--- a/.hgignore
+++ b/.hgignore
@@ -1,11 +1,13 @@
#======================================================================
-# . H G R C
+# . H G I G N O R E
# doc: Tue May 15 18:38:20 2012
-# dlm: Tue May 15 18:38:20 2012
+# dlm: Thu May 7 12:51:58 2015
# (c) 2012 A.M. Thurnherr
-# uE-Info: 3 11 NIL 0 0 72 0 2 4 NIL ofnI
+# uE-Info: 13 0 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
syntax: glob
non_public/
+Makefile
+
new file mode 100644
--- /dev/null
+++ b/Documentation/README
@@ -0,0 +1,83 @@
+======================================================================
+ R E A D M E
+ doc: Tue May 15 18:10:40 2012
+ dlm: Thu May 7 13:02:10 2015
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 78 38 NIL 0 0 72 3 2 8 NIL ofnI
+======================================================================
+
+This directory contains a re-implementation of the shear method for
+LADCP velocity processing, written and copyrighted by A.M. Thurnherr;
+the appropriate reference is Thurnherr [J. Tech., 2012, DOI:
+10.1175/JTECH-D-11-00158.1].
+
+Essentially, the software is a re-implementation of the shear method
+for LADCP velocity processing. Data editing borrows heavily from Eric
+Firing's c/Matlab/perl code that was used extensively during the later
+stages of the WOCE. However, some of the algorithms were simplified.
+In particular,
+
+1) a much simpler gridding algorithm is used, and
+2) there is no support for using GPS data for velocity referencing.
+
+In regions of good scattering, the shear output from this software when
+applied to data collected with current RDI instruments can be expected
+to be very similar to the corresponding output from Eric's code with
+PPI editing disabled, except that the high wavenumbers are considerably
+less damped in this re-implementation (see Thurnherr [2012]). In
+regions of bad scattering, this software simply leaves gaps in the
+shear profiles whereas Eric's code uses a low-pass filtered version of
+the shear to interpolate across gaps in the high-resolution profiles.
+
+While this software can be used to integrate LADCP shear data
+vertically to calculate velocity profiles, velocity referencing must be
+done with a single partial-depth velocity profile (e.g. from BT or
+SADCP data). While the resulting profiles of absolute ocean velocity
+are useful and very easily obtainable "first guesses", much better
+profiles can typically be obtained by applying multiple simultaneous
+referencing constraints with the the Shear Inversion method [Thurnherr,
+J. Tech., 2010; DOI: 10.1175/2010JTECHO708.1].
+
+THIS SOFTWARE CAN BE FREELY USED AND COPIED FOR EDUCATIONAL OR OTHER
+NOT-FOR-PROFIT PURPOSES.
+
+Currently, limited documentation is provided in the following set of
+files:
+
+[README] This overview
+
+[README.Install] Software installation instructions
+
+[README.ProcessData] A HowTo for obtaining shear, as well as relative
+ and absolute velocity profiles from CTD/LADCP
+ data
+
+[README.TimeLagging] The most common problem encountered during
+ processing of CTD/LADCP data with this software
+ is failure of the CTD/LADCP time-lagging
+ routine. This Readme provides additional
+ information and tips for how to solve
+ time-lagging problems.
+
+[README.Output] A description of the various files produced by
+ this software
+
+[README.PostEdit] A HowTo for post-editing shear with different
+ statistics, e.g. to filter data collected with
+ the ADCP very close to the surface, where the
+ ship's magnetic field can degrade the compass
+ data. Also describes how the shear data can be
+ gridded with statistics other than simple
+ arithmetic mean.
+
+[README.YoYo] Notes on how to process data from "non-standard"
+ casts, such as yoyo's and tow-yo's.
+
+[Slocum-Explorer_HowTo.pdf] Cookbook describing how to process
+ velocity data collected with Explorer ADCPs on
+ Slocum gliders
+
+NOTE: Most of the source files use a hard tab of 4 spaces, i.e. they
+can be viewed correctly, e.g. with "less -x4".
+
+
new file mode 100644
--- /dev/null
+++ b/Documentation/README.Install
@@ -0,0 +1,47 @@
+======================================================================
+ R E A D M E . I N S T A L L
+ doc: Tue May 15 18:42:56 2012
+ dlm: Fri Jun 15 07:36:52 2012
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 46 67 NIL 0 0 72 3 2 4 NIL ofnI
+======================================================================
+
+=Processing Software=
+
+The re-implemented shear method is written entirely in perl and requires
+the following sub-modules to be installed:
+
+ADCP_tools a set of tool and libraries to deal with RDI BB ADCP data;
+ available via link from http://www.ldeo.columbia.edu/LADCP
+
+ANTSlib a library for dealing with the ANTS ASCII file format;
+ available via link from http://www.ldeo.columbia.edu/LADCP
+
+LADCPproc this software; available via link from
+ http://www.ldeo.columbia.edu/LADCP
+
+The code runs with version 5.12.4 of perl or later but it may well work
+with older versions, too. It is recommended that these three modules are
+installed in three separate directories.
+
+In addition to the core modules listed above, the software also
+requires Eric Firing's geomag code (written in c) that is available
+from http://currents.soest.hawaii.edu/hg.
+
+The only step required to set up the software is to add the directories
+of the ADCP_tools, ANTSlib, LADCPproc, and geomag to the search path ---
+refer to the manual of your shell on how to accomplish this.
+
+To test correct setup of the software, simply call [LADCPproc] in the
+directory where you intend to process the LADCP data. If the software
+has been correctly installed, the usage of [LADCPproc] will be
+produced.
+
+
+=Matlab Interface=
+
+As described in [README.Output], all output produced by this software is
+in a proprietary ASCII format called ANTS. In order to import/export
+ANTS files into/from Matlab the module Matlab_tools is required. This,
+too, is available via link from http://www.ldeo.columbia.edu/LADCP.
+
new file mode 100644
--- /dev/null
+++ b/Documentation/README.Output
@@ -0,0 +1,77 @@
+======================================================================
+ R E A D M E . O U T P U T
+ doc: Tue May 15 19:17:50 2012
+ dlm: Fri Jun 15 07:39:19 2012
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 44 0 NIL 0 0 72 3 2 8 NIL ofnI
+======================================================================
+
+This README describes the output produced by [LADCPproc] and
+[LADCPintsh].
+
+
+=File Format and Interface with Matlab=
+
+All output files produced by [LADCPproc] and [LADCPintsh] are in a
+proprietary undocumented ASCII format, called ANTS. To important and
+export ANTS files into and from Matlab, the Matlab_tools are required
+(see [README.Install]).
+
+To import the ANTS file <013DL.sh> into Matlab, use
+
+ sh = loadANTS('013DL.sh');
+
+The resulting structure will contain Metadata as scalars and the data
+from each field in a suitably named vector.
+
+To export the suitable Matlab structure <binned_sh> as the ANTS file
+<013DL.shprof>, use
+
+ struct2ANTS(binned_sh,'013DL.sh','013DL.shprof');
+
+The second argument defines a dependency (the file <013DL.shprof> should
+be re-made when <013DL.sh> changes).
+
+
+=[LADCPproc] Output=
+
+The STDOUT of [LADCPproc] consists of a list of all shear samples ---
+essentially a time-depth-series (.tds) of shear values. If this output
+is not required, STDOUT can be redirected to /dev/null.
+
+The STDERR of [LADCPproc] consists of the diagnostic output. This output
+should be captured into a log file. This is much easier with standard
+(bash, Korn, Bourne) shells than with csh derivates.
