:20:00.438499000', '2020-08-15T00:20:01.438499000', '2020-08-15T00:20:02.438499000', ..., '2020-08-15T15:36:37.438499000', '2020-08-15T15:36:38.438499000', '2020-08-15T15:36:39.438499000'], dtype='datetime64[ns]')
- dirIMU(dirIMU)<U1'E' 'N' 'U'
array(['E', 'N', 'U'], dtype='<U1')
- range_b5(range_b5)float640.6 1.1 1.6 2.1 ... 13.1 13.6 14.1
- units :
- m
array([ 0.6, 1.1, 1.6, 2.1, 2.6, 3.1, 3.6, 4.1, 4.6, 5.1, 5.6, 6.1, 6.6, 7.1, 7.6, 8.1, 8.6, 9.1, 9.6, 10.1, 10.6, 11.1, 11.6, 12.1, 12.6, 13.1, 13.6, 14.1])
- beam(beam)int321 2 3 4
array([1, 2, 3, 4])
- range(range)float640.6 1.1 1.6 2.1 ... 13.1 13.6 14.1
- units :
- m
array([ 0.6, 1.1, 1.6, 2.1, 2.6, 3.1, 3.6, 4.1, 4.6, 5.1, 5.6, 6.1, 6.6, 7.1, 7.6, 8.1, 8.6, 9.1, 9.6, 10.1, 10.6, 11.1, 11.6, 12.1, 12.6, 13.1, 13.6, 14.1])
- dir(dir)<U2'E' 'N' 'U1' 'U2'
- ref_frame :
- earth
array(['E', 'N', 'U1', 'U2'], dtype='<U2')
- earth(earth)<U1'E' 'N' 'U'
array(['E', 'N', 'U'], dtype='<U1')
- inst(inst)<U1'X' 'Y' 'Z'
array(['X', 'Y', 'Z'], dtype='<U1')
- q(q)<U1'w' 'x' 'y' 'z'
array(['w', 'x', 'y', 'z'], dtype='<U1')
- x(x)int321 2 3 4
array([1, 2, 3, 4])
- x*(x*)int321 2 3 4
array([1, 2, 3, 4])
- c_sound(time)float321.502e+03 1.502e+03 ... 1.498e+03
- units :
- m/s
array([1501.9, 1501.9, 1501.9, ..., 1498.4, 1498.3, 1498.3], dtype=float32)
- temp(time)float3214.55 14.55 14.55 ... 13.47 13.47
- units :
- deg C
array([14.55, 14.55, 14.55, ..., 13.47, 13.47, 13.47], dtype=float32)
- pressure(time)float329.713 9.718 9.718 ... 9.594 9.596
- units :
- dbar
array([9.713, 9.718, 9.718, ..., 9.596, 9.594, 9.596], dtype=float32)
- mag(dirIMU, time)float3272.5 72.7 72.6 ... -197.2 -195.7
- units :
- uT
array([[ 72.5, 72.7, 72.6, ..., 72.3, 72.8, 72.4], [ 9.3, 9.4, 8.9, ..., 5.9, 6.3, 6.4], [-198. , -196.3, -198.1, ..., -197.4, -197.2, -195.7]], dtype=float32)
- accel(dirIMU, time)float32-0.00479 -0.01437 ... 9.685 9.729
- units :
- m/s^2
array([[-4.7900393e-03, -1.4370117e-02, -2.3950195e-02, ..., -1.4370117e-02, -4.7900393e-03, -2.3950195e-02], [-1.2933105e+00, -1.2549902e+00, -1.2645704e+00, ..., -1.1017090e+00, -1.0873389e+00, -1.0969189e+00], [ 9.7285690e+00, 9.7141991e+00, 9.7237797e+00, ..., 9.6710892e+00, 9.6854591e+00, 9.7285690e+00]], dtype=float32)
- batt(time)float3216.6 16.6 16.6 ... 16.4 16.4 15.2
- units :
- V
array([16.6, 16.6, 16.6, ..., 16.4, 16.4, 15.2], dtype=float32)
- temp_clock(time)float3220.0 20.0 20.0 ... 19.5 19.5 19.5
- units :
- deg C
array([20. , 20. , 20. , ..., 19.5, 19.5, 19.5], dtype=float32)
- error(time)uint160 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
- units :
array([0, 0, 0, ..., 0, 0, 0], dtype=uint16)
- status(time)uint321053556738 ... 1053557762
- units :
array([1053556738, 1053556738, 1053556738, ..., 1053556738, 1053556738, 1053557762], dtype=uint32)
- ensemble(time)uint321 2 3 4 ... 54997 54998 54999 55000
- units :
- #
array([ 1, 2, 3, ..., 54998, 54999, 55000], dtype=uint32)
- vel(dir, range, time)float32-0.015 -0.048 ... -0.015 -0.012
- units :
- m/s
array([[[-0.015, -0.048, 0.008, ..., -0.176, -0.071, -0.027], [-0.093, -0.124, -0.031, ..., -0.175, -0.16 , -0.03 ], [-0.163, -0.135, -0.105, ..., -0.129, -0.089, -0.116], ..., [-0.169, -0.013, -0.124, ..., -0.062, 0.091, -0.009], [-0.16 , -0.043, -0.111, ..., 0.012, 0.089, 0.021], [-0.158, -0.057, -0.13 , ..., -0.055, 0.104, 0.013]], [[ 0.243, 0.204, 0.234, ..., -0.163, -0.135, -0.18 ], [ 0.272, 0.248, 0.236, ..., -0.254, -0.169, -0.204], [ 0.257, 0.294, 0.333, ..., -0.299, -0.226, -0.273], ..., [ 0.305, 0.377, 0.283, ..., -0.198, -0.229, -0.121], [ 0.328, 0.33 , 0.294, ..., -0.161, -0.292, -0.103], [ 0.31 , 0.314, 0.226, ..., -0.219, -0.292, -0.049]], [[ 0.016, 0.012, 0.01 , ..., 0.009, 0.006, -0.018], [ 0.01 , 0.011, -0.013, ..., 0.002, -0.027, 0.009], [ 0.01 , 0.009, 0.023, ..., -0.018, -0.002, -0.024], ..., [ 0.034, -0.061, -0.024, ..., -0.014, 0.086, 0.01 ], [ 0.032, -0.04 , -0.027, ..., -0.014, 0.063, -0.01 ], [ 0.004, -0.037, -0.018, ..., -0.001, 0.059, 0.021]], [[ 0.003, -0.007, 0.046, ..., -0.032, -0.008, -0.029], [ 0.017, 0.033, 0.035, ..., -0.016, -0.022, -0.034], [ 0.016, -0.012, 0.005, ..., 0.002, -0.045, -0.026], ..., [-0.044, 0.015, -0.04 , ..., -0.015, 0.006, 0.012], [-0.013, 0.014, -0.032, ..., 0.01 , 0. , -0.015], [ 0.007, 0.016, -0.027, ..., -0.002, -0.015, -0.012]]], dtype=float32)
- amp(beam, range, time)float3281.0 80.0 80.5 ... 43.5 42.5 42.0
- units :
- dB
array([[[81. , 80. , 80.5, ..., 81.5, 81.5, 81.5], [75. , 74.5, 75. , ..., 79. , 77. , 77.5], [73.5, 72. , 72. , ..., 75. , 74.5, 75. ], ..., [54.5, 55.5, 54.5, ..., 50. , 50. , 49.5], [53.5, 54.5, 54.5, ..., 46.5, 47. , 46.5], [53. , 54. , 53. , ..., 45. , 46. , 44.5]], [[81.5, 80. , 80.5, ..., 82. , 81.5, 82. ], [76. , 77. , 76.5, ..., 79. , 77.5, 77.5], [73.5, 74. , 73. , ..., 75.5, 74.5, 74.5], ..., [57. , 58.5, 58. , ..., 53.5, 52. , 52.5], [55.5, 56.5, 55.5, ..., 50. , 49. , 49. ], [52.5, 54. , 54. , ..., 47.5, 47.5, 47. ]], [[80.5, 79.5, 80. , ..., 81.5, 82.5, 81.5], [76. , 75.5, 75. , ..., 77. , 78.5, 77. ], [72. , 73.5, 72. , ..., 74. , 75. , 73.5], ..., [56.5, 56.5, 57. , ..., 47.5, 47. , 48. ], [56. , 55.5, 56.5, ..., 46.5, 47. , 47. ], [54.5, 54. , 55.5, ..., 45. , 45.5, 45.5]], [[80. , 81. , 80. , ..., 81. , 81. , 81.5], [75.5, 75.5, 74.5, ..., 76.5, 76.5, 77.5], [73. , 72.5, 73. , ..., 75.5, 74.5, 74. ], ..., [51.5, 51. , 51. , ..., 46. , 46. , 45. ], [51. , 50. , 51. , ..., 45. , 44. , 43.5], [50.5, 49.5, 50. , ..., 43.5, 42.5, 42. ]]], dtype=float32)
- corr(beam, range, time)uint8100 91 91 97 99 ... 96 98 98 98 96
- units :
- %
array([[[100, 91, 91, ..., 89, 90, 96], [ 74, 92, 96, ..., 100, 97, 100], [100, 100, 99, ..., 99, 100, 100], ..., [ 99, 100, 100, ..., 96, 96, 99], [ 99, 97, 100, ..., 94, 97, 96], [ 98, 100, 100, ..., 100, 100, 98]], [[ 94, 90, 89, ..., 91, 92, 90], [ 94, 100, 100, ..., 96, 100, 93], [ 99, 95, 97, ..., 98, 98, 100], ..., [100, 100, 100, ..., 98, 99, 100], [ 99, 100, 99, ..., 97, 94, 94], [ 96, 99, 96, ..., 97, 100, 97]], [[ 92, 93, 93, ..., 93, 97, 89], [ 99, 100, 99, ..., 96, 88, 98], [ 97, 100, 98, ..., 100, 99, 97], ..., [100, 100, 99, ..., 97, 94, 95], [100, 100, 100, ..., 96, 100, 100], [100, 100, 100, ..., 96, 95, 94]], [[ 87, 97, 87, ..., 91, 87, 90], [100, 93, 93, ..., 96, 96, 97], [100, 100, 100, ..., 100, 100, 97], ..., [100, 99, 96, ..., 98, 100, 100], [100, 100, 100, ..., 94, 93, 95], [100, 98, 99, ..., 98, 98, 96]]], dtype=uint8)
- orientmat(earth, inst, time)float32-0.2167 -0.2164 ... 0.9937 0.9937
array([[[-2.16688156e-01, -2.16397047e-01, -2.16593146e-01, ..., -2.16118217e-01, -2.16699123e-01, -2.16318965e-01], [ 9.76196468e-01, 9.76219118e-01, 9.76202846e-01, ..., 9.76315439e-01, 9.76210594e-01, 9.76245522e-01], [-1.22870505e-03, -1.20262802e-03, -1.17563456e-03, ..., -1.16243958e-03, -1.02279335e-03, -9.55920666e-04]], [[-9.67970312e-01, -9.68004048e-01, -9.67982769e-01, ..., -9.70095694e-01, -9.69992876e-01, -9.70033050e-01], [-2.15024590e-01, -2.14734554e-01, -2.14924574e-01, ..., -2.14874983e-01, -2.15436578e-01, -2.15052128e-01], [-1.29278094e-01, -1.29190803e-01, -1.29239410e-01, ..., -1.12442717e-01, -1.12462208e-01, -1.12422116e-01]], [[-1.26469478e-01, -1.26385525e-01, -1.26422524e-01, ..., -1.10033900e-01, -1.10009573e-01, -1.09963998e-01], [-2.68291458e-02, -2.68030688e-02, -2.68616974e-02, ..., -2.31788009e-02, -2.33813375e-02, -2.34001204e-02], [ 9.91607308e-01, 9.91618454e-01, 9.91612315e-01, ..., 9.93657291e-01, 9.93655324e-01, 9.93659675e-01]]], dtype=float32)
- angrt(dirIMU, time)float32-0.001953 -0.001953 ... -0.00293
- units :
- rad/s
array([[-0.00195312, -0.00195312, -0.00195312, ..., -0.00390625, -0.00292969, -0.00195312], [ 0.00097656, 0. , 0. , ..., 0. , 0.00097656, 0.00097656], [-0.00292969, -0.00292969, -0.00292969, ..., -0.00292969, -0.00195312, -0.00292969]], dtype=float32)
- quaternions(q, time)float320.6245 0.6245 ... 0.7787 0.7786
array([[ 0.6244507 , 0.62454224, 0.6244812 , ..., 0.625 , 0.6247864 , 0.62490845], [-0.04101562, -0.04098511, -0.04098511, ..., -0.03570557, -0.03564453, -0.03561401], [-0.05014038, -0.05010986, -0.05014038, ..., -0.04354858, -0.04360962, -0.04360962], [ 0.77835083, 0.7782593 , 0.7783203 , ..., 0.77856445, 0.77874756, 0.7786255 ]], dtype=float32)
- temp_press(time)float3212.8 12.8 12.8 ... 12.0 12.0 12.0
- units :
- deg C
array([12.8, 12.8, 12.8, ..., 12. , 12. , 12. ], dtype=float32)
- xmit_energy(time)uint16243 243 243 244 ... 246 246 246 246
- units :
- dB
array([243, 243, 243, ..., 246, 246, 246], dtype=uint16)
- mag_b5(dirIMU, time_b5)float3272.9 72.8 72.4 ... -198.0 -195.7
- units :
- uT
array([[ 72.9, 72.8, 72.4, ..., 73. , 73. , 72.7], [ 9.5, 9.5, 9.8, ..., 6. , 6.4, 5.9], [-197.1, -197.2, -197.7, ..., -197.4, -198. , -195.7]], dtype=float32)
- accel_b5(dirIMU, time_b5)float32-0.01437 0.0 ... 9.709 9.724
- units :
- m/s^2
array([[-1.4370117e-02, 0.0000000e+00, -1.4370117e-02, ..., -4.7900393e-03, -1.9160157e-02, -1.4370117e-02], [-1.2693603e+00, -1.2885205e+00, -1.2837305e+00, ..., -1.0825489e+00, -1.1017090e+00, -1.1064991e+00], [ 9.7189894e+00, 9.7046194e+00, 9.7094088e+00, ..., 9.7141991e+00, 9.7094088e+00, 9.7237797e+00]], dtype=float32)
- error_b5(time_b5)uint160 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
- units :
array([0, 0, 0, ..., 0, 0, 0], dtype=uint16)
- status_b5(time_b5)uint321053556738 ... 1053557762
- units :
array([1053556738, 1053556738, 1053556738, ..., 1053556738, 1053556738, 1053557762], dtype=uint32)
- ensemble_b5(time_b5)uint321 2 3 4 ... 54997 54998 54999 55000
- units :
- #
array([ 1, 2, 3, ..., 54998, 54999, 55000], dtype=uint32)
- vel_b5(range_b5, time_b5)float320.003 0.021 0.018 ... -0.048 0.09
- units :
- m/s
array([[ 0.003, 0.021, 0.018, ..., 0. , -0.044, 0.009], [ 0.057, 0.034, 0.017, ..., 0.01 , 0.001, -0.002], [ 0.039, 0.022, 0.02 , ..., 0.039, -0.008, 0.018], ..., [-0.036, -0.013, 0.058, ..., 0.058, -0.013, 0.028], [-0.043, -0.009, 0.028, ..., 0.092, -0.021, 0.019], [-0.073, 0.003, 0. , ..., 0.049, -0.048, 0.09 ]], dtype=float32)
- amp_b5(range_b5, time_b5)float3280.5 80.5 80.0 ... 46.5 46.0 47.5
- units :
- dB
array([[80.5, 80.5, 80. , ..., 82. , 81.5, 81. ], [75.5, 76.5, 76. , ..., 78.5, 78. , 77.5], [72.5, 73.5, 73.5, ..., 75. , 76.5, 75.5], ..., [57.5, 57.5, 57. , ..., 49. , 49. , 48.5], [56.5, 57. , 56. , ..., 47.5, 48. , 48. ], [55.5, 55.5, 55. , ..., 46.5, 46. , 47.5]], dtype=float32)
- corr_b5(range_b5, time_b5)uint898 100 92 93 98 ... 100 99 94 100
- units :
- %
array([[ 98, 100, 92, ..., 88, 90, 91], [ 97, 94, 98, ..., 97, 95, 97], [100, 100, 100, ..., 93, 100, 96], ..., [100, 100, 100, ..., 100, 100, 98], [100, 100, 100, ..., 99, 100, 98], [100, 100, 100, ..., 99, 94, 100]], dtype=uint8)