+
+Additional output is produced with the following options:
+
+ -p write a binned shear profile file that can be fed
+ directly to [LADCPintsh] to create a relative
+ (baroclinic) velocity profile
+
+ -b write a bottom-track file that can be fed directly to
+ [LADCPintsh] (-r option) to reference the baroclinic
+ velocity profile
+
+ -t write a time-series file, which is useful primarily for
+ diagnosing problems with the time-lagging of CTD and
+ LADCP data
+
+ -f write a file with all the velocity editing flags
+
+ -a write a .dts file of the acoustic backscatter
+
+ -k write bottom track profiles (as a single file)
+
+
+=[LADCPintsh] Output=
+
+The STDOUT of [LADCPintsh] consists of a velocity profile created from
+the vertically integrated shear and possibly referenced by an external
+velocity profile.
+
+The STDERR of [LADCPintsh] consists of minimal diagnostic output.
+
+On -s, additionally the shear profile is written to a file just before
+integration. This is primarily useful for combining shear data from
+down- and uplooking ADCPs.
new file mode 100644
--- /dev/null
+++ b/Documentation/README.PostEdit
@@ -0,0 +1,95 @@
+======================================================================
+ R E A D M E . P O S T E D I T
+ doc: Wed Jun 13 20:30:10 2012
+ dlm: Thu Jun 14 18:22:13 2012
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 95 50 NIL 0 0 72 3 2 8 NIL ofnI
+======================================================================
+
+=Summary=
+
+This README explains how to post-edit the shear output from b[LADCPproc]
+before feeding it to [LADCPintsh], e.g. for removing data collected when
+the ADCP was very shallow and possibly affected by the ship's magnetic
+field.
+
+
+=Nitty-Gritty=
+
+The default output from [LADCPproc] is a so-called time-depth-series
+(.tds) file with one record per valid shear sample. Each record
+contains the following fields:
+
+ens ensemble number the shear sample is from
+elapsed elapsed time in seconds of the present ensemble
+CTD_depth depth of CTD at the time the ensemble was recorded
+downcast a boolean flag set to 1 (nan) for down(up)cast records
+depth "nominal" depth of shear sample (center depth in gridded profile)
+u_z vertical shear of zonal velocity
+v_z vertical shear of meridional velocity
+w_z vertical shear of vertical velocity
+
+This is the "general" output of [LADCPproc]. For standard processing,
+the shear is bin-averaged in depth space. While this can easily be
+accomplished, e.g. with a Matlab script, for convenience the binned
+output can be requested with the -p option of [LADCPproc]. The binned
+output cannot be post-edited!
+
+The .tds data can be post-edited. Matlab users can import these files
+with [loadANTS.m] (see [README.Output]), edit the structures, bin the
+shear in depth space, and export the new structures as ANTS files with
+[struct2ANTS.m]. For example, to remove all data collected with the
+ADCP shallower than 5m, simply delete the records for which CTD_depth
+<= 5. Or, you can bin your shear data with different statistics (e.g.
+median), instead of the arithmetic mean used by [LADCPproc] -p.
+
+Inconveniently, [LADCPintsh] at present requires its shear input to be
+in the format generated by the -p option of [LADCPproc], with the
+following fields (Matlab version):
+
+depth center depth of bin
+dc_elapsed mean elapsed time of downcast shear samples in present bin
+dc_nsamp number of downcast shear samples in bin
+dc_u_z bin-averaged downcast vertical shear of zonal velocity
+dc_u_z_sig corresponding standard deviation
+dc_v_z same for meridional velocity
+dc_v_z_sig
+dc_w_z same for vertical velocity
+dc_w_z_sig
+uc_elapsed mean elapsed time of upcast shear samples in present bin
+uc_nsamp number of upcast shear samples in bin
+uc_u_z bin-averaged upcast vertical shear of zonal velocity
+uc_u_z_sig corresponding standard deviation
+uc_v_z same for meridional velocity
+uc_v_z_sig
+uc_w_z same for vertical velocity
+uc_w_z_sig
+elapsed mean elapsed time of mean dn/upcast shear samples in present bin
+nsamp number of mean dn/upcast shear samples in bin
+u_z bin-averaged mean dn/upcast vertical shear of zonal velocity
+u_z_sig corresponding standard deviation
+v_z same for meridional velocity
+v_z_sig
+w_z same for vertical velocity
+w_z_sig
+Sv bin-averaged acoustic volume scattering coefficient
+Sv.nsamp number of samples in bin
+
+Note that the .tds file does not contain acoustic backscatter
+information, i.e. the Sv field should be set to nan and the Sv.nsamp to
+zero.
+
+After binning the shear data, Matlab users can create a structure with
+the fields listed above. Metadata (scalars in the .tds import
+structure) should be copied verbatim from the .tds import structure.
+Each of the listed fields is a vector and they must all have the same
+length. (Since the down- and upcasts do not usually cover exactly the
+same depth range, padding is almost always required.) The resulting
+structure can then be exported with [struct2ANTS.m]; the 'dependencies'
+argument should be set to the filename(s) of the .tds file(s) from
+which the binned shear profile was constructed.
+
+The only option for non-Matlab users is to create an ASCII file with
+the required columns (nan values are permitted) in the order listed
+above and prepend this with the header from the corresponding
+[LADCPproc] output file produced by the -p option.
new file mode 100644
--- /dev/null
+++ b/Documentation/README.ProcessData
@@ -0,0 +1,158 @@
+======================================================================
+ R E A D M E . P R O C E S S D A T A
+ doc: Tue May 15 18:49:00 2012
+ dlm: Fri Jul 12 12:07:38 2013
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 118 71 NIL 0 0 72 75 2 8 NIL ofnI
+======================================================================
+
+=Overview=
+
+This README describes how to obtain profiles of vertical shear and
+velocity from CTD/LADCP data. It assumes that all of the required
+software has been installed (see [README.Install]).
+
+The re-implemented shear method software provides two commands:
+
+[LADCPproc] This utility produces LADCP shear data from a raw ADCP
+ data file and the corresponding CTD time series.
+ Additionally, it can create profiles of acoustic
+ backscatter, as well as BT-referenced velocity
+ profiles near the seabed from downlooking ADCPs.
+
+[LADCPintsh] This utility produces profiles of horizontal velocity
+ from the [LADCPproc] shear output. BT profiles (from
+ [LADCPproc] or from the LDEO_IX inversion software) or
+ SADCP profiles (manually constructed) can be used to
+ reference the velocity profiles.
+
+For non-standard processing, the shear output from [LADCPproc] can be
+post-edited before gridding, e.g. in order to filter data collected at
+very shallow depths when the ADCP may be affected by the magnetic field
+of the surface vessel (see [README.PostEdit] for details).
+
+
+=DATA REQUIREMENTS=
+
+ADCP DATA: The software reads binary RDI BB ADCP files from both down-
+and upward-looking ADCPs. Clock setting of the ADCP is not important.
+
+CTD DATA: LADCP processing requires a CTD-derived time series of
+pressure, temperature and salinity. Optionally, it is recommended that
+an elapsed time field is supplied. A time resolution of 1Hz is
+recommended. The software is capable of reading both binary and ASCII
+SeaBird .cnv files with lat/lon information in the header and with the
+following fields: timeS, prDM, t090C and/or t190C, sal00 and/or sal11.
+Alternatively, the CTD time series can be supplied as an arbitrary
+headerless ASCII CTD file with the same information, as described in
+[LADCPproc.defaults].
+
+
+=CALCULATE LADCP SHEAR PROFILE=
+
+The following simple example shows how to create separate shear profiles
+from an upward- and a downward-looking ADCP, as well as a BT-referenced
+velocity profile near the seabed:
+
+Input files:
+ 001DL000.000 downlooker ADCP file
+ 001UL000.000 uplooker ADCP file
+ 001.cnv CTD file
+
+LADCPproc -p 001DL.sh -b 001.BT 001DL000.000 001.cnv > /dev/null
+ - this example creates two files, 001DL.sh (shear profiles) and
+ 001.BT (bottom-track data)
+ - the default output (STDOUT) from [LADCPproc] is a list of
+ valid shear samples, which is ignored (sent to /dev/null) in
+ this example
+ - it is recommended that the diagnostic output (STDERR) is
+ captured in a log file; refer to the manual of your shell on
+ how to accomplish this
+
+LADCPproc -p 001UL.sh 001UL000.000 001.cnv > /dev/null
+ - this example creates one file, 001UL.sh (shear profiles)
+
+
+In this simple example, processing is carried out with standard
+parameters. Some of the important parameters can be modified with
+[LADCPproc] options, which are listed when [LADCPproc] is ran without
+input parameters. The following are the most important [LADCPproc]
+options:
+ -d generate diagnostic output (recommended)
+ -r use RDI BT data instead of echo amplitudes to find
+ seabed and determine CTD velocity
+ -o <dz> output grid resolution (defaults to 5m)
+ -p <shearprof> generate shear profile output
+ -b <btm_track> generate BT output
+ -s <setup_file> read additional non-default processing parameters
+ from <setup_file>
+
+However, there are many more processing parameters than can be modified
+with options --- a full list with comments can be found in
+[LADCPproc.defaults]. To change any of the default parameter values,
+create a perl-file with variable assignments (see [LADCPproc.defaults]
+for syntax) and use the -s <setup_file> option in [LADCPproc].
+
+
+=CALCULATE LADCP VELOCITY PROFILE=
+
+Given the output from the above steps, different full-depth velocity
+profiles can be produced as follows:
+
+LADCPintsh 001DL.sh > 001DL.bc
+ - this creates baroclinic (zero vertical mean) velocity profile
+ from the DL shear data
+
+LADCPintsh -r 001.BT 001DL.sh > 001DL.vel
+ - this creates a BT-referenced absolute velocity profile from
+ the DL shear data
+
+LADCPintsh -r 001.BT 001UL.sh > 001UL.vel
+ - this creates a BT-referenced absolute velocity profile from
+ the UL shear and the DL BT data
+ - note that no -u is required in this case!
+
+LADCPintsh -r 001.BT -u 001UL.sh 001DL.sh > 001.vel
+ - this creates a BT-referenced absolute velocity profile from
+ the combined DL/UL shear data
+ - note that -u is only required if both UL and DL data are used
+
+It is also possible to use SADCP data to reference the velocity
+profiles, although it is up to the user to create an input data file
+in one of the supported formats. Note that it is *not* possible to use
+multiple simultaneous referencing constraints with [LADCPintsh].
+
+The following are common [LADCPintsh] options:
+ -u use uplooker shear (in addition to downlooker,
+ which is always used)
+ -r <file> use reference-velocity data to reference baroclinic
+ velocity profiles; the following file formats
+ are supported 1) bottom-track output produced by
+ the -b option of [LADCPproc], 2) bottom-track
+ output produced by the LDEO processing software
+ (.bot files). SADCP data can be used, too, but
+ they have to be supplied in one of the two
+ supported file formats.
+ -n <samp> set minimum number of shear samples to use
+ -m <samp> set minimum BT samples to use
+
+
+=QUALITY CHECKS=
+
+After processing, the quality of the resulting profiles must be
+assessed. The following steps are recommended:
+
+1) Compare the down- and up-cast profiles of velocity. Vertical
+velocity is particularly useful in this context as problematic casts
+often show a striking "X" pattern.
+
+2) Inspect the standard deviation profiles of the binned shear and
+determine (by comparison with similar data) whether the standard
+deviations have the correct magnitude.
+
+3) Calculate and compare independent solutions from the uplooker and
+downlooker data. This will only validate the baroclinic velocities (i.e.
+the vertical shear).
+
+4) Compare to velocity profiles calculated with different software (e.g.
+with the LDEO_IX velocity inversion code).
new file mode 100644
--- /dev/null
+++ b/Documentation/README.TimeLagging
@@ -0,0 +1,106 @@
+======================================================================
+ R E A D M E . T I M E L A G G I N G
+ doc: Fri Oct 19 10:08:19 2012
+ dlm: Fri Oct 19 12:13:59 2012
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 106 0 NIL 0 0 72 3 2 8 NIL ofnI
+======================================================================
+
+=Introduction=
+
+In order to derive velocity profiles the data from the CTD and LADCP
+instruments need to be merged. This is accomplished by calculating lag
+correlations between the two corresponding time series of vertical
+velocities calculated from the two instruments. In this software, the
+time lagging is accomplished WITHOUT regard of the clock time reported
+by the instruments, i.e. the instrument clocks do not have to be
+synchronized. Instead of clock time, elapsed time in seconds is used. In
+case of the CTD data, an elapsed time field can be supplied by the user
+(see [README.ProcessData]); in case of the LADCP data, the
+"elapsed-time" field is calculated by the software. The "elapsed-time"
+fields in the processing output are always consistent with the CTD
+elapsed times. While the time-lagging algorithm implemented in the
+software is fairly robust, it has been known to fail. Possible reasons
+include:
+
+1) CTD PRESSURE SPIKES. Significant pressure spikes must be removed
+prior to processing, *without* adding or removing CTD time-series
+records.
+
+2) LACK OF SURFACE VESSEL MOTION. If there is no surface-wave motion
+affecting the vessel, time lagging is much more difficult. In rare
+cases, time lagging must be carried out manually (see below).
+
+3) MISSING CTD SCANS. For SeaBird 911 systems, if the connection
+between the CTD and the deck box is not clean CTD scans will be
+dropped. For the software, this looks like the CTD clock running faster
+than the ADCP clock. There are cases where the CTD clock appears to
+have gained more than 5 seconds during a 2000m-deep cast.
+
+4) MULTIPLE CTD FILES. When CTD acquisition is restarted during a cast,
+multiple files are created. In order to process the LADCP data from such
+a cast, a CTD time-series file without any missing records must be
+constructed manually.
+
+
+=Solving Time-Lagging Problems=
+
+While there are several run-time options that can be used to help the
+time-lagging algorithm, detailed knowledge of the algorithm is required
+to understand when and how to use these options, i.e. the user is
+referred to the code and comments in [LADCPproc.bestLag]. However, the
+following method can always be used to solve time-lagging problems, as
+long as the CTD time series does not have any gaps.
+
+
+-Step 1: Produce and Plot a Combined CTD/LADCP Time-Series File-
+
+This is accomplished by processing the data with the "-l 0" option and
+using "-t <time-series file>" to produce the file. Plot the resulting
+time series of CTD_w and LADCP_w in the same panel. The plot should
+show immediately whether there are problems with the CTD pressure data
+(spikes). Often, standard processing works after setting any bad
+pressure values to nan.
+
+
+-Step 2: Manually Determine an Approximate Time Lag-
+
+Use the output file generated in step 1 to determine how many seconds
+have to be added to the elapsed field when plotting LADCP_w to bring
+the two time series into approximate (a few seconds accuracy)
+agreement. Often, the data can now be processed normally by using "-i
+<estimated lag>".
+
+
+-Step 3: Manually Determine an Accurate Time Lag-
+
+If preprocessing with the -i option still does not succeed, time lagging
+must be carried out manually. If this happens, there is most likely a
+serious problem with either the CTD or LADCP data that should be solved
+before proceeding. This is done exactly as in step 2 but to higher
+accuracy (as high as you can). Once the best lag has been determined
+manually, the data can be reprocessed with the "-l <manually determined
+lag>" option.