- orientmat_b5(earth, inst, time_b5)float32-0.2167 -0.2165 ... 0.9937 0.9937
array([[[-2.16694236e-01, -2.16498137e-01, -2.16593146e-01, ..., -2.16118217e-01, -2.16699123e-01, -2.16318965e-01], [-9.67967808e-01, -9.68039632e-01, -9.68030274e-01, ..., -9.70095694e-01, -9.69992876e-01, -9.70033050e-01], [-1.26507595e-01, -1.26426160e-01, -1.26425594e-01, ..., -1.10033900e-01, -1.10009573e-01, -1.09963998e-01]], [[ 9.76198971e-01, 9.76259708e-01, 9.76250350e-01, ..., 9.76315439e-01, 9.76210594e-01, 9.76245522e-01], [-2.15024590e-01, -2.14829564e-01, -2.14924574e-01, ..., -2.14874983e-01, -2.15436578e-01, -2.15052128e-01], [-2.68766508e-02, -2.68536285e-02, -2.68591940e-02, ..., -2.31788009e-02, -2.33813375e-02, -2.34001204e-02]], [[-1.19058788e-03, -1.16700679e-03, -1.17257237e-03, ..., -1.16243958e-03, -1.02279335e-03, -9.55920666e-04], [-1.29325598e-01, -1.29241347e-01, -1.29241914e-01, ..., -1.12442717e-01, -1.12462208e-01, -1.12422116e-01], [ 9.91601229e-01, 9.91612315e-01, 9.91612315e-01, ..., 9.93657291e-01, 9.93655324e-01, 9.93659675e-01]]], dtype=float32)
- angrt_b5(dirIMU, time_b5)float32-0.001953 -0.001953 ... -0.001953
- units :
- rad/s
array([[-0.00195312, -0.00195312, -0.00195312, ..., -0.00097656, -0.00195312, -0.00390625], [ 0. , 0. , 0.00097656, ..., 0.00097656, 0. , 0.00097656], [-0.00292969, -0.00292969, -0.00292969, ..., -0.00292969, -0.00292969, -0.00195312]], dtype=float32)
- quaternions_b5(q, time_b5)float320.6245 0.6245 ... 0.7787 0.7786
array([[ 0.6244507 , 0.62454224, 0.6245117 , ..., 0.625 , 0.6247864 , 0.62490845], [-0.04101562, -0.04098511, -0.04098511, ..., -0.03570557, -0.03564453, -0.03561401], [-0.0501709 , -0.05014038, -0.05014038, ..., -0.04354858, -0.04360962, -0.04360962], [ 0.77835083, 0.7782898 , 0.7783203 , ..., 0.77856445, 0.77874756, 0.7786255 ]], dtype=float32)
- xmit_energy_b5(time_b5)uint1665 65 65 65 65 ... 65 65 65 65 65
- units :
- dB
array([65, 65, 65, ..., 65, 65, 65], dtype=uint16)
- low_volt_skip(time)uint80 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
array([0, 0, 0, ..., 0, 0, 0], dtype=uint8)
- active_config(time)uint80 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
array([0, 0, 0, ..., 0, 0, 0], dtype=uint8)
- telemetry_data(time)uint80 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
array([0, 0, 0, ..., 0, 0, 0], dtype=uint8)
- boost_running(time)uint80 0 0 0 0 0 0 0 ... 1 0 0 0 0 0 0 1
array([0, 0, 0, ..., 0, 0, 1], dtype=uint8)
- heading(time)float32-12.52 -12.51 ... -12.52 -12.5
- units :
- deg
array([-12.52 , -12.505001, -12.51 , ..., -12.490002, -12.52 , -12.500001], dtype=float32)
- pitch(time)float32-0.065 -0.06 -0.06 ... -0.05 -0.05
- units :
- deg
array([-0.065, -0.06 , -0.06 , ..., -0.06 , -0.05 , -0.05 ], dtype=float32)
- roll(time)float32-7.425 -7.42 -7.42 ... -6.45 -6.45
- units :
- deg
array([-7.4250007, -7.42 , -7.42 , ..., -6.45 , -6.45 , -6.45 ], dtype=float32)
- beam2inst_orientmat(x, x*)float321.183 0.0 -1.183 ... 0.0 0.5518
array([[ 1.1831, 0. , -1.1831, 0. ], [ 0. , -1.1831, 0. , 1.1831], [ 0.5518, 0. , 0.5518, 0. ], [ 0. , 0.5518, 0. , 0.5518]], dtype=float32)
- filehead_config :
- {'CLOCKSTR': {'TIME': '"2020-08-13 13:56:21"'}, 'ID': 'STR="Signature1000",SN=101663', 'HW': {'FW': 2212, 'FPGA': 169, 'DIGITAL': '"I-3"', 'INTERFACE': '"H-2"', 'ANALOG': '"G-1"', 'SENSOR': '"D-1(AHRS)"', 'BOOT': 21, 'FWMINOR': 11}, 'BOARDSENSGET': 'AV=23,NB=5,HF=1000,TTR=2.0000,TTRB5=2.0000', 'PWR': {'PLAN': 1940.43, 'BURST': 1937.69, 'AVG': 0.0, 'PLAN1': 0.0, 'BURST1': 0.0, 'AVG1': 0.0, 'TOTAL': 1940.43}, 'MEM': {'PLAN': 2.733, 'BURST': 2.733, 'AVG': 0.0, 'PLAN1': 0.0, 'BURST1': 0.0, 'AVG1': 0.0, 'TOTAL': 2.733}, 'PRECISION': {'AVGHORZ': -9.99, 'BURSTHORZ': 2.6, 'BEAM5': 1.62, 'AVGBEAM': -9.99, 'BURSTBEAM': 1.55}, 'PLAN': {'MIAVG': 600, 'AVG': 0, 'DIAVG': 0, 'VD': 0, 'MV': 10, 'SA': 32.0, 'BURST': 1, 'MIBURST': 1, 'DIBURST': 0, 'SV': 0.0, 'FN': '"S101663A007_sea_spider.ad2cp"', 'SO': 0, 'FREQ': 1000, 'NSTT': 0}, 'BURST': {'NC': 28, 'NB': 5, 'CS': 0.5, 'BD': 0.1, 'CY': '"ENU"', 'PL': 0.0, 'NS': 1, 'VR': 2.5, 'VP': 0.0, 'DF': 3, 'NPING': 8, 'CH': 0, 'ALTI': 0, 'VR5': 2.5, 'BT': 0, 'DISV': 0, 'ECHO': 0, 'RAWALTI': 60, 'ALTISTART': 0.1, 'ALTIEND': 30.0, 'HR': 0, 'HR5': 0}, 'USER': {'POFF': 10.2, 'DECL': 0.0, 'HX': -48, 'HY': 48, 'HZ': 0}, 'INST': {'BR': 9600, 'RS': 232, 'LED': '"OFF"', 'ORIENT': '"AHRS3D"', 'CMTOUT': 300, 'DMTOUT': 60, 'CFMTOUT': 60}, 'COMPASSCAL': {'DX': 155, 'DY': 778, 'DZ': -486, 'M11': 31481, 'M12': 1726, 'M13': -1109, 'M21': -1955, 'M22': 32767, 'M23': 379, 'M31': 750, 'M32': -1851, 'M33': 31699}, 'READAHRS': 'STR="OSv6_a2_V5101_0.6 Oct 3 2019, SerialNumber=60004222,type=OS3DM"', 'RECSTAT': 'SS=512,CS=32768,FC=127813877760,TC=127848677376,VS=127848677376', 'BEAMCFGLIST': ['BEAM=1,THETA=25.00,PHI=0.00,FREQ=1000,BW=25,BRD=1,HWBEAM=1,ZNOM=60.00,DIA=0.0', 'BEAM=2,THETA=25.00,PHI=-90.00,FREQ=1000,BW=25,BRD=1,HWBEAM=2,ZNOM=60.00,DIA=0.0', 'BEAM=3,THETA=25.00,PHI=180.00,FREQ=1000,BW=25,BRD=1,HWBEAM=3,ZNOM=60.00,DIA=0.0', 'BEAM=4,THETA=25.00,PHI=90.00,FREQ=1000,BW=25,BRD=1,HWBEAM=4,ZNOM=60.00,DIA=0.0', 'BEAM=5,THETA=0.00,PHI=0.00,FREQ=1000,BW=25,BRD=1,HWBEAM=5,ZNOM=60.00,DIA=0.0'], 'BEAMIMPLIST': ['BEAM=1,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=2,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=3,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=4,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=5,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00'], 'LISTLICENSE': ['KEY="C390Y1LU32C1B",DESC="Averaging Mode",TYPE=1', 'KEY="6F2UB3HTH2C1B",DESC="Burst Five Beams",TYPE=17', 'KEY="R0X9JSZPH2C1B",DESC="128GB Recorder",TYPE=14'], 'CALCOMPGET': 'DX=155,DY=778,DZ=-486,M11=31481,M12=1726,M13=-1109,M21=-1955,M22=32767,M23=379,M31=750,M32=-1851,M33=31699', 'CALTEMPGET': 'SC=0.99906', 'CALTILTGET': 'PO=0.00,RO=0.00,MAGG=1,HO=0.00', 'CALACCLGET': ['AX=1.000000E+00,B0X=1.791816E-02,B1X=-1.795970E-02,B2X=6.661898E-04,B3X=0.000000E+00,A1X=1.146936E-05,A2X=7.326843E-06,A3X=0.000000E+00', 'AY=1.000000E+00,B0Y=9.597497E-03,B1Y=-8.430577E-03,B2Y=9.310668E-04,B3Y=0.000000E+00,A1Y=7.215003E-05,A2Y=1.361528E-06,A3Y=0.000000E+00', 'AZ=1.000000E+00,B0Z=1.290458E-02,B1Z=2.959575E-02,B2Z=2.331257E-03,B3Z=0.000000E+00,A1Z=1.164268E-04,A2Z=-2.166612E-06,A3Z=0.000000E+00'], 'CALGYROGET': ['AX=1.094973E+00,B0X=-2.672331E+00,B1X=-1.493178E-03,B2X=9.496510E-05,B3X=0.000000E+00,A1X=2.702698E-04,A2X=8.100271E-05,A3X=0.000000E+00', 'AY=1.080807E+00,B0Y=3.432283E-01,B1Y=7.219538E-04,B2Y=1.416728E-04,B3Y=0.000000E+00,A1Y=9.466633E-04,A2Y=-4.216283E-05,A3Y=0.000000E+00', 'AZ=1.085556E+00,B0Z=-9.442614E-01,B1Z=6.433576E-04,B2Z=-1.306087E-05,B3Z=0.000000E+00,A1Z=1.430541E-03,A2Z=-7.494539E-05,A3Z=0.000000E+00'], 'CALPRESSGET': 'MT=1,RREF=4.5264760000e+02,RB0=7.7074756250e-01,RB1=-7.5541806250e-02,RB2=4.9886362500e-04,RB3=-1.4193179690e-07,T0=-2.4234620000e+03,T1=1.8815180000e+00,T2=-5.0111803130e-04,T3=4.7281500000e-08,ID="K244314"', 'CALPRESSCOEFFGET': ['A0=6.3850020000e+00,A1=-5.6274000000e-03,A2=1.6346411250e-06,A3=-1.6029240630e-10,B0=-2.6056009380e-01,B1=3.1699690630e-04,B2=-9.0774206250e-08,B3=8.5142393750e-12', 'C0=-1.2762860000e-03,C1=1.1561740000e-06,C2=-3.5109818750e-10,C3=3.5575718750e-14,D0=3.6002040630e-06,D1=-3.3359181250e-09,D2=1.0241850000e-12,D3=-1.0446648750e-16'], 'CALROTACCLGET': 'M11=0.99144,M12=0.00991,M13=-0.03081,M21=-0.00921,M22=0.99564,M23=0.01131,M31=0.03451,M32=-0.01242,M33=0.98426', 'CALROTGYROGET': 'M11=1.00000,M12=0.00803,M13=-0.02685,M21=-0.00933,M22=1.00000,M23=0.01646,M31=0.02587,M32=-0.01599,M33=1.00000', 'CALECHOGET': 'CHA0=0.00,CHB0=-17.69,CHC0=0.00'}
- inst_model :
- Signature1000
- inst_make :
- Nortek
- inst_type :
- ADCP
- rotate_vars :
- ['vel', 'accel', 'accel_b5', 'angrt', 'angrt_b5', 'mag', 'mag_b5']
- burst_config :
- {'press_valid': True, 'temp_valid': True, 'compass_valid': True, 'tilt_valid': True, 'vel': True, 'amp': True, 'corr': True, 'alt': False, 'alt_raw': False, 'ast': False, 'echo': False, 'ahrs': True, 'p_gd': False, 'std': False}
- n_cells :
- 28
- n_beams :
- 4
- ambig_vel :
- 5.066
- SerialNum :
- 101663
- cell_size :
- 0.5
- blank_dist :
- 0.1
- nominal_corr :
- 67
- power_level_dB :
- 0.0
- burst_config_b5 :
- {'press_valid': True, 'temp_valid': True, 'compass_valid': True, 'tilt_valid': True, 'vel': True, 'amp': True, 'corr': True, 'alt': False, 'alt_raw': False, 'ast': False, 'echo': False, 'ahrs': True, 'p_gd': False, 'std': False}
- n_cells_b5 :
- 28
- coord_sys_axes_b5 :
- beam
- n_beams_b5 :
- 1
- ambig_vel_b5 :
- 5.066
- SerialNum_b5 :
- 101663
- cell_size_b5 :
- 0.5
- blank_dist_b5 :
- 0.1
- nominal_corr_b5 :
- 65
- power_level_dB_b5 :
- 0.0
- wakeup_state :
- clock
- orientation :
- AHRS
- orient_status :
- AHRS-3D
- proc_idle_less_3pct :
- 0
- proc_idle_less_6pct :
- 0
- proc_idle_less_12pct :
- 0
- coord_sys :
- earth
- has_imu :
- 1
- fs :
- 1
A second way provided to look at data is through the DOLfYN view. This view has several convenience methods, shortcuts, and functions built-in. It includes an alternate – and somewhat more informative/compact – description of the data object when in interactive mode. This can be accessed using
[4]:
ds_dolfyn = ds.velds
ds_dolfyn
[4]:
<ADCP data object>: Nortek Signature1000
. 15.28 hours (started: Aug 15, 2020 00:20)
. earth-frame
. (55000 pings @ 1Hz)
Variables:
- time ('time',)
- time_b5 ('time_b5',)
- vel ('dir', 'range', 'time')
- vel_b5 ('range_b5', 'time_b5')
- range ('range',)
- orientmat ('earth', 'inst', 'time')
- heading ('time',)
- pitch ('time',)
- roll ('time',)
- temp ('time',)
- pressure ('time',)
- amp ('beam', 'range', 'time')
- amp_b5 ('range_b5', 'time_b5')
- corr ('beam', 'range', 'time')
- corr_b5 ('range_b5', 'time_b5')
- accel ('dirIMU', 'time')
- angrt ('dirIMU', 'time')
- mag ('dirIMU', 'time')
... and others (see `<obj>.variables`)
First Steps and QC’ing Data
1.) Set deployment height
Because this is a Nortek instrument, the deployment software doesn’t take into account the deployment height, aka where in the water column the ADCP is. The center of the first depth bin is located at a distance = deployment height + blanking distance + cell size, so the range
coordinate needs to be corrected so that ‘0’ corresponds to the seafloor. This can be done using the set_range_offset
function. This same function can be used to account for the depth of a down-facing instrument
below the water surface.
Note, if using a Teledyne RDI ADCP, TRDI’s deployment software asks the user to enter the deployment height/depth during configuration. If needed, this can be adjusted after-the-fact using set_range_offset
as well.