+
+
+After solving any time-lagging problems the results should be checked by
+creating a time-series file (with -t) during final processing and
+overplotting the LADCP_w and CTD_w time series. If there is still a
+visible lag between the time series time lagging was not carried out
+correctly.
+
+
+=Patching Together CTD Time-Series Files=
+
+The LADCP processing software requires the CTD data to be supplied as a
+single time series file with a constant sampling interval. When CTD
+data acquisition is restarted during a cast, multiple files are
+produced. The resulting files cannot simply be pasted together because
+the resulting time series would have gaps. The only way to solve this
+problem is to determine separate time lags for each of the CTD files
+manually (using the method described above). The difference between the
+resulting time lags is equal to the length of the gap between the two
+files. The user can now create a dummy (all fields set to nan) CTD file
+with required number of records that must be added between the CTD
+files to create a single continuous regularly-space time series.
+Fractional seconds can be ignored.
new file mode 100644
--- /dev/null
+++ b/Documentation/README.YoYo
@@ -0,0 +1,74 @@
+======================================================================
+ R E A D M E . Y O Y O
+ doc: Fri Aug 10 07:07:59 2012
+ dlm: Fri Oct 19 11:05:29 2012
+ (c) 2012 A.M. Thurnherr
+ uE-Info: 56 0 NIL 0 0 72 3 2 8 NIL ofnI
+======================================================================
+
+=Overview=
+
+This README contains notes on how to process data from non-standard
+casts, such as yo-yos (consecutive down-up casts collected at a given
+location without restarting the instruments) and tow-yos (yo-yos
+carried out while vessel is in slow motion).
+
+Processing of yo-yo and tow-yo data requires the following two steps:
+ 1. Split the data files into individual down-upcast pairs
+ 2. Process the resulting files as described in [README.ProcessData]
+
+It is important to note that yo-yo and tow-yo casts can be full depth
+(i.e. between the sea surface and the sea bed) or partial-depth. If
+absolute velocities (rather than just vertical shear) are required for
+partial-depth casts, the user must make sure that there are either BT
+data or SADCP data available for velocity referencing of each
+down-upcast pair. Essentially this means that each down-upcast pair
+must extend down to near the seabed or up into the depth range where
+SADCP data are available.
+
+
+=Step 1: Splitting the Data Files=
+
+Both data files must be split between individual down-upcast pairs, i.e.
+whenever the CTD winch switches from up to down.
+
+CTD DATA: First, find the CTD splitting times by plotting depth vs.
+elapsed time. Then, split the CTD data into separate files using any
+text editor. If SeaBird CNV files are use, the same header can be used
+for all output files.
+
+ADCP DATA: There is an ADCP file splitting utility for M$ Windows
+provided by RDI. Alternatively, the length of each ensemble can be read
+from the binary ADCP files and the UN*X utilities "split -b" and "cat"
+can be used to split the files into the required chunks.
+
+
+=Step 2: Processing the Split Data Files=
+
+The split data files, each containing data from exactly one consecutive
+down- and up-cast, can be processed exactly as described in
+[README.ProcessData]. If the CTD time-series data used during
+processing has an "elapsed-time" field all output elapsed times are
+consistent with this input, i.e. the elapsed times of the output casts
+are relative to the beginning of the entire yo-yo or tow-yo cast.
+Otherwise, every down-/up-cast pair gets its own elapsed-time field.
+
+Usually, in standard LADCP processing the velocity data from the down-
+and upcast are combined. While this smears out any information on the
+temporal variability of the velocity field during the cast, down- and
+upcast only profiles are necessarily derived from much fewer samples
+and, therefore, associated with considerably larger uncertainties and
+errors. It has been found, in particular, that the top-to-bottom shear
+in down-/upcast-only profiles is often quite bad. In the context of
+partial-depth yo-yo and tow-yo profiles the severity of this problem
+can be evaluated by comparing two consecutive velocity profiles at
+their "unconstrained" end. E.g., in case of a partial-depth yo-yo near
+the seabed, i.e. constrained with BT data, the uppermost portion of the
+first upcast can be compared to the uppermost portion of the 2nd
+downcast, etc. If the errors are found to be unacceptably high, the
+velocity profiles from the combined down-/upcast data should be used
+instead. Alternatively, multiple simultaneous velocity referencing
+constraints can be applied, e.g. using the shear-inversion method
+described by Thurnherr (JAOT 2010).
+
+
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new file mode 100644
--- /dev/null
+++ b/Documentation/TODO
@@ -0,0 +1,58 @@
+======================================================================
+ T O D O
+ doc: Thu Oct 14 09:15:02 2010
+ dlm: Wed Jun 15 15:16:20 2011
+ (c) 2010 A.M. Thurnherr
+ uE-Info: 40 0 NIL 0 0 72 3 2 4 NIL ofnI
+======================================================================
+
+=LADCPintsh=
+
+- determine what constitutes a gap
+- look into cross-gap shear integration
+
+
+=LADCPproc=
+
+- allow setting of GRID_DZ (-o) in ProcessingParams
+
+- add warnings:
+ - wide band
+ - CTD_W_BIT (ambiguity velocity)
+ - bad time match
+ - seabed not found
+ - inconsistent water depth
+
+- add diagnostic plots
+
+- output shear vals to make histograms
+
+- try median instead of mean for shear binning
+
+- add pitch/roll to BT
+
+- check interaction between 3-beam solutions and correlation limit
+
+- implement TILT_BIT (others?)
+
+- calculate real acoustic backscatter profile
+ - currently, profiles are arbitarily calculated from bins 3-9
+
+- clean up LADCPproc.UHcode:
+ - remove weirdnesses
+ - avoid multiple calculation of &depthOfBin()
+ - improve "staging":
+ 1) basic velocity editing (BADVEL, ERRVEL, CORREL) NB: before
+ beam-to-Earth transformation!!!
+ 2) ref-lr w (also handle W_BIT editing?)
+ 3) integrate w to get z_approx
+ 4) match LADCP to CTD time series
+ 5) make accoustic backscatter profile
+ 6) find seabed
+ 7) sidelobe & PPI editing
+ 8) ref-lr u,v,w
+ 9) WAKE editing
+ 10) SHEAR editing
+ 11) ref-lr u,v,w
+
+- re-add time-series calculation
deleted file mode 100644
--- a/HISTORY
+++ /dev/null
@@ -1,62 +0,0 @@
-======================================================================
- H I S T O R Y
- doc: Tue May 15 18:04:39 2012
- dlm: Sun Jul 27 16:21:46 2014
- (c) 2012 A.M. Thurnherr
- uE-Info: 61 7 NIL 0 0 72 3 2 8 NIL ofnI
-======================================================================
-
-May 15, 2012:
- - V1.0beta [.hg/hgrc]
- - began history
- - uploaded current version to server for use with first version
- of re-implemented shear method
-
-May 16, 2012:
- - V1.0beta2 [.hg/hgrc]
- - added ANTSlib to doc
-
-May 16, 2012:
- - V1.0beta3 [.hg/hgrc]
- - bug fixes for shallow casts [LADCPproc.backscatter]
- - added support for -r)DI BT data
-
-May 17, 2012:
- - V1.0beta4 [.hg/hgrc] [LADCPproc.version]
- - minor improvements
- - relaxation of profile-depth consistency check [LADCPproc]
-
-May 18, 2012:
- - V1.0beta5 [.hg/hgrc] [LADCPproc.version]
- - fixed bug in [LADCPproc.bestLag] (windowing was off)
- - reduced implausibly short cast threshold from 10 to 5 mins
-
-May 25, 2012:
- - V1.0beta6 [.hg/hgrc] [LADCPproc.version]
- - added code to allow reading LDEO_IX BT data to [LADCPintsh]
-
-Jun 13-15, 2012:
- - V1.0beta7 [.hg/hgrc] [LADCPproc.version]
- - added CTD_depth to [LADCPproc] default output (.tds)
- - wrote [README.PostEdit]
- - in [LADCPintsh] renamed -b to -r
- - major work on documentation [README]
-
-Aug 10, 2012:
- - added [README.YoYo]
-
-Oct 19, 2012:
- - V1.0beta8 [.hg/hgrc] [LADCPproc.version]
- - fixed bugs in [LADCPproc.loadCTD] [LADCPproc.bestLag]
- - added [README.TimeLagging]
- - updated docu
-
-Jul 12, 2013:
- - V1.1 [.hg/hgrc] [LADCPproc.version]
- - various improvements
- - DEFAULT VALUES PREVENTS EXTRACTION OF BT DATA
-
-Aug 6, 2013:
- - V1.2 [.hg/hgrc] [LADCPproc.version]
- - bug fixed in [LADCPproc.defaults]
-
--- a/LADCPproc
+++ b/LADCPproc
@@ -2,9 +2,9 @@
#======================================================================
# L A D C P P R O C
# doc: Thu Sep 16 20:36:10 2010
-# dlm: Tue Aug 5 14:39:26 2014
+# dlm: Fri Mar 6 19:02:59 2015
# (c) 2010 A.M. Thurnherr
-# uE-Info: 410 82 NIL 0 0 72 10 2 4 NIL ofnI
+# uE-Info: 116 0 NIL 0 0 72 10 2 4 NIL ofnI
#======================================================================
# NOTES:
@@ -104,11 +104,15 @@
# - added -v to allow calculation of package velocity
# Aug 5, 2014: - BUG: (bad one, too): ref_lr_w called from mk_prof had edited some of the
# horizontal velocity data, which were nevertheless used later on!!!
+# Mar 6, 2015: - adapted to ANTS V6 (library versioning)
($ANTS) = (`which ANTSlib` =~ m{^(.*)/[^/]*$});
($PERL_TOOLS) = (`which mkProfile` =~ m{^(.*)/[^/]*$});
($LADCPPROC) = ($0 =~ m{^(.*)/[^/]*$});
+$antsSummary = "$version -- process LADCP data to get shear, time series";
+$antsMinLibVersion = 6.0;
+
require "$ANTS/ants.pl";
require "$ANTS/libEOS83.pl";
require "$ANTS/libstats.pl";
@@ -125,8 +129,6 @@
$ANTSLIBS = $LADCPPROC; # for -L libraries
-$antsSummary = "$version -- process LADCP data to get shear, time series";
-
$antsParseHeader = 0;
&antsUsage('24a:b:c:df:g:i:kl:n:o:p:rs:t:u:v:w:z',2,
'[use -2)dary CTD sensor pair]',
--- a/LADCPproc.version
+++ b/LADCPproc.version
@@ -1,9 +1,9 @@
#======================================================================
# L A D C P P R O C . V E R S I O N
# doc: Thu May 17 07:18:44 2012
-# dlm: Tue Aug 6 20:58:33 2013
+# dlm: Thu May 7 12:55:59 2015
# (c) 2012 A.M. Thurnherr
# uE-Info: 9 16 NIL 0 0 72 0 2 4 NIL ofnI
#======================================================================
-$version = 'V1.2';
+$version = 'V1.3';
deleted file mode 100644
--- a/README
+++ /dev/null
@@ -1,79 +0,0 @@
-======================================================================
- R E A D M E
- doc: Tue May 15 18:10:40 2012
- dlm: Sat Mar 16 13:27:24 2013
- (c) 2012 A.M. Thurnherr
- uE-Info: 18 14 NIL 0 0 72 3 2 8 NIL ofnI
-======================================================================
-
-This directory contains a re-implementation of the shear method for
-LADCP velocity processing, written and copyrighted by A.M. Thurnherr;
-the appropriate reference is Thurnherr [J. Tech., 2012, DOI:
-10.1175/JTECH-D-11-00158.1].
-
-Essentially, the software is a re-implementation of the shear method
-for LADCP velocity processing. Data editing borrows heavily from Eric
-Firing's c/Matlab/perl code that was used extensively during the later
-stages of the WOCE. However, some of the algorithms were simplified.
-In particular,
-
-1) a much simpler gridding algorithm is used, and
-2) there is no support for using GPS data for velocity referencing.
-
-In regions of good scattering, the shear output from this software when
-applied to data collected with current RDI instruments can be expected
-to be very similar to the corresponding output from Eric's code with
-PPI editing disabled, except that the high wavenumbers are considerably
-less damped in this re-implementation (see Thurnherr [2012]). In
-regions of bad scattering, this software simply leaves gaps in the
-shear profiles whereas Eric's code uses a low-pass filtered version of
-the shear to interpolate across gaps in the high-resolution profiles.
-
-While this software can be used to integrate LADCP shear data
-vertically to calculate velocity profiles, velocity referencing must be
-done with a single partial-depth velocity profile (e.g. from BT or
-SADCP data). While the resulting profiles of absolute ocean velocity
-are useful and very easily obtainable "first guesses", much better
-profiles can typically be obtained by applying multiple simultaneous
-referencing constraints with the the Shear Inversion method [Thurnherr,
-J. Tech., 2010; DOI: 10.1175/2010JTECHO708.1].
-
-THIS SOFTWARE CAN BE FREELY USED AND COPIED FOR EDUCATIONAL OR OTHER
-NOT-FOR-PROFIT PURPOSES.
-
-Currently, limited documentation is provided in the following set of
-README files:
-
-[README] This overview
-
-[README.Install] Installation instructions
-
-[README.ProcessData] A HowTo for obtaining shear, as well as relative
- and absolute velocity profiles from CTD/LADCP
- data
-
-[README.TimeLagging] The most common problem encountered during
- processing of CTD/LADCP data with this software
- is failure of the CTD/LADCP time-lagging
- routine. This Readme provides additional
- information and tips for how to solve
- time-lagging problems.
-
-[README.Output] A description of the various files produced by
- this software
-
-[README.PostEdit] A HowTo for post-editing shear with different
- statistics, e.g. to filter data collected with
- the ADCP very close to the surface, where the
- ship's magnetic field can degrade the compass
- data. Also describes how the shear data can be
- gridded with statistics other than simple
- arithmetic mean.
-
-[README.YoYo] Notes on how to process data from "non-standard"
- casts, such as yoyo's and tow-yo's.
-
-NOTE: Most of the source files use a hard tab of 4 spaces, i.e. they
-can be viewed correctly, e.g. with "less -x4".
-
-
deleted file mode 100644
--- a/README.Install
+++ /dev/null
@@ -1,47 +0,0 @@
-======================================================================
- R E A D M E . I N S T A L L
- doc: Tue May 15 18:42:56 2012
- dlm: Fri Jun 15 07:36:52 2012
- (c) 2012 A.M. Thurnherr
- uE-Info: 46 67 NIL 0 0 72 3 2 4 NIL ofnI
-======================================================================
-
-=Processing Software=
-
-The re-implemented shear method is written entirely in perl and requires
-the following sub-modules to be installed:
-
-ADCP_tools a set of tool and libraries to deal with RDI BB ADCP data;
- available via link from http://www.ldeo.columbia.edu/LADCP
-
-ANTSlib a library for dealing with the ANTS ASCII file format;
- available via link from http://www.ldeo.columbia.edu/LADCP
-
-LADCPproc this software; available via link from
- http://www.ldeo.columbia.edu/LADCP
-
-The code runs with version 5.12.4 of perl or later but it may well work
-with older versions, too. It is recommended that these three modules are
-installed in three separate directories.