[5]:
ds['vel'][1].plot()
[5]:
<matplotlib.collections.QuadMesh at 0x1ac1c3b4d90>

[6]:
# The ADCP transducers were measured to be 0.6 m from the feet of the lander
api.clean.set_range_offset(ds, 0.6)
So, the center of bin 1 is located at 1.2 m:
[7]:
ds.range
[7]:
<xarray.DataArray 'range' (range: 28)> array([ 1.2, 1.7, 2.2, 2.7, 3.2, 3.7, 4.2, 4.7, 5.2, 5.7, 6.2, 6.7, 7.2, 7.7, 8.2, 8.7, 9.2, 9.7, 10.2, 10.7, 11.2, 11.7, 12.2, 12.7, 13.2, 13.7, 14.2, 14.7]) Coordinates: * range (range) float64 1.2 1.7 2.2 2.7 3.2 ... 12.7 13.2 13.7 14.2 14.7 Attributes: units: m
- range: 28
- 1.2 1.7 2.2 2.7 3.2 3.7 4.2 4.7 ... 11.7 12.2 12.7 13.2 13.7 14.2 14.7
array([ 1.2, 1.7, 2.2, 2.7, 3.2, 3.7, 4.2, 4.7, 5.2, 5.7, 6.2, 6.7, 7.2, 7.7, 8.2, 8.7, 9.2, 9.7, 10.2, 10.7, 11.2, 11.7, 12.2, 12.7, 13.2, 13.7, 14.2, 14.7])
- range(range)float641.2 1.7 2.2 2.7 ... 13.7 14.2 14.7
- units :
- m
array([ 1.2, 1.7, 2.2, 2.7, 3.2, 3.7, 4.2, 4.7, 5.2, 5.7, 6.2, 6.7, 7.2, 7.7, 8.2, 8.7, 9.2, 9.7, 10.2, 10.7, 11.2, 11.7, 12.2, 12.7, 13.2, 13.7, 14.2, 14.7])
- units :
- m
2.) Remove data beyond surface level
To reduce the amount of data the code must run through, we can remove all data at and above the water surface. Because the instrument was looking up, we can use the pressure sensor data and the function find_surface_from_P
. This does require that the pressure sensor was ‘zeroed’ prior to deployment. If the instrument is looking down or lacks pressure data, use the function find_surface
to detect the seabed or water surface.
ADCPs don’t measure water salinity, so it will need to be given to the function. The returned dataset contains the an additional variable “depth”. If find_surface_from_P
is run after set_range_offset
, depth is the distance of the water surface away from the seafloor; otherwise it is the distance to the ADCP pressure sensor.
After calculating depth, data in depth bins at and above the physical water surface can be removed using nan_beyond_surface
. Note that this function returns a new dataset.
[8]:
api.clean.find_surface_from_P(ds, salinity=31)
ds = api.clean.nan_beyond_surface(ds)
[9]:
ds['vel'][1].plot()
[9]:
<matplotlib.collections.QuadMesh at 0x1ac1c881e80>

3.) Correlation filter
Once beyond-surface bins have been removed, ADCP data is typically filtered by acoustic signal correlation to clear out spurious velocity datapoints (caused by bubbles, kelp, fish, etc moving through one or multiple beams).
We can take a quick look at the data to see about where this value should be using xarray’s built-in plotting. In the following line of code, we use xarray’s slicing capabilities to show data from beam 1 between a range of 0 to 10 m from the ADCP.
Not all ADCPs return acoustic signal correlation, which in essence is a quantitative measure of signal quality. ADCPs with older hardware do not provide a correlation measurement, so this step will be skipped with these instruments.
[10]:
%matplotlib inline
ds['corr'].sel(beam=1, range=slice(0,10)).plot()
[10]:
<matplotlib.collections.QuadMesh at 0x1ac1d25bb50>

It’s a good idea to check the other beams as well. Much of this data is high quality, and to not lose data will low correlation caused by natural variation, we’ll use the correlation_filter
to set velocity values corresponding to correlations below 50% to NaN.
Note that this threshold is dependent on the deployment environment and instrument, and it isn’t uncommon to use a value as low as 30%, or to pass on this function completely.
[11]:
ds = api.clean.correlation_filter(ds, thresh=50)
[12]:
ds['vel'][1].plot()
[12]:
<matplotlib.collections.QuadMesh at 0x1ac1e47e640>

Rotate Data Coordinate System
Now that the data has been cleaned, the next step is to rotate the velocity data into true East, North, Up coordinates.
ADCPs use an internal compass or magnetometer to determine magnetic ENU directions. The set_declination
function takes the user supplied magnetic declination (which can be looked up online for specific coordinates) and adjusts the velocity data accordingly.
Instruments save vector data in the coordinate system specified in the deployment configuration file. To make the data useful, it must be rotated through coordinate systems (“beam”<->”inst”<->”earth”<->”principal”), done through the rotate2
function. If the “earth” (ENU) coordinate system is specified, DOLfYN will automatically rotate the dataset through the necessary coordinate systems to get there. The inplace
set as true will alter the input dataset “in place”, a.k.a. it not create a
new dataset.
Because this ADCP data was already in the “earth” coordinate system, rotate2
will return the input dataset. set_declination
will run correctly no matter the coordinate system.
[13]:
dolfyn.set_declination(ds, 15.8, inplace=True) # 15.8 deg East
dolfyn.rotate2(ds, 'earth', inplace=True)
Data is already in the earth coordinate system
To rotate into the principal frame of reference (streamwise, cross-stream, vertical), if desired, we must first calculate the depth-averaged principal flow heading and add it to the dataset attributes. Then the dataset can be rotated using the same rotate2
function. We use inplace=False
because we do not want to alter the input dataset here.
[14]:
ds.attrs['principal_heading'] = dolfyn.calc_principal_heading(ds['vel'].mean('range'))
ds_streamwise = dolfyn.rotate2(ds, 'principal', inplace=False)
Average the Data
Because this deployment was set up in “burst mode”, the next standard step in this analysis is to average the velocity data into time bins.
If an instrument was set up to record velocity data in an “averaging mode” (a specific profile and/or average interval, e.g. take an average of 5 minutes of data every 30 minutes), this step was completed within the ADCP during deployment and can be skipped.
To average the data into time bins (aka ensembles), start by initiating the binning tool VelBinner
. “n_bin” is the number of data points in each ensemble, in this case 300 seconds worth of data, and “fs” is the sampling frequency, which is 1 Hz for this deployment. Once initiated, average the data into ensembles using the binning tool’s bin_average
function.
[15]:
avg_tool = api.VelBinner(n_bin=ds.fs*300, fs=ds.fs)
ds_avg = avg_tool.bin_average(ds)
[16]:
ds_avg
[16]:
<xarray.Dataset> Dimensions: (range: 28, time: 183, dirIMU: 3, dir: 4, beam: 4, earth: 3, inst: 3, q: 4, time_b5: 183, range_b5: 28) Coordinates: * range (range) float64 1.2 1.7 2.2 2.7 3.2 ... 13.2 13.7 14.2 14.7 * time (time) datetime64[ns] 2020-08-15T00:22:30.001030206 ... 2... * dirIMU (dirIMU) <U1 'E' 'N' 'U' * dir (dir) <U2 'E' 'N' 'U1' 'U2' * beam (beam) int32 1 2 3 4 * earth (earth) <U1 'E' 'N' 'U' * inst (inst) <U1 'X' 'Y' 'Z' * q (q) <U1 'w' 'x' 'y' 'z' * time_b5 (time_b5) datetime64[ns] 2020-08-15T00:22:29.938494443 ..... * range_b5 (range_b5) float64 1.2 1.7 2.2 2.7 ... 13.2 13.7 14.2 14.7 Data variables: (12/38) c_sound (time) float32 1.502e+03 1.502e+03 ... 1.499e+03 1.498e+03 U_std (range, time) float64 0.04232 0.04293 0.04402 ... nan nan temp (time) float32 14.49 14.59 14.54 14.45 ... 13.62 13.56 13.5 pressure (time) float32 9.712 9.699 9.685 9.67 ... 9.58 9.584 9.591 mag (dirIMU, time) float64 72.37 72.4 72.38 ... -197.1 -197.1 accel (dirIMU, time) float64 -0.3584 -0.361 ... 9.714 9.712 ... ... boost_running (time) float64 0.1267 0.1333 0.13 ... 0.2267 0.22 0.22 heading (time) float32 3.287 3.261 3.337 3.289 ... 3.331 3.352 3.352 pitch (time) float32 -0.05523 -0.07217 ... -0.04288 -0.0429 roll (time) float32 -7.414 -7.424 -7.404 ... -6.446 -6.433 -6.436 water_density (time) float32 1.023e+03 1.023e+03 ... 1.023e+03 1.023e+03 depth (time) float32 10.28 10.26 10.25 10.24 ... 10.14 10.15 10.16 Attributes: (12/40) fs: 1 n_bin: 300 n_fft: 300 description: Binned averages calculated from ensembles of s... filehead_config: {'CLOCKSTR': {'TIME': '"2020-08-13 13:56:21"'}... inst_model: Signature1000 ... ... coord_sys: earth has_imu: 1 h_deploy: 0.6 declination: 15.8 declination_in_orientmat: 1 principal_heading: 11.1897
- range: 28
- time: 183
- dirIMU: 3
- dir: 4
- beam: 4
- earth: 3
- inst: 3
- q: 4
- time_b5: 183
- range_b5: 28
- range(range)float641.2 1.7 2.2 2.7 ... 13.7 14.2 14.7
array([ 1.2, 1.7, 2.2, 2.7, 3.2, 3.7, 4.2, 4.7, 5.2, 5.7, 6.2, 6.7, 7.2, 7.7, 8.2, 8.7, 9.2, 9.7, 10.2, 10.7, 11.2, 11.7, 12.2, 12.7, 13.2, 13.7, 14.2, 14.7])
- time(time)datetime64[ns]2020-08-15T00:22:30.001030206 .....
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- dirIMU(dirIMU)<U1'E' 'N' 'U'
array(['E', 'N', 'U'], dtype='<U1')
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array(['E', 'N', 'U1', 'U2'], dtype='<U2')
- beam(beam)int321 2 3 4
array([1, 2, 3, 4])
- earth(earth)<U1'E' 'N' 'U'
array(['E', 'N', 'U'], dtype='<U1')
- inst(inst)<U1'X' 'Y' 'Z'
array(['X', 'Y', 'Z'], dtype='<U1')
- q(q)<U1'w' 'x' 'y' 'z'
array(['w', 'x', 'y', 'z'], dtype='<U1')
- time_b5(time_b5)datetime64[ns]2020-08-15T00:22:29.938494443 .....
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- range_b5(range_b5)float641.2 1.7 2.2 2.7 ... 13.7 14.2 14.7
array([ 1.2, 1.7, 2.2, 2.7, 3.2, 3.7, 4.2, 4.7, 5.2, 5.7, 6.2, 6.7, 7.2, 7.7, 8.2, 8.7, 9.2, 9.7, 10.2, 10.7, 11.2, 11.7, 12.2, 12.7, 13.2, 13.7, 14.2, 14.7])
- c_sound(time)float321.502e+03 1.502e+03 ... 1.498e+03
- units :
- m/s
array([1501.6843, 1502.032 , 1501.8505, 1501.5714, 1501.8607, 1502.4133, 1502.8121, 1502.7344, 1502.8704, 1502.9467, 1502.883 , 1502.7606, 1502.6915, 1502.8214, 1502.8864, 1502.7937, 1502.6268, 1502.6473, 1502.4198, 1502.3577, 1501.9543, 1501.729 , 1501.32 , 1500.9684, 1500.6763, 1500.2716, 1500.1096, 1499.8009, 1499.5637, 1499.3373, 1499.2163, 1499.0955, 1498.9806, 1498.8579, 1498.7637, 1498.6821, 1498.6133, 1498.5066, 1498.5637, 1498.7421, 1498.8367, 1498.984 , 1498.9717, 1498.9644, 1499.0553, 1499.21 , 1499.2789, 1499.2766, 1499.265 , 1499.2623, 1499.3181, 1499.2903, 1499.3444, 1499.2922, 1499.2983, 1499.195 , 1499.2087, 1499.212 , 1499.2494, 1499.2227, 1499.1742, 1499.1772, 1499.1937, 1499.2306, 1499.2719, 1499.3043, 1499.4073, 1499.3677, 1499.4554, 1499.5647, 1499.6683, 1499.7489, 1499.8341, 1499.8446, 1499.8396, 1499.9257, 1499.781 , 1499.8274, 1499.7506, 1499.8904, 1499.7473, 1499.7411, 1499.7415, 1499.7079, 1499.508 , 1499.7562, 1499.5327, 1499.4186, 1499.4877, 1499.1946, 1499.1821, 1499.466 , 1499.5144, 1499.7024, 1499.8877, 1499.8373, 1499.8597, 1500.1703, 1500.0886, 1500.082 , 1500.0476, 1499.9003, 1499.8434, 1498.8927, 1497.6433, 1496.299 , 1495.386 , 1495.2273, 1494.9376, 1494.7117, 1494.9341, 1495.1063, 1495.0103, 1494.7747, 1494.5977, 1494.4548, 1494.4042, 1494.3356, 1494.229 , 1494.0669, 1493.7662, 1493.4755, 1493.3303, 1493.1544, 1492.8477, 1492.7877, 1492.8064, 1493.0189, 1493.5558, 1494.0146, 1494.7506, 1495.2681, 1496.2244, 1496.8036, 1497.5472, 1498.0507, 1498.3839, 1498.663 , 1498.8971, 1499.136 , 1499.3384, 1499.535 , 1499.5739, 1499.5245, 1499.4437, 1499.4467, 1499.5509, 1499.6014, 1499.5997, 1499.5935, 1499.525 , 1499.4967, 1499.4364, 1499.4977, 1499.503 , 1499.5526, 1499.5083, 1499.5023, 1499.474 , 1499.4028, 1499.436 , 1499.4973, 1499.5286, 1499.5846, 1499.6293, 1499.6262, 1499.6666, 1499.6971, 1499.6998, 1499.7269, 1499.7843, 1499.6895, 1499.7037, 1499.6376, 1499.4894, 1499.0636, 1499.0073, 1498.8967, 1498.8627, 1498.961 , 1498.8287, 1498.6285, 1498.472 ], dtype=float32)
- U_std(range, time)float640.04232 0.04293 0.04402 ... nan nan
- units :
- m/s
- description :
- horizontal velocity std dev
array([[0.04231985, 0.04293143, 0.04401674, ..., 0.04380287, 0.04201568, 0.04634431], [0.04002878, 0.04084466, 0.03949426, ..., 0.04000184, 0.04028782, 0.03873245], [0.04025545, 0.03514179, 0.04270847, ..., 0.0391249 , 0.03997382, 0.04237255], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]])
- temp(time)float3214.49 14.59 14.54 ... 13.56 13.5
- units :
- deg C