-
-In addition to the core modules listed above, the software also
-requires Eric Firing's geomag code (written in c) that is available
-from http://currents.soest.hawaii.edu/hg.
-
-The only step required to set up the software is to add the directories
-of the ADCP_tools, ANTSlib, LADCPproc, and geomag to the search path ---
-refer to the manual of your shell on how to accomplish this.
-
-To test correct setup of the software, simply call [LADCPproc] in the
-directory where you intend to process the LADCP data. If the software
-has been correctly installed, the usage of [LADCPproc] will be
-produced.
-
-
-=Matlab Interface=
-
-As described in [README.Output], all output produced by this software is
-in a proprietary ASCII format called ANTS. In order to import/export
-ANTS files into/from Matlab the module Matlab_tools is required. This,
-too, is available via link from http://www.ldeo.columbia.edu/LADCP.
-
deleted file mode 100644
--- a/README.Output
+++ /dev/null
@@ -1,77 +0,0 @@
-======================================================================
- R E A D M E . O U T P U T
- doc: Tue May 15 19:17:50 2012
- dlm: Fri Jun 15 07:39:19 2012
- (c) 2012 A.M. Thurnherr
- uE-Info: 44 0 NIL 0 0 72 3 2 8 NIL ofnI
-======================================================================
-
-This README describes the output produced by [LADCPproc] and
-[LADCPintsh].
-
-
-=File Format and Interface with Matlab=
-
-All output files produced by [LADCPproc] and [LADCPintsh] are in a
-proprietary undocumented ASCII format, called ANTS. To important and
-export ANTS files into and from Matlab, the Matlab_tools are required
-(see [README.Install]).
-
-To import the ANTS file <013DL.sh> into Matlab, use
-
- sh = loadANTS('013DL.sh');
-
-The resulting structure will contain Metadata as scalars and the data
-from each field in a suitably named vector.
-
-To export the suitable Matlab structure <binned_sh> as the ANTS file
-<013DL.shprof>, use
-
- struct2ANTS(binned_sh,'013DL.sh','013DL.shprof');
-
-The second argument defines a dependency (the file <013DL.shprof> should
-be re-made when <013DL.sh> changes).
-
-
-=[LADCPproc] Output=
-
-The STDOUT of [LADCPproc] consists of a list of all shear samples ---
-essentially a time-depth-series (.tds) of shear values. If this output
-is not required, STDOUT can be redirected to /dev/null.
-
-The STDERR of [LADCPproc] consists of the diagnostic output. This output
-should be captured into a log file. This is much easier with standard
-(bash, Korn, Bourne) shells than with csh derivates.
-
-Additional output is produced with the following options:
-
- -p write a binned shear profile file that can be fed
- directly to [LADCPintsh] to create a relative
- (baroclinic) velocity profile
-
- -b write a bottom-track file that can be fed directly to
- [LADCPintsh] (-r option) to reference the baroclinic
- velocity profile
-
- -t write a time-series file, which is useful primarily for
- diagnosing problems with the time-lagging of CTD and
- LADCP data
-
- -f write a file with all the velocity editing flags
-
- -a write a .dts file of the acoustic backscatter
-
- -k write bottom track profiles (as a single file)
-
-
-=[LADCPintsh] Output=
-
-The STDOUT of [LADCPintsh] consists of a velocity profile created from
-the vertically integrated shear and possibly referenced by an external
-velocity profile.
-
-The STDERR of [LADCPintsh] consists of minimal diagnostic output.
-
-On -s, additionally the shear profile is written to a file just before
-integration. This is primarily useful for combining shear data from
-down- and uplooking ADCPs.
deleted file mode 100644
--- a/README.PostEdit
+++ /dev/null
@@ -1,95 +0,0 @@
-======================================================================
- R E A D M E . P O S T E D I T
- doc: Wed Jun 13 20:30:10 2012
- dlm: Thu Jun 14 18:22:13 2012
- (c) 2012 A.M. Thurnherr
- uE-Info: 95 50 NIL 0 0 72 3 2 8 NIL ofnI
-======================================================================
-
-=Summary=
-
-This README explains how to post-edit the shear output from b[LADCPproc]
-before feeding it to [LADCPintsh], e.g. for removing data collected when
-the ADCP was very shallow and possibly affected by the ship's magnetic
-field.
-
-
-=Nitty-Gritty=
-
-The default output from [LADCPproc] is a so-called time-depth-series
-(.tds) file with one record per valid shear sample. Each record
-contains the following fields:
-
-ens ensemble number the shear sample is from
-elapsed elapsed time in seconds of the present ensemble
-CTD_depth depth of CTD at the time the ensemble was recorded
-downcast a boolean flag set to 1 (nan) for down(up)cast records
-depth "nominal" depth of shear sample (center depth in gridded profile)
-u_z vertical shear of zonal velocity
-v_z vertical shear of meridional velocity
-w_z vertical shear of vertical velocity
-
-This is the "general" output of [LADCPproc]. For standard processing,
-the shear is bin-averaged in depth space. While this can easily be
-accomplished, e.g. with a Matlab script, for convenience the binned
-output can be requested with the -p option of [LADCPproc]. The binned
-output cannot be post-edited!
-
-The .tds data can be post-edited. Matlab users can import these files
-with [loadANTS.m] (see [README.Output]), edit the structures, bin the
-shear in depth space, and export the new structures as ANTS files with
-[struct2ANTS.m]. For example, to remove all data collected with the
-ADCP shallower than 5m, simply delete the records for which CTD_depth
-<= 5. Or, you can bin your shear data with different statistics (e.g.
-median), instead of the arithmetic mean used by [LADCPproc] -p.
-
-Inconveniently, [LADCPintsh] at present requires its shear input to be
-in the format generated by the -p option of [LADCPproc], with the
-following fields (Matlab version):
-
-depth center depth of bin
-dc_elapsed mean elapsed time of downcast shear samples in present bin
-dc_nsamp number of downcast shear samples in bin
-dc_u_z bin-averaged downcast vertical shear of zonal velocity
-dc_u_z_sig corresponding standard deviation
-dc_v_z same for meridional velocity
-dc_v_z_sig
-dc_w_z same for vertical velocity
-dc_w_z_sig
-uc_elapsed mean elapsed time of upcast shear samples in present bin
-uc_nsamp number of upcast shear samples in bin
-uc_u_z bin-averaged upcast vertical shear of zonal velocity
-uc_u_z_sig corresponding standard deviation
-uc_v_z same for meridional velocity
-uc_v_z_sig
-uc_w_z same for vertical velocity
-uc_w_z_sig
-elapsed mean elapsed time of mean dn/upcast shear samples in present bin
-nsamp number of mean dn/upcast shear samples in bin
-u_z bin-averaged mean dn/upcast vertical shear of zonal velocity
-u_z_sig corresponding standard deviation
-v_z same for meridional velocity
-v_z_sig
-w_z same for vertical velocity
-w_z_sig
-Sv bin-averaged acoustic volume scattering coefficient
-Sv.nsamp number of samples in bin
-
-Note that the .tds file does not contain acoustic backscatter
-information, i.e. the Sv field should be set to nan and the Sv.nsamp to
-zero.
-
-After binning the shear data, Matlab users can create a structure with
-the fields listed above. Metadata (scalars in the .tds import
-structure) should be copied verbatim from the .tds import structure.
-Each of the listed fields is a vector and they must all have the same
-length. (Since the down- and upcasts do not usually cover exactly the
-same depth range, padding is almost always required.) The resulting
-structure can then be exported with [struct2ANTS.m]; the 'dependencies'
-argument should be set to the filename(s) of the .tds file(s) from
-which the binned shear profile was constructed.
-
-The only option for non-Matlab users is to create an ASCII file with
-the required columns (nan values are permitted) in the order listed
-above and prepend this with the header from the corresponding
-[LADCPproc] output file produced by the -p option.
deleted file mode 100644
--- a/README.ProcessData
+++ /dev/null
@@ -1,158 +0,0 @@
-======================================================================
- R E A D M E . P R O C E S S D A T A
- doc: Tue May 15 18:49:00 2012
- dlm: Fri Jul 12 12:07:38 2013
- (c) 2012 A.M. Thurnherr
- uE-Info: 118 71 NIL 0 0 72 75 2 8 NIL ofnI
-======================================================================
-
-=Overview=
-
-This README describes how to obtain profiles of vertical shear and
-velocity from CTD/LADCP data. It assumes that all of the required
-software has been installed (see [README.Install]).
-
-The re-implemented shear method software provides two commands:
-
-[LADCPproc] This utility produces LADCP shear data from a raw ADCP
- data file and the corresponding CTD time series.
- Additionally, it can create profiles of acoustic
- backscatter, as well as BT-referenced velocity
- profiles near the seabed from downlooking ADCPs.
-
-[LADCPintsh] This utility produces profiles of horizontal velocity
- from the [LADCPproc] shear output. BT profiles (from
- [LADCPproc] or from the LDEO_IX inversion software) or
- SADCP profiles (manually constructed) can be used to
- reference the velocity profiles.
-
-For non-standard processing, the shear output from [LADCPproc] can be
-post-edited before gridding, e.g. in order to filter data collected at
-very shallow depths when the ADCP may be affected by the magnetic field
-of the surface vessel (see [README.PostEdit] for details).
-
-
-=DATA REQUIREMENTS=
-
-ADCP DATA: The software reads binary RDI BB ADCP files from both down-
-and upward-looking ADCPs. Clock setting of the ADCP is not important.
-
-CTD DATA: LADCP processing requires a CTD-derived time series of
-pressure, temperature and salinity. Optionally, it is recommended that
-an elapsed time field is supplied. A time resolution of 1Hz is
-recommended. The software is capable of reading both binary and ASCII
-SeaBird .cnv files with lat/lon information in the header and with the
-following fields: timeS, prDM, t090C and/or t190C, sal00 and/or sal11.
-Alternatively, the CTD time series can be supplied as an arbitrary
-headerless ASCII CTD file with the same information, as described in
-[LADCPproc.defaults].
-
-
-=CALCULATE LADCP SHEAR PROFILE=
-
-The following simple example shows how to create separate shear profiles
-from an upward- and a downward-looking ADCP, as well as a BT-referenced
-velocity profile near the seabed:
-
-Input files:
- 001DL000.000 downlooker ADCP file
- 001UL000.000 uplooker ADCP file
- 001.cnv CTD file
-
-LADCPproc -p 001DL.sh -b 001.BT 001DL000.000 001.cnv > /dev/null
- - this example creates two files, 001DL.sh (shear profiles) and
- 001.BT (bottom-track data)
- - the default output (STDOUT) from [LADCPproc] is a list of
- valid shear samples, which is ignored (sent to /dev/null) in
- this example
- - it is recommended that the diagnostic output (STDERR) is
- captured in a log file; refer to the manual of your shell on
- how to accomplish this
-
-LADCPproc -p 001UL.sh 001UL000.000 001.cnv > /dev/null
- - this example creates one file, 001UL.sh (shear profiles)
-
-
-In this simple example, processing is carried out with standard
-parameters. Some of the important parameters can be modified with
-[LADCPproc] options, which are listed when [LADCPproc] is ran without
-input parameters. The following are the most important [LADCPproc]
-options:
- -d generate diagnostic output (recommended)
- -r use RDI BT data instead of echo amplitudes to find
- seabed and determine CTD velocity
- -o <dz> output grid resolution (defaults to 5m)
- -p <shearprof> generate shear profile output
- -b <btm_track> generate BT output
- -s <setup_file> read additional non-default processing parameters
- from <setup_file>
-
-However, there are many more processing parameters than can be modified
-with options --- a full list with comments can be found in
-[LADCPproc.defaults]. To change any of the default parameter values,
-create a perl-file with variable assignments (see [LADCPproc.defaults]
-for syntax) and use the -s <setup_file> option in [LADCPproc].
-
-
-=CALCULATE LADCP VELOCITY PROFILE=
-
-Given the output from the above steps, different full-depth velocity
-profiles can be produced as follows:
-
-LADCPintsh 001DL.sh > 001DL.bc
- - this creates baroclinic (zero vertical mean) velocity profile
- from the DL shear data
-
-LADCPintsh -r 001.BT 001DL.sh > 001DL.vel
- - this creates a BT-referenced absolute velocity profile from
- the DL shear data
-
-LADCPintsh -r 001.BT 001UL.sh > 001UL.vel
- - this creates a BT-referenced absolute velocity profile from
- the UL shear and the DL BT data
- - note that no -u is required in this case!
-
-LADCPintsh -r 001.BT -u 001UL.sh 001DL.sh > 001.vel
- - this creates a BT-referenced absolute velocity profile from
- the combined DL/UL shear data
- - note that -u is only required if both UL and DL data are used
-
-It is also possible to use SADCP data to reference the velocity
-profiles, although it is up to the user to create an input data file
-in one of the supported formats. Note that it is *not* possible to use
-multiple simultaneous referencing constraints with [LADCPintsh].
-
-The following are common [LADCPintsh] options:
- -u use uplooker shear (in addition to downlooker,
- which is always used)
- -r <file> use reference-velocity data to reference baroclinic
- velocity profiles; the following file formats
- are supported 1) bottom-track output produced by
- the -b option of [LADCPproc], 2) bottom-track
- output produced by the LDEO processing software
- (.bot files). SADCP data can be used, too, but
- they have to be supplied in one of the two
- supported file formats.
- -n <samp> set minimum number of shear samples to use
- -m <samp> set minimum BT samples to use
-
-
-=QUALITY CHECKS=
-
-After processing, the quality of the resulting profiles must be
-assessed. The following steps are recommended:
-
-1) Compare the down- and up-cast profiles of velocity. Vertical
-velocity is particularly useful in this context as problematic casts
-often show a striking "X" pattern.
-
-2) Inspect the standard deviation profiles of the binned shear and
-determine (by comparison with similar data) whether the standard
-deviations have the correct magnitude.
-
-3) Calculate and compare independent solutions from the uplooker and
-downlooker data. This will only validate the baroclinic velocities (i.e.
-the vertical shear).
-
-4) Compare to velocity profiles calculated with different software (e.g.
-with the LDEO_IX velocity inversion code).
deleted file mode 100644
--- a/README.TimeLagging
+++ /dev/null
@@ -1,106 +0,0 @@
-======================================================================
- R E A D M E . T I M E L A G G I N G
- doc: Fri Oct 19 10:08:19 2012
- dlm: Fri Oct 19 12:13:59 2012
- (c) 2012 A.M. Thurnherr
- uE-Info: 106 0 NIL 0 0 72 3 2 8 NIL ofnI
-======================================================================
-
-=Introduction=
-
-In order to derive velocity profiles the data from the CTD and LADCP
-instruments need to be merged. This is accomplished by calculating lag
-correlations between the two corresponding time series of vertical
-velocities calculated from the two instruments. In this software, the
-time lagging is accomplished WITHOUT regard of the clock time reported
-by the instruments, i.e. the instrument clocks do not have to be
-synchronized. Instead of clock time, elapsed time in seconds is used. In
-case of the CTD data, an elapsed time field can be supplied by the user
-(see [README.ProcessData]); in case of the LADCP data, the
-"elapsed-time" field is calculated by the software. The "elapsed-time"
-fields in the processing output are always consistent with the CTD
-elapsed times. While the time-lagging algorithm implemented in the
-software is fairly robust, it has been known to fail. Possible reasons
-include:
-
-1) CTD PRESSURE SPIKES. Significant pressure spikes must be removed
-prior to processing, *without* adding or removing CTD time-series
-records.