array([14.4871 , 14.592732 , 14.5369 , 14.450967 , 14.540566 , 14.712167 , 14.838034 , 14.812099 , 14.855833 , 14.879432 , 14.860366 , 14.821934 , 14.799266 , 14.840433 , 14.8621 , 14.833766 , 14.782434 , 14.788966 , 14.716966 , 14.695799 , 14.572268 , 14.502767 , 14.376032 , 14.268402 , 14.178566 , 14.055 , 14.005532 , 13.911533 , 13.838566 , 13.7688675, 13.7339325, 13.696598 , 13.661633 , 13.626367 , 13.597433 , 13.572568 , 13.552067 , 13.520534 , 13.538133 , 13.592899 , 13.620734 , 13.665668 , 13.661699 , 13.658334 , 13.686766 , 13.7354 , 13.754033 , 13.754901 , 13.7525 , 13.751934 , 13.767399 , 13.760633 , 13.776802 , 13.761433 , 13.7625 , 13.731066 , 13.7371 , 13.737367 , 13.748701 , 13.741634 , 13.726335 , 13.726666 , 13.7323 , 13.743701 , 13.756766 , 13.766968 , 13.797334 , 13.7852 , 13.812601 , 13.847366 , 13.878734 , 13.903067 , 13.928333 , 13.931099 , 13.930567 , 13.957533 , 13.912533 , 13.9264 , 13.9032 , 13.947433 , 13.902601 , 13.900833 , 13.900665 , 13.890833 , 13.830032 , 13.9046335, 13.8364 , 13.801933 , 13.8241 , 13.735 , 13.732666 , 13.818233 , 13.8298 , 13.888301 , 13.944167 , 13.928867 , 13.9361 , 14.0331 , 14.008999 , 14.006901 , 13.992832 , 13.946533 , 13.9282 , 13.643267 , 13.266466 , 12.865967 , 12.595367 , 12.5469 , 12.462267 , 12.3959 , 12.461133 , 12.512366 , 12.482166 , 12.411167 , 12.3605995, 12.3201 , 12.303568 , 12.284267 , 12.252732 , 12.203699 , 12.118533 , 12.031001 , 11.988433 , 11.939434 , 11.8505 , 11.8341 , 11.837234 , 11.8984995, 12.0561 , 12.189 , 12.403767 , 12.5546 , 12.837867 , 13.010934 , 13.233933 , 13.384068 , 13.485199 , 13.565999 , 13.639567 , 13.711732 , 13.774034 , 13.829665 , 13.838365 , 13.829668 , 13.8013 , 13.805167 , 13.833833 , 13.855499 , 13.857698 , 13.844232 , 13.831333 , 13.816167 , 13.802168 , 13.811266 , 13.820599 , 13.834399 , 13.828466 , 13.826566 , 13.810034 , 13.792601 , 13.800402 , 13.820232 , 13.830032 , 13.8446665, 13.8607 , 13.860667 , 13.870465 , 13.876833 , 13.878232 , 13.884268 , 13.907367 , 13.875599 , 13.875534 , 13.861733 , 13.8139 , 13.689401 , 13.665034 , 13.632333 , 13.6227665, 13.651935 , 13.6164665, 13.5551 , 13.503766 ], dtype=float32)
- pressure(time)float329.712 9.699 9.685 ... 9.584 9.591
- units :
- dbar
array([9.712007 , 9.699074 , 9.685317 , 9.670219 , 9.65324 , 9.640334 , 9.62429 , 9.608537 , 9.594397 , 9.576526 , 9.56048 , 9.541069 , 9.524289 , 9.505187 , 9.486143 , 9.464264 , 9.44223 , 9.416344 , 9.393453 , 9.367396 , 9.339387 , 9.305754 , 9.278394 , 9.245257 , 9.218047 , 9.186557 , 9.157551 , 9.123754 , 9.09348 , 9.059697 , 9.026804 , 8.994499 , 8.95571 , 8.92198 , 8.886473 , 8.853367 , 8.813594 , 8.782229 , 8.74448 , 8.708926 , 8.674907 , 8.637604 , 8.602573 , 8.560874 , 8.524677 , 8.48187 , 8.4449835, 8.400766 , 8.365373 , 8.322662 , 8.28713 , 8.248011 , 8.21333 , 8.178404 , 8.14623 , 8.109827 , 8.072543 , 8.039574 , 7.9980125, 7.963136 , 7.926347 , 7.8918767, 7.8531103, 7.824253 , 7.7964296, 7.7649107, 7.7383432, 7.7130632, 7.6841335, 7.65858 , 7.633538 , 7.609003 , 7.592057 , 7.573613 , 7.5537395, 7.533187 , 7.5146875, 7.497063 , 7.48256 , 7.472039 , 7.454433 , 7.4437304, 7.4306965, 7.422947 , 7.4138427, 7.4127507, 7.407543 , 7.4021435, 7.40189 , 7.4006333, 7.401152 , 7.3961263, 7.4010367, 7.4031525, 7.414211 , 7.4199567, 7.4243903, 7.4346695, 7.4523306, 7.4677606, 7.47785 , 7.4955306, 7.507134 , 7.52034 , 7.540297 , 7.5592594, 7.583973 , 7.6029363, 7.623276 , 7.6508303, 7.67267 , 7.6968994, 7.7202635, 7.7465167, 7.7706933, 7.795326 , 7.820833 , 7.8509097, 7.8781033, 7.9117236, 7.9442267, 7.9752865, 8.007596 , 8.042522 , 8.077546 , 8.108029 , 8.1417265, 8.17497 , 8.210143 , 8.243827 , 8.281553 , 8.317181 , 8.35565 , 8.390187 , 8.42794 , 8.465797 , 8.50642 , 8.54146 , 8.581511 , 8.618688 , 8.65223 , 8.69048 , 8.72701 , 8.758973 , 8.795943 , 8.832204 , 8.870703 , 8.8993225, 8.936847 , 8.969017 , 9.001257 , 9.036253 , 9.063161 , 9.095617 , 9.1287565, 9.157017 , 9.187741 , 9.216694 , 9.244237 , 9.274386 , 9.300383 , 9.32181 , 9.35049 , 9.37106 , 9.393917 , 9.40948 , 9.428807 , 9.441616 , 9.459889 , 9.474596 , 9.488944 , 9.495657 , 9.510249 , 9.520061 , 9.530423 , 9.537613 , 9.546494 , 9.554764 , 9.561024 , 9.57158 , 9.579874 , 9.583782 , 9.591404 ], dtype=float32)
- mag(dirIMU, time)float6472.37 72.4 72.38 ... -197.1 -197.1
- units :
- uT
array([[ 72.37275481, 72.39943823, 72.37977257, 72.38599252, 72.37941745, 72.41360539, 72.43176712, 72.45011427, 72.49711543, 72.43013466, 72.43193683, 72.45373307, 72.39313425, 72.40870052, 72.40472663, 72.42861094, 72.39332662, 72.36320864, 72.39233345, 72.38824541, 72.39354416, 72.44056751, 72.41887809, 72.39862822, 72.40430883, 72.41864655, 72.40508633, 72.42548886, 72.41291469, 72.38776163, 72.40756295, 72.39670596, 72.39645879, 72.4026653 , 72.4177694 , 72.41946998, 72.39687364, 72.39169614, 72.37802835, 72.40297164, 72.38655969, 72.37699384, 72.40961049, 72.39296 , 72.39728378, 72.37471614, 72.37469223, 72.38985492, 72.3835739 , 72.35983077, 72.31868414, 72.17535126, 71.82848486, 71.07718969, 71.10653554, 71.18123016, 71.24617621, 71.27519654, 71.33082569, 71.34357051, 71.39645689, 71.3898712 , 71.39448015, 71.40716702, 71.38988652, 71.37225598, 71.3290842 , 71.28221155, 71.2816392 , 71.28818226, 71.28783367, 71.30750556, 71.28308042, 71.29062674, 71.31971683, 71.29391501, 71.28882829, 71.33091699, 71.29289875, 71.31854589, ... -197.21552795, -197.21750721, -197.22518854, -197.14383777, -197.12587272, -197.08484831, -197.14751993, -197.10484096, -197.15017685, -197.15316481, -197.07553724, -197.09617213, -197.06749956, -197.14017389, -197.06786503, -197.04951827, -197.02983818, -197.08883507, -197.03486433, -196.98250104, -197.06118891, -196.96984679, -197.07654141, -197.00718592, -197.02817161, -197.00619709, -197.02751011, -197.02917802, -196.98050873, -197.0191593 , -196.93984875, -196.97984302, -197.03217398, -197.03818552, -196.94284502, -196.9595212 , -196.98619876, -197.05683782, -197.04984676, -197.0268531 , -197.04120429, -197.01652202, -197.08451418, -197.07750564, -197.03215432, -197.06151453, -197.07984223, -197.10185695, -197.09286831, -197.06215976, -197.11885446, -197.04450329, -197.03216992, -197.11219177, -196.99550033, -197.1031927 , -197.13118928, -197.14719791, -197.07985738, -197.05352261, -197.12550968, -197.13284252, -197.11484689, -197.07482519, -197.08583286, -197.11584113, -197.09116982, -197.04416192, -197.06387365, -197.09051225, -197.12950685, -197.00752499, -197.01785193, -197.01917445, -197.12916831, -197.05184851, -197.11319303, -197.10450099, -197.05384365]])
- accel(dirIMU, time)float64-0.3584 -0.361 ... 9.714 9.712
- units :
- m/s^2
array([[-0.3583813 , -0.36095355, -0.35863038, -0.36154028, -0.35910899, -0.36007114, -0.36138584, -0.36137566, -0.36312701, -0.36285709, -0.36111298, -0.35912383, -0.35871396, -0.35686026, -0.35600632, -0.35809151, -0.35734008, -0.35655506, -0.35646496, -0.35440226, -0.35520774, -0.35521088, -0.35604593, -0.35715908, -0.35710327, -0.35727968, -0.35901397, -0.35533722, -0.35553253, -0.35468621, -0.35518298, -0.35690856, -0.35472938, -0.35351488, -0.35387542, -0.3522955 , -0.35259437, -0.35834683, -0.3595332 , -0.3579652 , -0.35159982, -0.35857135, -0.36160937, -0.35880914, -0.35967996, -0.35572524, -0.35474699, -0.35510239, -0.35315002, -0.35283982, -0.35212258, -0.34319022, -0.32654374, -0.2898494 , -0.29185258, -0.29504374, -0.29746692, -0.30366912, -0.30488871, -0.30742939, -0.30918395, -0.30854418, -0.30818594, -0.30854064, -0.31013522, -0.30655888, -0.30489627, -0.30191605, -0.30468382, -0.30443975, -0.30279434, -0.30334118, -0.30303196, -0.30213812, -0.30150204, -0.30092408, -0.30365583, -0.30313264, -0.30351561, -0.30803264, -0.30595429, -0.30314607, -0.30877426, -0.31135117, -0.30889177, -0.31088969, -0.3081447 , -0.31029397, -0.31278497, -0.31324694, -0.30974877, -0.30842015, -0.30836771, -0.30897393, -0.30928439, -0.31059874, -0.31130143, -0.30800704, -0.31059355, -0.31043693, ... 9.71635712, 9.71747482, 9.71637287, 9.71889583, 9.71546309, 9.71132757, 9.71314763, 9.71364255, 9.71292417, 9.71538294, 9.71597382, 9.71677217, 9.71833693, 9.71447283, 9.71720333, 9.7143931 , 9.7142495 , 9.71391397, 9.71169458, 9.70891662, 9.71145516, 9.70862908, 9.71148719, 9.71432945, 9.71033757, 9.71129558, 9.71388221, 9.70997027, 9.71322743, 9.71709167, 9.71341916, 9.71977391, 9.71832083, 9.71645288, 9.71710745, 9.71598965, 9.71416949, 9.71161501, 9.71741069, 9.71581424, 9.71428118, 9.71734705, 9.71297217, 9.7162293 , 9.71341916, 9.71223749, 9.71436112, 9.71624509, 9.71356254, 9.71816125, 9.71319532, 9.71520729, 9.71590983, 9.71391389, 9.7165007 , 9.7136746 , 9.71734682, 9.71983766, 9.71868814, 9.71389812, 9.71761841, 9.71594175, 9.71086428, 9.71432891, 9.71777789, 9.7162612 , 9.71664426, 9.71919918, 9.71891149, 9.71511145, 9.7140417 , 9.71075248, 9.71415355, 9.71600552, 9.71519146, 9.71642084, 9.71817718, 9.7178738 , 9.7180334 , 9.71322742, 9.71453669, 9.71484005, 9.71437692, 9.71848039, 9.71650048, 9.7157182 , 9.71174243, 9.71046531, 9.71262066, 9.71337107, 9.71562241, 9.71598969, 9.71159886, 9.71218944, 9.71020965, 9.71236522, 9.7141694 , 9.71161477]])
- batt(time)float3216.48 16.48 16.48 ... 16.26 16.26
- units :
- V
array([16.481167, 16.478 , 16.478 , 16.477167, 16.481 , 16.484167, 16.477167, 16.479834, 16.479166, 16.482666, 16.478167, 16.481668, 16.479668, 16.475334, 16.479668, 16.479 , 16.474 , 16.475334, 16.477667, 16.473167, 16.472168, 16.468334, 16.472334, 16.471169, 16.466002, 16.476501, 16.464167, 16.464666, 16.462667, 16.460833, 16.462164, 16.460167, 16.459501, 16.459002, 16.454332, 16.449501, 16.444332, 16.4325 , 16.422 , 16.412834, 16.400167, 16.397667, 16.385334, 16.382334, 16.380499, 16.383333, 16.381332, 16.379833, 16.382 , 16.379168, 16.380499, 16.378834, 16.374832, 16.384499, 16.374166, 16.373333, 16.377167, 16.376 , 16.38 , 16.370333, 16.376501, 16.382 , 16.3775 , 16.3815 , 16.378 , 16.3785 , 16.378 , 16.383667, 16.374668, 16.3845 , 16.353 , 16.372334, 16.377668, 16.378168, 16.372334, 16.372665, 16.363167, 16.367167, 16.372833, 16.363333, 16.355165, 16.367002, 16.368334, 16.372665, 16.360834, 16.367834, 16.367 , 16.360834, 16.358 , 16.342833, 16.341167, 16.328001, 16.317 , 16.305332, 16.295 , 16.2915 , 16.279333, 16.281166, 16.280834, 16.276167, 16.279333, 16.279333, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275333, 16.279001, 16.279001, 16.275 , 16.278334, 16.276834, 16.271 , 16.2725 , 16.27 , 16.265165, 16.268333, 16.268 , 16.264 , 16.268 , 16.268 , 16.264 , 16.268 , 16.268 , 16.264 , 16.268 , 16.268 , 16.264 , 16.268 , 16.268 , 16.264 , 16.268 , 16.263334, 16.258333, 16.262335, 16.262169, 16.2575 , 16.261 , 16.260332, 16.25633 , 16.257998, 16.258333, 16.253334, 16.257998, 16.257332, 16.253166, 16.256998, 16.256998, 16.252666, 16.256998, 16.256998, 16.252666, 16.256998, 16.256998], dtype=float32)
- temp_clock(time)float3220.0 20.0 20.0 ... 19.5 19.5 19.5
- units :
- deg C
array([20. , 20. , 20. , 20.043333, 20.25 , 20.25 , 20.25 , 20.25 , 20.263334, 20.446667, 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.5 , 20.31 , 20.25 , 20.25 , 20.163334, 20. , 20. , 20. , 19.766666, 19.75 , 19.75 , 19.726667, 19.553333, 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.606667, 19.746666, 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.556667, 19.5 , 19.5 , 19.5 , 19.626667, 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.54 , 19.413334, 19.233334, 19. , 18.91 , 18.75 , 18.746666, 18.5 , 18.5 , 18.5 , 18.5 , 18.366667, 18.25 , 18.25 , 18.25 , 18.25 , 18.2 , 18. , 18. , 18. , 18. , 17.873333, 17.75 , 17.75 , 17.75 , 17.863333, 18. , 18. , 18.17 , 18.25 , 18.44 , 18.513334, 18.75 , 18.783333, 19. , 19. , 19.196667, 19.25 , 19.25 , 19.25 , 19.433332, 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.53 , 19.696667, 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.75 , 19.71 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 , 19.5 ], dtype=float32)
- error(time)float640.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
- units :
array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.])
- status(time)float641.054e+09 1.054e+09 ... 1.054e+09
- units :
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- vel(dir, range, time)float640.02006 0.008163 ... nan nan
- units :
- m/s
- Comments :
- Filtered of data with a correlation value below 50%
array([[[ 0.02006463, 0.00816293, 0.01909002, ..., -0.09305979, -0.0984674 , -0.10511392], [-0.01089326, -0.02103911, -0.00067545, ..., -0.11341629, -0.11851331, -0.1263721 ], [-0.03483021, -0.04424361, -0.01815725, ..., -0.12064628, -0.12672515, -0.14047326], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]], [[ 0.23642265, 0.26955505, 0.30274722, ..., -0.16474163, -0.16791684, -0.15868152], [ 0.26346006, 0.29572148, 0.31795695, ..., -0.17716254, -0.17733801, -0.17899759], [ 0.2770758 , 0.29854362, 0.32133105, ..., -0.19060517, -0.19540122, -0.18868756], ... [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]], [[-0.00417333, -0.01056667, -0.01045333, ..., -0.02584564, -0.02752333, -0.02575667], [ 0.01358667, 0.00760333, 0.00634667, ..., -0.01625333, -0.01776333, -0.01595 ], [ 0.01556187, 0.00811371, 0.00740333, ..., -0.00842 , -0.01147667, -0.01189667], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]]])
- amp(beam, range, time)float3279.95 80.28 80.69 ... nan nan nan
- units :
- dB
array([[[79.94666 , 80.28167 , 80.68667 , ..., 81.721664, 81.80334 , 81.68667 ], [75.535 , 76.043335, 76.66167 , ..., 77.62666 , 77.73 , 77.528336], [72.81167 , 73.39 , 74.26833 , ..., 74.525 , 74.39667 , 74.253334], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]], [[80.706665, 80.93833 , 81.255 , ..., 82.19833 , 82.225 , 82.17 ], [76.80666 , 76.996666, 77.44833 , ..., 78.38333 , 78.41167 , 78.06 ], [74.31834 , 74.64667 , 75.903336, ..., 75.16333 , 75.26833 , 74.875 ], ... [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]], [[80.185 , 80.55 , 80.885 , ..., 81.888336, 81.945 , 81.85833 ], [75.78 , 76.291664, 76.76833 , ..., 77.97667 , 78.03833 , 77.87666 ], [72.67834 , 73.55666 , 74.44334 , ..., 74.75833 , 74.665 , 74.47 ], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]]], dtype=float32)
- corr(beam, range, time)float6492.59 92.61 92.47 ... 0.0 0.0 0.0
- units :
- %
array([[[92.58666667, 92.61333333, 92.47 , ..., 91.93333333, 91.96666667, 92.06333333], [96.23666667, 96.52666667, 96.20666667, ..., 96.00666667, 96.3 , 96.03333333], [97.16666667, 96.37666667, 95.94 , ..., 96.45333333, 97.20666667, 97.26333333], ..., [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ]], [[93.33333333, 93.61 , 93.31333333, ..., 91.6 , 91.49 , 91.14666667], [96.57 , 96.39 , 96.12666667, ..., 96.27 , 96.56333333, 96.44333333], [97.37666667, 97.09333333, 96.87666667, ..., 96.17333333, 97.30333333, 97.32666667], ... [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ]], [[92.78333333, 93.22333333, 92.63 , ..., 92.22 , 92.34 , 92.61 ], [96.75 , 96.34333333, 96.34 , ..., 96.53 , 96.69 , 96.27333333], [96.51 , 97.05 , 97.24 , ..., 96.66333333, 96.89333333, 97.41 ], ..., [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ]]])
- orientmat(earth, inst, time)float640.05743 0.05697 ... 0.9937 0.9937
array([[[ 5.74317907e-02, 5.69723388e-02, 5.82992015e-02, ..., 5.81927087e-02, 5.85613609e-02, 5.85512845e-02], [ 9.98300413e-01, 9.98323673e-01, 9.98248589e-01, ..., 9.98254112e-01, 9.98234981e-01, 9.98234641e-01], [-1.05408904e-03, -1.34927386e-03, -1.13080602e-03, ..., -8.26976163e-04, -8.38353112e-04, -8.28948691e-04]], [[-9.89950515e-01, -9.89953306e-01, -9.89922372e-01, ..., -9.91938427e-01, -9.91944904e-01, -9.91939425e-01], [ 5.68153888e-02, 5.63202469e-02, 5.76672001e-02, ..., 5.77317430e-02, 5.80984212e-02, 5.80891567e-02], [-1.29125343e-01, -1.29299915e-01, -1.28952119e-01, ..., -1.12354713e-01, -1.12130065e-01, -1.12175339e-01]], [[-1.28852648e-01, -1.29014044e-01, -1.28667880e-01, ..., -1.12116742e-01, -1.11889168e-01, -1.11934931e-01], [ 8.45469177e-03, 8.69723959e-03, 8.63243754e-03, ..., 7.35414803e-03, 7.39390337e-03, 7.38611691e-03], [ 9.91627296e-01, 9.91604157e-01, 9.91649762e-01, ..., 9.93667465e-01, 9.93692845e-01, 9.93687752e-01]]])
- angrt(dirIMU, time)float64-0.002153 -0.002034 ... -0.002598
- units :
- rad/s
array([[-0.00215301, -0.00203405, -0.00207394, -0.00210115, -0.00192078, -0.00193777, -0.00191335, -0.00199152, -0.00207278, -0.00194206, -0.00204757, -0.00200068, -0.00199218, -0.00199336, -0.00199541, -0.00195642, -0.002004 , -0.00198927, -0.00192089, -0.00190773, -0.00197433, -0.00194974, -0.00201189, -0.00199716, -0.00203678, -0.00197156, -0.00211453, -0.00208679, -0.00214284, -0.002097 , -0.0021586 , -0.00227236, -0.00224146, -0.00237022, -0.00236043, -0.00237393, -0.00247887, -0.00250768, -0.00250282, -0.00247524, -0.00244961, -0.0023577 , -0.0024839 , -0.00243087, -0.00243722, -0.00235072, -0.0022895 , -0.00227118, -0.00225553, -0.0022979 , -0.00229448, -0.00216148, -0.00233598, -0.00218195, -0.00225593, -0.00226501, -0.00226501, -0.00223311, -0.0022377 , -0.00221475, -0.00219337, -0.00236515, -0.00232974, -0.00230031, -0.00222858, -0.00218684, -0.00223468, -0.00229368, -0.00235916, -0.00236146, -0.0022634 , -0.00224891, -0.00222244, -0.00232258, -0.00236444, -0.00224595, -0.0021171 , -0.00216819, -0.00224109, -0.00220484, -0.00229052, -0.00223416, -0.00232667, -0.0022808 , -0.00226991, -0.00230054, -0.0023359 , -0.00230572, -0.00217587, -0.0022142 , -0.00226582, -0.00237079, -0.00231787, -0.00229156, -0.00226658, -0.00224667, -0.00225174, -0.00218213, -0.00225879, -0.00213818, ... -0.00263344, -0.00258787, -0.00256183, -0.00256183, -0.00250324, -0.00268227, -0.00268227, -0.00259113, -0.00262693, -0.00257485, -0.00259113, -0.00252602, -0.00267576, -0.00253905, -0.00256509, -0.00242511, -0.00249998, -0.00250975, -0.00252277, -0.00261066, -0.00257485, -0.00265298, -0.00264647, -0.00261391, -0.00260089, -0.00270181, -0.0027604 , -0.00278318, -0.00288084, -0.00274412, -0.00280272, -0.00289386, -0.0030729 , -0.0029492 , -0.0029199 , -0.00302407, -0.00299803, -0.00296222, -0.00288084, -0.00299477, -0.00304034, -0.00298175, -0.00296222, -0.00296873, -0.00305337, -0.00302081, -0.00299803, -0.00304034, -0.0030729 , -0.0029199 , -0.00295571, -0.00287433, -0.00287433, -0.0028548 , -0.00275714, -0.00271157, -0.0027018 , -0.00278644, -0.0026074 , -0.00264972, -0.00273761, -0.00259764, -0.00258787, -0.00256834, -0.00263344, -0.00255207, -0.00265623, -0.00261391, -0.00255206, -0.00249673, -0.00258787, -0.00256183, -0.00253579, -0.00264321, -0.00268553, -0.00255858, -0.00264321, -0.00262693, -0.0025423 , -0.00256834, -0.00263345, -0.00258136, -0.00250975, -0.00261717, -0.00264321, -0.00260741, -0.00261066, -0.00250649, -0.00248371, -0.0026074 , -0.00260415, -0.00260415, -0.00250324, -0.00259764, -0.002513 , -0.00256509, -0.00253904, -0.00259764]])
- quaternions(q, time)float320.6245 0.6243 ... 0.7784 0.7784
array([[ 0.6245074 , 0.624316 , 0.6248463 , 0.6245108 , 0.6247046 , 0.62467265, 0.62460417, 0.62476116, 0.6245991 , 0.6246464 , 0.624686 , 0.6249721 , 0.6249648 , 0.6250649 , 0.62494904, 0.62500936, 0.6250884 , 0.6250855 , 0.6253171 , 0.6254035 , 0.6253574 , 0.6254711 , 0.6251542 , 0.6249595 , 0.62512624, 0.62510735, 0.62479544, 0.6250753 , 0.624999 , 0.6248949 , 0.6248343 , 0.6245227 , 0.6248399 , 0.624795 , 0.6250311 , 0.62494355, 0.6249766 , 0.6244582 , 0.62417775, 0.6244494 , 0.6248647 , 0.6245337 , 0.62416995, 0.6242157 , 0.62425923, 0.6247039 , 0.6248129 , 0.6246122 , 0.6248121 , 0.6246928 , 0.6245991 , 0.6248212 , 0.6247573 , 0.6243741 , 0.6243043 , 0.6244282 , 0.6243682 , 0.6240724 , 0.62418926, 0.6241515 , 0.6239765 , 0.62391806, 0.62415963, 0.62387216, 0.6239287 , 0.62390673, 0.6236841 , 0.62378633, 0.6236643 , 0.6235926 , 0.62364197, 0.6237233 , 0.62374234, 0.62387735, 0.62402254, 0.62393117, 0.62393445, 0.62373453, 0.62396324, 0.62340415, 0.62373024, 0.62379295, 0.62355286, 0.6231889 , 0.62350035, 0.6232749 , 0.6232579 , 0.6233172 , 0.6232117 , 0.62328154, 0.6234021 , 0.62359464, 0.6235321 , 0.62355274, 0.62340564, 0.6233349 , 0.6232732 , 0.62326413, 0.62335676, 0.6233057 , ... 0.77982664, 0.7798403 , 0.77980125, 0.7798833 , 0.7798343 , 0.77974474, 0.7795985 , 0.77965385, 0.77964175, 0.7797572 , 0.7798193 , 0.77987343, 0.77987754, 0.7798154 , 0.7798561 , 0.77976704, 0.77973217, 0.77971977, 0.77958 , 0.7794924 , 0.77951276, 0.77934176, 0.77977145, 0.77983665, 0.7796758 , 0.77951133, 0.77975136, 0.7796223 , 0.7795445 , 0.7798783 , 0.7796854 , 0.78009176, 0.77983886, 0.77976817, 0.7798124 , 0.77966744, 0.77980477, 0.77957195, 0.7797228 , 0.7795519 , 0.77965647, 0.7795511 , 0.7795689 , 0.77951413, 0.77942085, 0.7791843 , 0.7793043 , 0.7793574 , 0.7790914 , 0.77922 , 0.7788722 , 0.77907705, 0.7790985 , 0.778842 , 0.7789314 , 0.77889466, 0.7789852 , 0.7792381 , 0.77916646, 0.7788889 , 0.77894676, 0.7789039 , 0.7785506 , 0.7786492 , 0.7788344 , 0.7786969 , 0.77884805, 0.7789083 , 0.77894056, 0.7786727 , 0.77858806, 0.7783844 , 0.7785528 , 0.7787677 , 0.77864134, 0.77870125, 0.7787834 , 0.7788154 , 0.7788442 , 0.7785659 , 0.7785521 , 0.77869254, 0.77849793, 0.7787016 , 0.77872854, 0.77860415, 0.7784391 , 0.7783881 , 0.7785563 , 0.77852774, 0.77856874, 0.77847373, 0.7784385 , 0.7782882 , 0.778279 , 0.778462 , 0.77835196, 0.77835387]], dtype=float32)
- temp_press(time)float3212.8 12.8 12.8 ... 12.0 12.0 12.0
- units :
- deg C
array([12.800002 , 12.800002 , 12.800002 , 12.800002 , 12.800002 , 12.966666 , 13. , 13.050666 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.199998 , 13.176665 , 13. , 13. , 12.941335 , 12.800002 , 12.631333 , 12.598 , 12.411335 , 12.400001 , 12.230666 , 12.199998 , 12.119332 , 12. , 12. , 12. , 11.957999 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.800002 , 11.834001 , 11.999333 , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12.104667 , 12.193999 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.086667 , 12.113999 , 12.192665 , 12.032667 , 12.078666 , 12.03 , 12. , 12.111999 , 12.199998 , 12.199998 , 12.199998 , 12.202665 , 12.219333 , 12.274 , 12.367333 , 12.203999 , 12.217332 , 12.199998 , 12.199998 , 12.119332 , 11.845334 , 11.496667 , 11.219998 , 11. , 10.952001 , 10.800002 , 10.800002 , 10.800002 , 10.800002 , 10.751334 , 10.599999 , 10.599999 , 10.599999 , 10.599999 , 10.5546665, 10.400001 , 10.400001 , 10.334666 , 10.2 , 10.2 , 10.191999 , 10.029333 , 10. , 10.009334 , 10.198667 , 10.243333 , 10.415334 , 10.599999 , 10.772668 , 11. , 11.186666 , 11.398002 , 11.528 , 11.599999 , 11.746667 , 11.800002 , 11.876667 , 12. , 12. , 12. , 12. , 12. , 12. , 12. , 12.000667 , 12.006 , 12. , 12. , 12. , 12. , 12. , 12. , 12.001333 , 12. , 12. , 12. , 12. , 12. , 12.024667 , 12.173999 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.199998 , 12.1119995, 12. , 12. , 12. , 12. , 12. , 12. , 12. ], dtype=float32)
- xmit_energy(time)float64244.0 244.0 244.0 ... 246.0 246.0
- units :
- dB
array([244.04333333, 243.96 , 244.04666667, 244.12333333, 244.30666667, 244.32 , 244.04 , 243.95666667, 243.72 , 243.45333333, 243.46 , 243.49333333, 243.49666667, 243.69666667, 243.80333333, 243.78333333, 243.81666667, 244. , 244.27333333, 244.39666667, 244.58333333, 244.73333333, 244.95333333, 245. , 244.98333333, 244.94 , 244.86333333, 244.82666667, 244.79333333, 244.84666667, 244.76666667, 244.73333333, 244.82666667, 244.75 , 244.86333333, 244.83 , 244.84333333, 244.91333333, 244.96666667, 245.08 , 245.25333333, 245.30666667, 245.4 , 245.51 , 245.61333333, 245.61 , 245.65666667, 245.76666667, 245.73 , 245.79666667, 245.83333333, 245.85333333, 245.81 , 245.85666667, 245.90333333, 245.89333333, 245.90666667, 245.90333333, 245.89333333, 245.90666667, 245.93 , 245.91333333, 245.91666667, 245.92333333, 245.92333333, 245.92 , 245.96 , 245.95 , 245.94333333, 245.96 , 245.94666667, 245.97 , 245.95 , 245.93666667, 245.93 , 245.95666667, 245.94 , 245.95666667, 245.95 , 245.95333333, ... 245.98666667, 245.98 , 245.85666667, 245.44666667, 244.92333333, 244.41666667, 244.16333333, 244.00666667, 244.06 , 244.07333333, 243.87333333, 243.77333333, 243.75 , 243.69 , 243.76333333, 243.79666667, 243.55 , 243.5 , 243.37666667, 243.20333333, 242.92333333, 242.87666667, 242.83 , 242.83333333, 243.07666667, 243.41 , 243.88333333, 244.20333333, 244.40333333, 244.45333333, 244.48666667, 244.41 , 244.38 , 244.43333333, 244.6 , 244.72333333, 244.90666667, 244.9 , 244.97666667, 245.03666667, 245.22666667, 245.36 , 245.4 , 245.42 , 245.48333333, 245.62666667, 245.67 , 245.71333333, 245.75666667, 245.77 , 245.84 , 245.87 , 245.87666667, 245.89 , 245.87666667, 245.94333333, 245.93 , 245.91333333, 245.95666667, 245.94 , 245.93 , 245.95666667, 245.95 , 245.95333333, 245.94666667, 245.96 , 245.96333333, 245.97333333, 245.96666667, 245.96 , 245.97666667, 245.99 , 245.98 , 245.98666667, 245.98666667, 245.98333333, 245.99 , 245.98333333, 245.99 ])
- mag_b5(dirIMU, time_b5)float6472.4 72.39 72.43 ... -197.1 -197.1
- units :
- uT
array([[ 72.39570011, 72.39208167, 72.42783507, 72.42614743, 72.44187035, 72.41523657, 72.46191766, 72.49364198, 72.45924018, 72.4660149 , 72.4327807 , 72.4425518 , 72.46903607, 72.42203675, 72.40728817, 72.4110117 , 72.39425975, 72.40278472, 72.39891541, 72.41741231, 72.43427461, 72.44828907, 72.41536243, 72.41848908, 72.41168003, 72.44298189, 72.42484509, 72.42529541, 72.44176252, 72.41919773, 72.4175928 , 72.40413175, 72.42203803, 72.41053964, 72.42295275, 72.42104385, 72.4350667 , 72.43532358, 72.40647645, 72.38499221, 72.42228379, 72.42928504, 72.38994884, 72.43856757, 72.39131011, 72.41896727, 72.41717431, 72.36070227, 72.3931351 , 72.40126447, 72.33449913, 72.21212134, 71.85896675, 71.10549168, 71.13824808, 71.19041032, 71.2470941 , 71.29903956, 71.34743042, 71.38804955, 71.40340672, 71.41397679, 71.43133715, 71.43515418, 71.40686475, 71.36458563, 71.34760114, 71.32235038, 71.30753122, 71.28083626, 71.2915 , 71.3218448 , 71.34431068, 71.34533778, 71.31463277, 71.34860403, 71.31093033, 71.31271901, 71.33253072, 71.34043045, ... -197.36919412, -197.25950586, -197.30052249, -197.28383962, -197.24887195, -197.22918263, -197.15518785, -197.27150796, -197.24451034, -197.21883196, -197.17353734, -197.23383967, -197.19716596, -197.14217585, -197.23253147, -197.10818496, -197.08250552, -197.09783472, -197.08986456, -197.12950067, -197.21385461, -197.20051206, -197.1742083 , -197.10918507, -197.15717161, -197.14486445, -197.15251053, -197.14417943, -197.14217589, -197.06715874, -197.05818414, -197.0508457 , -197.08584089, -197.08818489, -197.14617756, -197.09252169, -197.07853176, -197.14383767, -197.17951586, -197.18618531, -197.18387015, -197.16652263, -197.12684771, -197.20483874, -197.18315459, -197.13018083, -197.14951096, -197.24085758, -197.16120155, -197.19582689, -197.24785555, -197.16050435, -197.25883706, -197.20285714, -197.17483541, -197.25152595, -197.14685769, -197.11819723, -197.14719177, -197.11785585, -197.14051013, -197.14351087, -197.1511809 , -197.12115977, -197.10716604, -197.18984173, -197.15216981, -197.12483008, -197.06254088, -197.14517774, -197.12417432, -197.05786054, -197.08685265, -197.11750904, -197.07716927, -197.07918362, -197.19185814, -197.13850169, -197.14884376]])
- accel_b5(dirIMU, time_b5)float64-0.3595 -0.3604 ... 9.714 9.713
- units :
- m/s^2
array([[-0.35945005, -0.36040476, -0.35942064, -0.36224605, -0.3606849 , -0.36077247, -0.36192599, -0.3607621 , -0.3633263 , -0.36385657, -0.36013915, -0.35838381, -0.35922161, -0.35633823, -0.35704008, -0.35671658, -0.35852 , -0.35691681, -0.35569082, -0.3539107 , -0.35514883, -0.35371538, -0.35552191, -0.35852845, -0.35622555, -0.35716456, -0.35910969, -0.35609994, -0.35620683, -0.35538959, -0.35594926, -0.3581515 , -0.35490585, -0.35277643, -0.35308707, -0.35255025, -0.35277455, -0.35734927, -0.36094195, -0.35892889, -0.35321656, -0.35699781, -0.35960466, -0.36017508, -0.36028384, -0.35666367, -0.35466318, -0.35590347, -0.35293421, -0.35445896, -0.35379024, -0.34436781, -0.3253079 , -0.2902023 , -0.29245404, -0.29303037, -0.29799051, -0.30267066, -0.30542651, -0.30768297, -0.30803731, -0.30874293, -0.30742029, -0.30902607, -0.31027096, -0.3063462 , -0.304645 , -0.30389866, -0.30510902, -0.30338709, -0.30171933, -0.30379721, -0.30178338, -0.30120567, -0.30167016, -0.30234588, -0.30254708, -0.30401773, -0.30196435, -0.30674006, -0.30684156, -0.30459543, -0.30835467, -0.31091202, -0.30926696, -0.31206642, -0.31088887, -0.3106291 , -0.31221487, -0.31203581, -0.31116862, -0.30842896, -0.30869152, -0.30954819, -0.30972004, -0.30999103, -0.31200366, -0.30879229, -0.31007492, -0.30976846, ... 9.71688408, 9.71846473, 9.71734679, 9.7177143 , 9.71479243, 9.71485626, 9.71273252, 9.7122215 , 9.713994 , 9.71538301, 9.71674018, 9.71618141, 9.71710753, 9.71677203, 9.71544687, 9.71442506, 9.71260484, 9.71362664, 9.71210989, 9.71102423, 9.71140732, 9.70945944, 9.71298795, 9.71416982, 9.71041751, 9.71337125, 9.71316373, 9.71161483, 9.71335522, 9.71437729, 9.71447298, 9.71939056, 9.71804951, 9.71583014, 9.7164209 , 9.71658046, 9.7158299 , 9.71333936, 9.7177301 , 9.71667638, 9.71476019, 9.71616552, 9.71340319, 9.71575026, 9.71562269, 9.71223747, 9.7148561 , 9.71666024, 9.71317933, 9.71758639, 9.71092821, 9.71484014, 9.71589391, 9.71206171, 9.71590992, 9.71434516, 9.71693157, 9.71817713, 9.71881581, 9.71380238, 9.71782593, 9.71512737, 9.71172643, 9.71351456, 9.71835268, 9.71683603, 9.71627711, 9.71776209, 9.71865596, 9.71476022, 9.71300382, 9.71081644, 9.71408963, 9.71627688, 9.71357865, 9.71616538, 9.71840073, 9.71680399, 9.71820893, 9.71428117, 9.71455268, 9.71595772, 9.71480814, 9.71787368, 9.71630901, 9.71503162, 9.70904397, 9.71116783, 9.71309961, 9.71335522, 9.7152553 , 9.71493593, 9.71480812, 9.71172645, 9.71188608, 9.71367466, 9.71404161, 9.71278021]])
- error_b5(time_b5)float640.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
- units :
array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.])
- status_b5(time_b5)float641.054e+09 1.054e+09 ... 1.054e+09
- units :
array([1.05355688e+09, 1.05355688e+09, 1.05355688e+09, 1.05355688e+09, 1.05355688e+09, 1.05355687e+09, 1.05355687e+09, 1.05355688e+09, 1.05355687e+09, 1.05355686e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355686e+09, 1.05355685e+09, 1.05355687e+09, 1.05355685e+09, 1.05355686e+09, 1.05355688e+09, 1.05355688e+09, 1.05355692e+09, 1.05355688e+09, 1.05355695e+09, 1.05355697e+09, 1.05355688e+09, 1.05355697e+09, 1.05355696e+09, 1.05355697e+09, 1.05355697e+09, 1.05355696e+09, 1.05355697e+09, 1.05355697e+09, 1.05355696e+09, 1.05355697e+09, 1.05355697e+09, 1.05355696e+09, 1.05355697e+09, 1.05355697e+09, 1.05355695e+09, 1.05355693e+09, 1.05355691e+09, 1.05355695e+09, 1.05355693e+09, 1.05355693e+09, 1.05355691e+09, 1.05355690e+09, 1.05355693e+09, 1.05355689e+09, 1.05355688e+09, 1.05355689e+09, 1.05355687e+09, 1.05355690e+09, 1.05355688e+09, 1.05355688e+09, 1.05355689e+09, 1.05355687e+09, 1.05355687e+09, 1.05355687e+09, 1.05355688e+09, 1.05355687e+09, 1.05355686e+09, 1.05355687e+09, 1.05355687e+09, 1.05355688e+09, 1.05355687e+09, 1.05355687e+09, 1.05355686e+09, 1.05355686e+09, 1.05355688e+09, 1.05355692e+09, 1.05355687e+09, 1.05355686e+09, 1.05355686e+09, 1.05355687e+09, 1.05355686e+09, 1.05355689e+09, 1.05355686e+09, 1.05355686e+09, 1.05355687e+09, ... 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09, 1.05355685e+09])
- vel_b5(range_b5, time_b5)float320.0006333 -0.004143 ... nan nan
- units :
- m/s
- Comments :
- Filtered of data with a correlation value below 50%
array([[ 0.00063333, -0.00414333, -0.00776667, ..., -0.01952 , -0.02035667, -0.01573333], [ 0.02268667, 0.01564333, 0.01504 , ..., -0.00309667, -0.00658667, -0.00238 ], [ 0.02739334, 0.01897667, 0.01496333, ..., 0.00196667, -0.00096667, 0.00083946], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]], dtype=float32)
- amp_b5(range_b5, time_b5)float3280.08 80.44 80.75 ... nan nan nan
- units :
- dB
array([[80.085 , 80.43833 , 80.75166 , ..., 81.761665, 81.86 , 81.745 ], [76.05 , 76.60333 , 77.066666, ..., 78.23 , 78.21667 , 78.045 ], [73.58833 , 74.355 , 75.083336, ..., 75.265 , 75.098335, 74.925 ], ..., [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan], [ nan, nan, nan, ..., nan, nan, nan]], dtype=float32)
- corr_b5(range_b5, time_b5)float6493.52 94.19 93.97 ... 0.0 0.0 0.0
- units :
- %
array([[93.51666667, 94.18666667, 93.97 , ..., 92.27666667, 92.09 , 92.61666667], [96.75 , 96.40333333, 96.32 , ..., 96.43333333, 96.89 , 96.57666667], [97.19 , 97.32333333, 97.13666667, ..., 96.08666667, 97.16 , 97.09 ], ..., [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ], [ 0. , 0. , 0. , ..., 0. , 0. , 0. ]])
- orientmat_b5(earth, inst, time_b5)float32-0.2166 -0.217 ... 0.9937 0.9937
array([[[-2.16565624e-01, -2.17020363e-01, -2.15714216e-01, ..., -2.15817824e-01, -2.15457186e-01, -2.15469748e-01], [-9.68014121e-01, -9.67880666e-01, -9.68221545e-01, ..., -9.70180333e-01, -9.70283389e-01, -9.70276892e-01], [-1.26286745e-01, -1.26509830e-01, -1.26157105e-01, ..., -1.09885700e-01, -1.09676003e-01, -1.09719723e-01]], [[ 9.76216435e-01, 9.76112664e-01, 9.76405323e-01, ..., 9.76383269e-01, 9.76462007e-01, 9.76460576e-01], [-2.14884892e-01, -2.15368673e-01, -2.14055121e-01, ..., -2.14541376e-01, -2.14190111e-01, -2.14200497e-01], [-2.69518793e-02, -2.67608669e-02, -2.67287735e-02, ..., -2.34543420e-02, -2.33496260e-02, -2.33698264e-02]], [[-1.05265796e-03, -1.35056104e-03, -1.13043608e-03, ..., -8.24717747e-04, -8.40478169e-04, -8.31306970e-04], [-1.29126370e-01, -1.29302278e-01, -1.28952518e-01, ..., -1.12357967e-01, -1.12130813e-01, -1.12177916e-01], [ 9.91627216e-01, 9.91603792e-01, 9.91649806e-01, ..., 9.93667185e-01, 9.93692756e-01, 9.93687451e-01]]], dtype=float32)
- angrt_b5(dirIMU, time_b5)float64-0.002097 -0.002078 ... -0.002637
- units :
- rad/s
array([[-0.00209712, -0.00207796, -0.00199299, -0.00203929, -0.00193438, -0.00196708, -0.0019927 , -0.00204398, -0.00193731, -0.0020106 , -0.00205254, -0.00204932, -0.00204045, -0.00204494, -0.0020428 , -0.00195406, -0.00208406, -0.0020402 , -0.00199256, -0.00194318, -0.00196901, -0.00187163, -0.00207352, -0.00198713, -0.00205621, -0.00195992, -0.0020945 , -0.00205666, -0.00207093, -0.00222958, -0.00210572, -0.00234646, -0.00222096, -0.00222215, -0.00233367, -0.0023373 , -0.00237128, -0.00237839, -0.0024478 , -0.00252198, -0.00241759, -0.00245205, -0.00240165, -0.00236281, -0.00240797, -0.00234682, -0.00229789, -0.00229369, -0.00220773, -0.00227775, -0.00227983, -0.00213223, -0.00218401, -0.0023033 , -0.00230067, -0.00233384, -0.00225691, -0.00230815, -0.00220324, -0.00217511, -0.00219928, -0.00233678, -0.00224525, -0.00230776, -0.00228472, -0.00225526, -0.00227911, -0.00233422, -0.00227774, -0.00242061, -0.00226535, -0.00234841, -0.00221465, -0.00235071, -0.00227588, -0.00225901, -0.00222179, -0.00224194, -0.00219104, -0.00224129, -0.00228148, -0.00218712, -0.0022917 , -0.00220996, -0.00226677, -0.00222232, -0.00234719, -0.00227961, -0.00214331, -0.00228754, -0.00235026, -0.0022648 , -0.0022901 , -0.00217174, -0.0022742 , -0.00233724, -0.00219496, -0.00222307, -0.00220071, -0.00220035, ... -0.00262043, -0.00258136, -0.00261717, -0.00257811, -0.00261066, -0.00255532, -0.00266274, -0.00254881, -0.00255858, -0.00259764, -0.00258462, -0.00252602, -0.00258787, -0.00256183, -0.00260415, -0.00251626, -0.00250975, -0.00243488, -0.00254881, -0.00264321, -0.00260089, -0.00263996, -0.0026367 , -0.00271157, -0.00256183, -0.00271808, -0.00277993, -0.00284178, -0.00276365, -0.00277016, -0.00279946, -0.00295896, -0.00294594, -0.00302732, -0.00302407, -0.00301756, -0.00298501, -0.00291339, -0.00296548, -0.00294269, -0.00311196, -0.00294594, -0.0030143 , -0.00297198, -0.00296873, -0.002985 , -0.0030729 , -0.0030143 , -0.00306638, -0.00288084, -0.00289386, -0.00281899, -0.00278644, -0.0028255 , -0.00276365, -0.00277993, -0.002666 , -0.00267576, -0.002666 , -0.00268227, -0.00268878, -0.00263019, -0.00254881, -0.00262368, -0.00263019, -0.00260415, -0.00257811, -0.0026074 , -0.00249673, -0.00254881, -0.00258787, -0.00263019, -0.00255532, -0.00269204, -0.00258136, -0.00259113, -0.00272133, -0.00258462, -0.00263019, -0.00261066, -0.00265949, -0.00270831, -0.00258787, -0.0025423 , -0.00262368, -0.00264647, -0.00268879, -0.00251626, -0.00256183, -0.00255207, -0.00251626, -0.00251626, -0.00249998, -0.00248371, -0.0024479 , -0.00254881, -0.00254881, -0.0026367 ]])
- quaternions_b5(q, time_b5)float320.6245 0.6243 ... 0.7784 0.7784
array([[ 0.6245025 , 0.62430865, 0.62484366, 0.62450564, 0.624701 , 0.62466866, 0.62460196, 0.6247584 , 0.62459546, 0.62464297, 0.6246826 , 0.62496835, 0.6249581 , 0.6250585 , 0.62494546, 0.6250052 , 0.62508506, 0.62507963, 0.6253132 , 0.6254015 , 0.6253524 , 0.6254653 , 0.62515104, 0.62495625, 0.62512195, 0.6251015 , 0.624793 , 0.6250713 , 0.6249948 , 0.62489176, 0.6248301 , 0.62451917, 0.6248372 , 0.62479085, 0.62502736, 0.6249378 , 0.62497205, 0.62445515, 0.62417245, 0.6244453 , 0.6248608 , 0.62453014, 0.62416404, 0.6242139 , 0.62425303, 0.62470126, 0.6248098 , 0.62460905, 0.62480783, 0.6246901 , 0.6245936 , 0.6248162 , 0.624754 , 0.62437105, 0.62430066, 0.6244233 , 0.6243633 , 0.62407166, 0.6241861 , 0.6241456 , 0.6239719 , 0.62391376, 0.62415487, 0.6238682 , 0.6239241 , 0.62390107, 0.6236789 , 0.6237806 , 0.6236614 , 0.62358916, 0.6236376 , 0.62371755, 0.6237382 , 0.6238726 , 0.6240171 , 0.6239264 , 0.623931 , 0.6237308 , 0.62395936, 0.6234018 , 0.6237265 , 0.6237913 , 0.6235492 , 0.62318647, 0.62349266, 0.62327045, 0.6232548 , 0.6233126 , 0.6232084 , 0.6232786 , 0.62339824, 0.62359285, 0.6235284 , 0.6235471 , 0.6234016 , 0.6233313 , 0.6232729 , 0.6232614 , 0.62335205, 0.6232998 , ... 0.7798304 , 0.77984285, 0.7798039 , 0.7798881 , 0.77983624, 0.779747 , 0.7796003 , 0.7796562 , 0.77964693, 0.77976 , 0.77982175, 0.77987325, 0.7798803 , 0.77981853, 0.7798599 , 0.77976817, 0.7797355 , 0.7797223 , 0.77958274, 0.7794968 , 0.77951866, 0.7793451 , 0.77977306, 0.7798404 , 0.7796792 , 0.77951556, 0.7797541 , 0.7796244 , 0.77954704, 0.779882 , 0.7796897 , 0.78009367, 0.77984214, 0.77977324, 0.77981466, 0.77967215, 0.77980614, 0.7795769 , 0.77972573, 0.77955645, 0.7796588 , 0.77955323, 0.7795721 , 0.7795167 , 0.7794243 , 0.77918714, 0.77930677, 0.7793621 , 0.77909505, 0.7792217 , 0.7788761 , 0.7790808 , 0.7791028 , 0.7788446 , 0.7789332 , 0.7788981 , 0.7789904 , 0.779241 , 0.7791693 , 0.77889454, 0.7789502 , 0.77890694, 0.7785553 , 0.77865255, 0.7788394 , 0.7787025 , 0.7788493 , 0.77891165, 0.7789452 , 0.77867603, 0.7785905 , 0.7783878 , 0.77855736, 0.778772 , 0.7786441 , 0.77870494, 0.77878624, 0.77881914, 0.77884936, 0.77857053, 0.77855694, 0.778695 , 0.77849764, 0.7787041 , 0.77873075, 0.7786052 , 0.7784392 , 0.7783923 , 0.77855927, 0.77852917, 0.7785722 , 0.77847767, 0.77844226, 0.77829295, 0.7782816 , 0.77846414, 0.778354 , 0.77835685]], dtype=float32)
- xmit_energy_b5(time_b5)float6465.0 65.0 65.0 ... 65.0 65.0 65.0
- units :
- dB
array([65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65., 65.])
- low_volt_skip(time)float640.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.])
- active_config(time)float640.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.])
- telemetry_data(time)float640.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.])
- boost_running(time)float640.1267 0.1333 0.13 ... 0.22 0.22
array([0.12666667, 0.13333333, 0.13 , 0.13333333, 0.13 , 0.13 , 0.13 , 0.11666667, 0.12333333, 0.11666667, 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11666667, 0.11 , 0.11333333, 0.11333333, 0.11333333, 0.12333333, 0.12 , 0.12333333, 0.12 , 0.11 , 0.11 , 0.11666667, 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11333333, 0.12 , 0.11666667, 0.11666667, 0.11666667, 0.11333333, 0.12 , 0.11666667, 0.11 , 0.12333333, 0.13333333, 0.13333333, 0.13 , 0.13333333, 0.12666667, 0.13333333, 0.13 , 0.13 , 0.15333333, 0.13333333, 0.15333333, 0.14333333, 0.13666667, 0.11666667, 0.13666667, 0.13333333, 0.13666667, 0.14666667, 0.14 , 0.15666667, 0.13333333, 0.13333333, 0.15 , 0.15 , 0.12666667, 0.13666667, 0.15 , 0.13 , 0.13666667, 0.13 , 0.13666667, 0.13666667, 0.14333333, 0.13666667, 0.12666667, 0.13666667, 0.12333333, 0.12333333, 0.13333333, 0.12 , 0.11666667, 0.11 , 0.11 , 0.11666667, 0.12333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.11 , 0.11333333, 0.11 , 0.20333333, 0.22666667, 0.22 , 0.22 , 0.22666667, 0.22 , 0.22 , 0.22666667, 0.22 , 0.22 , 0.22666667, 0.22 , 0.22 , 0.22666667, 0.22 , 0.22 , 0.22666667, 0.22 , 0.22 , 0.22666667, 0.22 , 0.22 ])
- heading(time)float323.287 3.261 3.337 ... 3.352 3.352
- units :
- deg
array([3.287083 , 3.2605155, 3.3369133, 3.2892823, 3.3165808, 3.3119812, 3.3027983, 3.3258302, 3.3029814, 3.3100154, 3.3152144, 3.3549793, 3.3538957, 3.3682969, 3.3522127, 3.3599124, 3.3716784, 3.370829 , 3.404896 , 3.4170458, 3.4101129, 3.4259632, 3.3813803, 3.352863 , 3.3772287, 3.3739138, 3.3298807, 3.368963 , 3.357279 , 3.3420138, 3.3332636, 3.2887158, 3.3332634, 3.3267972, 3.3609293, 3.34788 , 3.3524635, 3.2797818, 3.2383478, 3.2774158, 3.3357968, 3.2894654, 3.237099 , 3.2444148, 3.250231 , 3.3133483, 3.3285973, 3.3003979, 3.3281136, 3.3106983, 3.2960656, 3.3239977, 3.3058155, 3.231132 , 3.2188826, 3.2362165, 3.2269833, 3.1857452, 3.2025456, 3.1971133, 3.1716278, 3.1624265, 3.196963 , 3.1550453, 3.162944 , 3.158162 , 3.1250577, 3.1385927, 3.1210082, 3.1101758, 3.116926 , 3.1283762, 3.1307604, 3.149876 , 3.1709106, 3.1579425, 3.157861 , 3.1293783, 3.1623626, 3.0823452, 3.1290247, 3.1371257, 3.103561 , 3.0512455, 3.0958426, 3.0634787, 3.061212 , 3.0691292, 3.0543785, 3.0647104, 3.0809944, 3.1082118, 3.099077 , 3.1025605, 3.0808105, 3.070144 , 3.061945 , 3.0596778, 3.0728438, 3.0654464, 3.082978 , 3.0888774, 3.090909 , 3.1166098, 3.1326916, 3.1294093, 3.1606429, 3.0821111, 3.0704782, 3.099461 , 3.1288106, 3.0858114, 3.1094916, 3.1244771, 3.0631604, 3.098195 , 3.0228472, 3.0709112, 3.0849445, 3.0772102, 3.10411 , 3.0789108, 3.122175 , 3.0939767, 3.126108 , 3.1068432, 3.1269426, 3.124676 , 3.133493 , 3.1521947, 3.1957629, 3.174427 , 3.1647441, 3.2137322, 3.1900635, 3.2544334, 3.2174487, 3.2122307, 3.2605999, 3.244882 , 3.2509172, 3.234432 , 3.1874464, 3.200428 , 3.251467 , 3.2418153, 3.24985 , 3.3141315, 3.2959988, 3.2620163, 3.2882996, 3.2601004, 3.2490656, 3.242116 , 3.2917488, 3.306215 , 3.3455298, 3.3139143, 3.274265 , 3.2986312, 3.2870982, 3.271833 , 3.2660322, 3.2617817, 3.3116815, 3.314548 , 3.289132 , 3.3249977, 3.287216 , 3.282166 , 3.306248 , 3.3363798, 3.3452635, 3.314365 , 3.3198478, 3.3122149, 3.3298814, 3.3361466, 3.3632295, 3.3652124, 3.331114 , 3.352297 , 3.351696 ], dtype=float32)
- pitch(time)float32-0.05523 -0.07217 ... -0.0429
- units :
- deg
array([-0.05523333, -0.07216667, -0.05975001, -0.0719 , -0.06111666, -0.05995 , -0.07213333, -0.07148333, -0.07696667, -0.08181667, -0.0731 , -0.0579 , -0.05488333, -0.05605 , -0.05533333, -0.05278333, -0.047 , -0.0521 , -0.05088333, -0.04305 , -0.04223333, -0.0388 , -0.05338333, -0.0568 , -0.0611 , -0.0627 , -0.07021666, -0.05368333, -0.0487 , -0.0493 , -0.05311666, -0.06443334, -0.04586667, -0.04441666, -0.04498333, -0.03575 , -0.03521667, -0.07056666, -0.07609999, -0.0662 , -0.04191666, -0.06681666, -0.06818333, -0.07636666, -0.07111666, -0.05511666, -0.0493 , -0.05571667, -0.04891667, -0.04571667, -0.04198333, -0.00336667, 0.08048334, 0.25323334, 0.22161667, 0.19196668, 0.15959999, 0.11676668, 0.09488333, 0.07456666, 0.05981667, 0.06043334, 0.06175001, 0.05643333, 0.04858334, 0.06248334, 0.06495 , 0.07498333, 0.06741667, 0.07038333, 0.06546666, 0.06541666, 0.06608333, 0.07325 , 0.0566 , 0.054 , 0.061 , 0.0511 , 0.05655 , 0.02896667, 0.02978333, 0.04755 , 0.01526667, 0.00998333, 0.0108 , 0.00458333, 0.00831667, 0.00378333, -0.00401667, -0.00796667, 0.00555 , 0.01133333, 0.00541667, -0.0047 , -0.0019 , -0.00158333, -0.01193333, -0.00146667, -0.00791667, -0.00841667, -0.00898333, -0.00903333, -0.002 , 0.00205 , 0.00393333, -0.00233333, 0.01098333, -0.01495 , -0.01253333, 0.0059 , 0.01675 , -0.0048 , 0.00353333, 0.00155 , -0.01018333, 0.00053333, -0.0111 , -0.01913333, -0.02155 , -0.02396666, -0.01793333, -0.02523333, -0.0194 , -0.02291666, -0.02203333, -0.0282 , -0.02571667, -0.03851666, -0.0208 , -0.03573333, -0.02388333, -0.03908334, -0.04381667, -0.031 , -0.04036666, -0.02826666, -0.04583333, -0.0394 , -0.03658333, -0.04336667, -0.04073333, -0.05656667, -0.0553 , -0.05688334, -0.04293333, -0.05556666, -0.05011667, -0.02433333, -0.03963333, -0.04716667, -0.05826667, -0.05943333, -0.06553333, -0.04911667, -0.04304999, -0.023 , -0.03935 , -0.03393333, -0.04798333, -0.05141667, -0.04823333, -0.05695 , -0.05431667, -0.07600001, -0.0419 , -0.04428333, -0.05206667, -0.04676667, -0.05188334, -0.0574 , -0.06316667, -0.0484 , -0.04308333, -0.04601667, -0.0499 , -0.05471666, -0.05536667, -0.04616667, -0.02825 , -0.03388334, -0.0423 , -0.04288333, -0.0429 ], dtype=float32)
- roll(time)float32-7.414 -7.424 ... -6.433 -6.436
- units :
- deg
array([-7.414066 , -7.424116 , -7.4041324, -7.422417 , -7.4120665, -7.4167333, -7.4193 , -7.4148664, -7.4301662, -7.419133 , -7.4179006, -7.402567 , -7.4040666, -7.394583 , -7.403933 , -7.394567 , -7.39615 , -7.3910007, -7.386317 , -7.3802505, -7.3838835, -7.3748665, -7.3916 , -7.391783 , -7.3853164, -7.377949 , -7.3945003, -7.3738666, -7.373867 , -7.369084 , -7.372767 , -7.3854327, -7.3678336, -7.3722672, -7.3625836, -7.3666334, -7.360083 , -7.3809 , -7.3875995, -7.3742666, -7.3516665, -7.369966 , -7.387017 , -7.386867 , -7.379284 , -7.361167 , -7.3493667, -7.3615665, -7.344417 , -7.350366 , -7.3399496, -7.300467 , -7.236433 , -7.0768504, -6.997516 , -6.949867 , -6.899017 , -6.8814178, -6.8526497, -6.8263836, -6.813383 , -6.8076496, -6.78375 , -6.781251 , -6.7671165, -6.7577667, -6.7516494, -6.728033 , -6.72715 , -6.716767 , -6.708234 , -6.69495 , -6.6866503, -6.6791 , -6.6603007, -6.659384 , -6.6542172, -6.659967 , -6.6461835, -6.667401 , -6.6473837, -6.6366506, -6.6365337, -6.649917 , -6.6360173, -6.638784 , -6.6400666, -6.62885 , -6.628683 , -6.617567 , -6.6096334, -6.59625 , -6.589217 , -6.5807333, -6.5850334, -6.5764165, -6.5684667, -6.5721836, -6.55585 , -6.5561 , -6.5420327, -6.5459166, -6.5430665, -6.5388503, -6.5341506, -6.5321503, -6.52225 , -6.539833 , -6.5372 , -6.528584 , -6.5262337, -6.5375338, -6.5275497, -6.51875 , -6.5324664, -6.525267 , -6.548233 , -6.5326 , -6.5178337, -6.5193667, -6.505567 , -6.5125165, -6.4989333, -6.508083 , -6.49675 , -6.50315 , -6.4925 , -6.485383 , -6.492067 , -6.4811997, -6.4708 , -6.4739504, -6.472566 , -6.4622664, -6.4698668, -6.4504333, -6.4621997, -6.4667 , -6.45215 , -6.4554167, -6.454716 , -6.461316 , -6.4738665, -6.473217 , -6.458534 , -6.46535 , -6.4565167, -6.4414663, -6.4526324, -6.4590497, -6.4487834, -6.4628167, -6.46505 , -6.4660163, -6.4543834, -6.4556837, -6.4339333, -6.443283 , -6.4565334, -6.4484835, -6.4508667, -6.4604836, -6.4581666, -6.4554834, -6.4470496, -6.4438 , -6.450166 , -6.4428334, -6.45625 , -6.455867 , -6.44465 , -6.436783 , -6.430967 , -6.4454665, -6.441799 , -6.4480996, -6.4399 , -6.4372997, -6.4309335, -6.4305167, -6.4460497, -6.4332495, -6.4359174], dtype=float32)
- water_density(time)float321.023e+03 1.023e+03 ... 1.023e+03
- units :
- kg/m^3
- description :
- Water density according to UNESCO 1981 equation of state
array([1022.9988 , 1022.97675, 1022.98834, 1023.00616, 1022.9875 , 1022.95166, 1022.9253 , 1022.9307 , 1022.92145, 1022.91656, 1022.92065, 1022.9288 , 1022.9334 , 1022.9248 , 1022.9202 , 1022.92615, 1022.93695, 1022.9356 , 1022.9508 , 1022.9552 , 1022.98096, 1022.9954 , 1023.02167, 1023.04376, 1023.0623 , 1023.0875 , 1023.0975 , 1023.11646, 1023.1312 , 1023.1453 , 1023.1523 , 1023.1598 , 1023.16675, 1023.17377, 1023.17957, 1023.1845 , 1023.18854, 1023.19476, 1023.19147, 1023.1804 , 1023.17487, 1023.16595, 1023.1667 , 1023.1674 , 1023.1617 , 1023.152 , 1023.14825, 1023.148 , 1023.14856, 1023.14874, 1023.1456 , 1023.14685, 1023.14374, 1023.1468 , 1023.1465 , 1023.15283, 1023.15155, 1023.1517 , 1023.14935, 1023.15076, 1023.15375, 1023.15375, 1023.1526 , 1023.1504 , 1023.1477 , 1023.14575, 1023.13947, 1023.14197, 1023.1365 , 1023.12946, 1023.1232 , 1023.11835, 1023.1131 , 1023.1126 , 1023.11273, 1023.1073 , 1023.11633, 1023.1135 , 1023.1182 , 1023.10925, 1023.11835, 1023.1188 , 1023.1188 , 1023.12085, 1023.13293, 1023.1179 , 1023.13165, 1023.13873, 1023.13416, 1023.1521 , 1023.1525 , 1023.13544, 1023.133 , 1023.1213 , 1023.11 , 1023.1131 , 1023.1117 , 1023.09186, 1023.09674, 1023.0973 , 1023.1001 , 1023.10956, 1023.1132 , 1023.1703 , 1023.2448 , 1023.3224 , 1023.37396, 1023.3831 , 1023.39905, 1023.41156, 1023.3993 , 1023.3896 , 1023.3953 , 1023.40875, 1023.418 , 1023.4257 , 1023.42865, 1023.4324 , 1023.43823, 1023.4474 , 1023.4629 , 1023.4792 , 1023.4869 , 1023.4959 , 1023.5122 , 1023.515 , 1023.5146 , 1023.50336, 1023.4746 , 1023.45 , 1023.41 , 1023.38165, 1023.3278 , 1023.2945 , 1023.2512 , 1023.22174, 1023.2019 , 1023.18585, 1023.171 , 1023.1568 , 1023.14417, 1023.1331 , 1023.1312 , 1023.1331 , 1023.13885, 1023.13794, 1023.1322 , 1023.1279 , 1023.1275 , 1023.1302 , 1023.1327 , 1023.1358 , 1023.1387 , 1023.1369 , 1023.135 , 1023.1321 , 1023.13336, 1023.13367, 1023.1371 , 1023.1405 , 1023.139 , 1023.135 , 1023.13293, 1023.13 , 1023.1269 , 1023.1269 , 1023.1249 , 1023.12354, 1023.12335, 1023.1222 , 1023.1175 , 1023.12384, 1023.12396, 1023.1268 , 1023.1362 , 1023.16125, 1023.166 , 1023.1725 , 1023.1744 , 1023.16876, 1023.1756 , 1023.1879 , 1023.1981 ], dtype=float32)
- depth(time)float3210.28 10.26 10.25 ... 10.15 10.16
- units :
- m
- description :
- Water depth to seafloor
array([10.277538 , 10.264858 , 10.25104 , 10.235828 , 10.219084 , 10.206559 , 10.190821 , 10.175071 , 10.161066 , 10.143306 , 10.127276 , 10.107858 , 10.091093 , 10.072136 , 10.053202 , 10.0313425, 10.009286 , 9.983502 , 9.960553 , 9.934547 , 9.906402 , 9.872756 , 9.845256 , 9.812037 , 9.7847595, 9.7531595, 9.724168 , 9.690325 , 9.660032 , 9.62625 , 9.593416 , 9.561167 , 9.52246 , 9.488794 , 9.453369 , 9.420343 , 9.380684 , 9.349383 , 9.311804 , 9.276476 , 9.24263 , 9.205541 , 9.170635 , 9.129084 , 9.093068 , 9.050501 , 9.013782 , 8.96973 , 8.9344635, 8.891911 , 8.856533 , 8.817547 , 8.783021 , 8.7481985, 8.716145 , 8.679828 , 8.642692 , 8.609844 , 8.568455 , 8.533695 , 8.497018 , 8.462676 , 8.424061 , 8.3953285, 8.367628 , 8.33624 , 8.309817 , 8.284613 , 8.255831 , 8.230423 , 8.20552 , 8.181111 , 8.164266 , 8.145893 , 8.126092 , 8.105655 , 8.087155 , 8.069616 , 8.055133 , 8.044716 , 8.027108 , 8.016441 , 8.003455 , 7.9957194, 7.986561 , 7.985581 , 7.980293 , 7.974863 , 7.9746437, 7.9732623, 7.973777 , 7.9688926, 7.973801 , 7.9759946, 7.9870925, 7.9927955, 7.9972234, 8.007608 , 8.025168 , 8.04054 , 8.050571 , 8.068118 , 8.079653 , 8.092393 , 8.111729 , 8.130049 , 8.154285 , 8.173107 , 8.193249 , 8.220601 , 8.242446 , 8.266654 , 8.289882 , 8.315931 , 8.339941 , 8.36442 , 8.389801 , 8.419731 , 8.446773 , 8.480188 , 8.512441 , 8.543251 , 8.575371 , 8.610086 , 8.644842 , 8.675179 , 8.708743 , 8.7419405, 8.777203 , 8.810946 , 8.848845 , 8.88456 , 8.923318 , 8.957993 , 8.995956 , 9.033912 , 9.074548 , 9.10959 , 9.149612 , 9.186772 , 9.220296 , 9.258498 , 9.294909 , 9.32674 , 9.363525 , 9.399659 , 9.4380665, 9.4666195, 9.504008 , 9.536036 , 9.568134 , 9.602977 , 9.629759 , 9.662112 , 9.695147 , 9.723327 , 9.753927 , 9.78277 , 9.810183 , 9.840191 , 9.866105 , 9.887488 , 9.91608 , 9.936603 , 9.959404 , 9.974911 , 9.9941845, 10.00696 , 10.025169 , 10.039832 , 10.05417 , 10.0608 , 10.075337 , 10.085086 , 10.095323 , 10.102254 , 10.111056 , 10.119235 , 10.125453 , 10.136024 , 10.144222 , 10.148003 , 10.155499 ], dtype=float32)
- fs :
- 1
- n_bin :
- 300
- n_fft :
- 300
- description :
- Binned averages calculated from ensembles of size "n_bin"
- filehead_config :
- {'CLOCKSTR': {'TIME': '"2020-08-13 13:56:21"'}, 'ID': 'STR="Signature1000",SN=101663', 'HW': {'FW': 2212, 'FPGA': 169, 'DIGITAL': '"I-3"', 'INTERFACE': '"H-2"', 'ANALOG': '"G-1"', 'SENSOR': '"D-1(AHRS)"', 'BOOT': 21, 'FWMINOR': 11}, 'BOARDSENSGET': 'AV=23,NB=5,HF=1000,TTR=2.0000,TTRB5=2.0000', 'PWR': {'PLAN': 1940.43, 'BURST': 1937.69, 'AVG': 0.0, 'PLAN1': 0.0, 'BURST1': 0.0, 'AVG1': 0.0, 'TOTAL': 1940.43}, 'MEM': {'PLAN': 2.733, 'BURST': 2.733, 'AVG': 0.0, 'PLAN1': 0.0, 'BURST1': 0.0, 'AVG1': 0.0, 'TOTAL': 2.733}, 'PRECISION': {'AVGHORZ': -9.99, 'BURSTHORZ': 2.6, 'BEAM5': 1.62, 'AVGBEAM': -9.99, 'BURSTBEAM': 1.55}, 'PLAN': {'MIAVG': 600, 'AVG': 0, 'DIAVG': 0, 'VD': 0, 'MV': 10, 'SA': 32.0, 'BURST': 1, 'MIBURST': 1, 'DIBURST': 0, 'SV': 0.0, 'FN': '"S101663A007_sea_spider.ad2cp"', 'SO': 0, 'FREQ': 1000, 'NSTT': 0}, 'BURST': {'NC': 28, 'NB': 5, 'CS': 0.5, 'BD': 0.1, 'CY': '"ENU"', 'PL': 0.0, 'NS': 1, 'VR': 2.5, 'VP': 0.0, 'DF': 3, 'NPING': 8, 'CH': 0, 'ALTI': 0, 'VR5': 2.5, 'BT': 0, 'DISV': 0, 'ECHO': 0, 'RAWALTI': 60, 'ALTISTART': 0.1, 'ALTIEND': 30.0, 'HR': 0, 'HR5': 0}, 'USER': {'POFF': 10.2, 'DECL': 0.0, 'HX': -48, 'HY': 48, 'HZ': 0}, 'INST': {'BR': 9600, 'RS': 232, 'LED': '"OFF"', 'ORIENT': '"AHRS3D"', 'CMTOUT': 300, 'DMTOUT': 60, 'CFMTOUT': 60}, 'COMPASSCAL': {'DX': 155, 'DY': 778, 'DZ': -486, 'M11': 31481, 'M12': 1726, 'M13': -1109, 'M21': -1955, 'M22': 32767, 'M23': 379, 'M31': 750, 'M32': -1851, 'M33': 31699}, 'READAHRS': 'STR="OSv6_a2_V5101_0.6 Oct 3 2019, SerialNumber=60004222,type=OS3DM"', 'RECSTAT': 'SS=512,CS=32768,FC=127813877760,TC=127848677376,VS=127848677376', 'BEAMCFGLIST': ['BEAM=1,THETA=25.00,PHI=0.00,FREQ=1000,BW=25,BRD=1,HWBEAM=1,ZNOM=60.00,DIA=0.0', 'BEAM=2,THETA=25.00,PHI=-90.00,FREQ=1000,BW=25,BRD=1,HWBEAM=2,ZNOM=60.00,DIA=0.0', 'BEAM=3,THETA=25.00,PHI=180.00,FREQ=1000,BW=25,BRD=1,HWBEAM=3,ZNOM=60.00,DIA=0.0', 'BEAM=4,THETA=25.00,PHI=90.00,FREQ=1000,BW=25,BRD=1,HWBEAM=4,ZNOM=60.00,DIA=0.0', 'BEAM=5,THETA=0.00,PHI=0.00,FREQ=1000,BW=25,BRD=1,HWBEAM=5,ZNOM=60.00,DIA=0.0'], 'BEAMIMPLIST': ['BEAM=1,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=2,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=3,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=4,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00', 'BEAM=5,P0=1.00000e+02,P1=0.00000e+00,P2=0.00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=0.00000e+00'], 'LISTLICENSE': ['KEY="C390Y1LU32C1B",DESC="Averaging Mode",TYPE=1', 'KEY="6F2UB3HTH2C1B",DESC="Burst Five Beams",TYPE=17', 'KEY="R0X9JSZPH2C1B",DESC="128GB Recorder",TYPE=14'], 'CALCOMPGET': 'DX=155,DY=778,DZ=-486,M11=31481,M12=1726,M13=-1109,M21=-1955,M22=32767,M23=379,M31=750,M32=-1851,M33=31699', 'CALTEMPGET': 'SC=0.99906', 'CALTILTGET': 'PO=0.00,RO=0.00,MAGG=1,HO=0.00', 'CALACCLGET': ['AX=1.000000E+00,B0X=1.791816E-02,B1X=-1.795970E-02,B2X=6.661898E-04,B3X=0.000000E+00,A1X=1.146936E-05,A2X=7.326843E-06,A3X=0.000000E+00', 'AY=1.000000E+00,B0Y=9.597497E-03,B1Y=-8.430577E-03,B2Y=9.310668E-04,B3Y=0.000000E+00,A1Y=7.215003E-05,A2Y=1.361528E-06,A3Y=0.000000E+00', 'AZ=1.000000E+00,B0Z=1.290458E-02,B1Z=2.959575E-02,B2Z=2.331257E-03,B3Z=0.000000E+00,A1Z=1.164268E-04,A2Z=-2.166612E-06,A3Z=0.000000E+00'], 'CALGYROGET': ['AX=1.094973E+00,B0X=-2.672331E+00,B1X=-1.493178E-03,B2X=9.496510E-05,B3X=0.000000E+00,A1X=2.702698E-04,A2X=8.100271E-05,A3X=0.000000E+00', 'AY=1.080807E+00,B0Y=3.432283E-01,B1Y=7.219538E-04,B2Y=1.416728E-04,B3Y=0.000000E+00,A1Y=9.466633E-04,A2Y=-4.216283E-05,A3Y=0.000000E+00', 'AZ=1.085556E+00,B0Z=-9.442614E-01,B1Z=6.433576E-04,B2Z=-1.306087E-05,B3Z=0.000000E+00,A1Z=1.430541E-03,A2Z=-7.494539E-05,A3Z=0.000000E+00'], 'CALPRESSGET': 'MT=1,RREF=4.5264760000e+02,RB0=7.7074756250e-01,RB1=-7.5541806250e-02,RB2=4.9886362500e-04,RB3=-1.4193179690e-07,T0=-2.4234620000e+03,T1=1.8815180000e+00,T2=-5.0111803130e-04,T3=4.7281500000e-08,ID="K244314"', 'CALPRESSCOEFFGET': ['A0=6.3850020000e+00,A1=-5.6274000000e-03,A2=1.6346411250e-06,A3=-1.6029240630e-10,B0=-2.6056009380e-01,B1=3.1699690630e-04,B2=-9.0774206250e-08,B3=8.5142393750e-12', 'C0=-1.2762860000e-03,C1=1.1561740000e-06,C2=-3.5109818750e-10,C3=3.5575718750e-14,D0=3.6002040630e-06,D1=-3.3359181250e-09,D2=1.0241850000e-12,D3=-1.0446648750e-16'], 'CALROTACCLGET': 'M11=0.99144,M12=0.00991,M13=-0.03081,M21=-0.00921,M22=0.99564,M23=0.01131,M31=0.03451,M32=-0.01242,M33=0.98426', 'CALROTGYROGET': 'M11=1.00000,M12=0.00803,M13=-0.02685,M21=-0.00933,M22=1.00000,M23=0.01646,M31=0.02587,M32=-0.01599,M33=1.00000', 'CALECHOGET': 'CHA0=0.00,CHB0=-17.69,CHC0=0.00'}
- inst_model :
- Signature1000
- inst_make :
- Nortek
- inst_type :
- ADCP
- rotate_vars :
- ['vel', 'accel', 'accel_b5', 'angrt', 'angrt_b5', 'mag', 'mag_b5']
- burst_config :
- {'press_valid': True, 'temp_valid': True, 'compass_valid': True, 'tilt_valid': True, 'vel': True, 'amp': True, 'corr': True, 'alt': False, 'alt_raw': False, 'ast': False, 'echo': False, 'ahrs': True, 'p_gd': False, 'std': False}
- n_cells :
- 28
- n_beams :
- 4
- ambig_vel :
- 5.066
- SerialNum :
- 101663
- cell_size :
- 0.5
- blank_dist :
- 0.1
- nominal_corr :
- 67
- power_level_dB :
- 0.0
- burst_config_b5 :
- {'press_valid': True, 'temp_valid': True, 'compass_valid': True, 'tilt_valid': True, 'vel': True, 'amp': True, 'corr': True, 'alt': False, 'alt_raw': False, 'ast': False, 'echo': False, 'ahrs': True, 'p_gd': False, 'std': False}
- n_cells_b5 :
- 28
- coord_sys_axes_b5 :
- beam
- n_beams_b5 :
- 1
- ambig_vel_b5 :
- 5.066
- SerialNum_b5 :
- 101663
- cell_size_b5 :
- 0.5
- blank_dist_b5 :
- 0.1
- nominal_corr_b5 :
- 65
- power_level_dB_b5 :
- 0.0
- wakeup_state :
- clock
- orientation :
- AHRS
- orient_status :
- AHRS-3D
- proc_idle_less_3pct :
- 0
- proc_idle_less_6pct :
- 0
- proc_idle_less_12pct :
- 0
- coord_sys :
- earth
- has_imu :
- 1
- h_deploy :
- 0.6
- declination :
- 15.8
- declination_in_orientmat :
- 1
- principal_heading :
- 11.1897
Calculate Speed and Direction
Two more variables not automatically provided that may be of interest are the horizontal velocity magnitude (speed) and its direction, respectively U_mag
and U_dir
. There are included as “shortcut” functions, and are accessed through the keyword velds
, as shown in the code block below. The full list of “shorcuts” are listed here.
Because of the way ADCP coordinate systems were established, when in ENU, U_dir
is in “degrees CCW from East” (aka “Cartesian angle”), as opposed to “degrees CW from North”, typical for navigation. The convert_degrees
function will transform from one to the other and vice versa, and is used below to save U_dir
in place.
[17]:
ds_avg['U_mag'] = ds_avg.velds.U_mag
ds_avg['U_dir'] = ds_avg.velds.U_dir
ds_avg['U_dir'].values = dolfyn.tools.misc.convert_degrees(ds_avg['U_dir'].values, tidal_mode=True)
Plotting
Plotting can be accomplished through the user’s preferred package. Matplotlib is shown here for simplicity, and flow speed and direction are plotted below with a blue line delineating the water surface level.
[18]:
%matplotlib inline
from matplotlib import pyplot as plt
import matplotlib.dates as dt
ax = plt.figure(figsize=(12,8)).add_axes([.14, .14, .8, .74])
# Plot flow speed
t = dolfyn.time.dt642date(ds_avg['time'])
plt.pcolormesh(t, ds_avg['range'], ds_avg['U_mag'], cmap='Blues', shading='nearest')
# Plot the water surface
ax.plot(t, ds_avg['depth'])
# Set up time on x-axis
ax.set_xlabel('Time')
ax.xaxis.set_major_formatter(dt.DateFormatter('%H:%M'))
ax.set_ylabel('Altitude [m]')
ax.set_ylim([0, 12])
plt.colorbar(label='Speed [m/s]')
[18]:
<matplotlib.colorbar.Colorbar at 0x1ac1e12a460>

[19]:
ax = plt.figure(figsize=(12,8)).add_axes([.14, .14, .8, .74])
# Plot flow direction
plt.pcolormesh(t, ds_avg['range'], ds_avg['U_dir'], cmap='twilight', shading='nearest')
# Plot the water surface
ax.plot(t, ds_avg['depth'])
# set up time on x-axis
ax.set_xlabel('Time')
ax.xaxis.set_major_formatter(dt.DateFormatter('%H:%M'))
ax.set_ylabel('Altitude [m]')
ax.set_ylim([0, 12]);
plt.colorbar(label='Horizontal Vel Dir [deg CW from true N]');

Saving and Loading DOLfYN datasets
Datasets can be saved and reloaded using the save
and load
functions. Xarray is saved natively in netCDF format, hence the “.nc” extension.
Note: DOLfYN datasets cannot be saved using xarray’s native ds.to_netcdf
; however, DOLfYN datasets can be opened using xarray.open_dataset
.
[20]:
# Uncomment these lines to save and load to your current working directory
#dolfyn.save(ds, 'your_data.nc')
#ds_saved = dolfyn.load('your_data.nc')