-
-2) LACK OF SURFACE VESSEL MOTION. If there is no surface-wave motion
-affecting the vessel, time lagging is much more difficult. In rare
-cases, time lagging must be carried out manually (see below).
-
-3) MISSING CTD SCANS. For SeaBird 911 systems, if the connection
-between the CTD and the deck box is not clean CTD scans will be
-dropped. For the software, this looks like the CTD clock running faster
-than the ADCP clock. There are cases where the CTD clock appears to
-have gained more than 5 seconds during a 2000m-deep cast.
-
-4) MULTIPLE CTD FILES. When CTD acquisition is restarted during a cast,
-multiple files are created. In order to process the LADCP data from such
-a cast, a CTD time-series file without any missing records must be
-constructed manually.
-
-
-=Solving Time-Lagging Problems=
-
-While there are several run-time options that can be used to help the
-time-lagging algorithm, detailed knowledge of the algorithm is required
-to understand when and how to use these options, i.e. the user is
-referred to the code and comments in [LADCPproc.bestLag]. However, the
-following method can always be used to solve time-lagging problems, as
-long as the CTD time series does not have any gaps.
-
-
--Step 1: Produce and Plot a Combined CTD/LADCP Time-Series File-
-
-This is accomplished by processing the data with the "-l 0" option and
-using "-t <time-series file>" to produce the file. Plot the resulting
-time series of CTD_w and LADCP_w in the same panel. The plot should
-show immediately whether there are problems with the CTD pressure data
-(spikes). Often, standard processing works after setting any bad
-pressure values to nan.
-
-
--Step 2: Manually Determine an Approximate Time Lag-
-
-Use the output file generated in step 1 to determine how many seconds
-have to be added to the elapsed field when plotting LADCP_w to bring
-the two time series into approximate (a few seconds accuracy)
-agreement. Often, the data can now be processed normally by using "-i
-<estimated lag>".
-
-
--Step 3: Manually Determine an Accurate Time Lag-
-
-If preprocessing with the -i option still does not succeed, time lagging
-must be carried out manually. If this happens, there is most likely a
-serious problem with either the CTD or LADCP data that should be solved
-before proceeding. This is done exactly as in step 2 but to higher
-accuracy (as high as you can). Once the best lag has been determined
-manually, the data can be reprocessed with the "-l <manually determined
-lag>" option.
-
-
-After solving any time-lagging problems the results should be checked by
-creating a time-series file (with -t) during final processing and
-overplotting the LADCP_w and CTD_w time series. If there is still a
-visible lag between the time series time lagging was not carried out
-correctly.
-
-
-=Patching Together CTD Time-Series Files=
-
-The LADCP processing software requires the CTD data to be supplied as a
-single time series file with a constant sampling interval. When CTD
-data acquisition is restarted during a cast, multiple files are
-produced. The resulting files cannot simply be pasted together because
-the resulting time series would have gaps. The only way to solve this
-problem is to determine separate time lags for each of the CTD files
-manually (using the method described above). The difference between the
-resulting time lags is equal to the length of the gap between the two
-files. The user can now create a dummy (all fields set to nan) CTD file
-with required number of records that must be added between the CTD
-files to create a single continuous regularly-space time series.
-Fractional seconds can be ignored.
deleted file mode 100644
--- a/README.YoYo
+++ /dev/null
@@ -1,74 +0,0 @@
-======================================================================
- R E A D M E . Y O Y O
- doc: Fri Aug 10 07:07:59 2012
- dlm: Fri Oct 19 11:05:29 2012
- (c) 2012 A.M. Thurnherr
- uE-Info: 56 0 NIL 0 0 72 3 2 8 NIL ofnI
-======================================================================
-
-=Overview=
-
-This README contains notes on how to process data from non-standard
-casts, such as yo-yos (consecutive down-up casts collected at a given
-location without restarting the instruments) and tow-yos (yo-yos
-carried out while vessel is in slow motion).
-
-Processing of yo-yo and tow-yo data requires the following two steps:
- 1. Split the data files into individual down-upcast pairs
- 2. Process the resulting files as described in [README.ProcessData]
-
-It is important to note that yo-yo and tow-yo casts can be full depth
-(i.e. between the sea surface and the sea bed) or partial-depth. If
-absolute velocities (rather than just vertical shear) are required for
-partial-depth casts, the user must make sure that there are either BT
-data or SADCP data available for velocity referencing of each
-down-upcast pair. Essentially this means that each down-upcast pair
-must extend down to near the seabed or up into the depth range where
-SADCP data are available.
-
-
-=Step 1: Splitting the Data Files=
-
-Both data files must be split between individual down-upcast pairs, i.e.
-whenever the CTD winch switches from up to down.
-
-CTD DATA: First, find the CTD splitting times by plotting depth vs.
-elapsed time. Then, split the CTD data into separate files using any
-text editor. If SeaBird CNV files are use, the same header can be used
-for all output files.
-
-ADCP DATA: There is an ADCP file splitting utility for M$ Windows
-provided by RDI. Alternatively, the length of each ensemble can be read
-from the binary ADCP files and the UN*X utilities "split -b" and "cat"
-can be used to split the files into the required chunks.
-
-
-=Step 2: Processing the Split Data Files=
-
-The split data files, each containing data from exactly one consecutive
-down- and up-cast, can be processed exactly as described in
-[README.ProcessData]. If the CTD time-series data used during
-processing has an "elapsed-time" field all output elapsed times are
-consistent with this input, i.e. the elapsed times of the output casts
-are relative to the beginning of the entire yo-yo or tow-yo cast.
-Otherwise, every down-/up-cast pair gets its own elapsed-time field.
-
-Usually, in standard LADCP processing the velocity data from the down-
-and upcast are combined. While this smears out any information on the
-temporal variability of the velocity field during the cast, down- and
-upcast only profiles are necessarily derived from much fewer samples
-and, therefore, associated with considerably larger uncertainties and
-errors. It has been found, in particular, that the top-to-bottom shear
-in down-/upcast-only profiles is often quite bad. In the context of
-partial-depth yo-yo and tow-yo profiles the severity of this problem
-can be evaluated by comparing two consecutive velocity profiles at
-their "unconstrained" end. E.g., in case of a partial-depth yo-yo near
-the seabed, i.e. constrained with BT data, the uppermost portion of the
-first upcast can be compared to the uppermost portion of the 2nd
-downcast, etc. If the errors are found to be unacceptably high, the
-velocity profiles from the combined down-/upcast data should be used
-instead. Alternatively, multiple simultaneous velocity referencing
-constraints can be applied, e.g. using the shear-inversion method
-described by Thurnherr (JAOT 2010).
-
-
deleted file mode 100644
--- a/TODO
+++ /dev/null
@@ -1,58 +0,0 @@
-======================================================================
- T O D O
- doc: Thu Oct 14 09:15:02 2010
- dlm: Wed Jun 15 15:16:20 2011
- (c) 2010 A.M. Thurnherr
- uE-Info: 40 0 NIL 0 0 72 3 2 4 NIL ofnI
-======================================================================
-
-=LADCPintsh=
-
-- determine what constitutes a gap
-- look into cross-gap shear integration
-
-
-=LADCPproc=
-
-- allow setting of GRID_DZ (-o) in ProcessingParams
-
-- add warnings:
- - wide band
- - CTD_W_BIT (ambiguity velocity)
- - bad time match
- - seabed not found
- - inconsistent water depth
-
-- add diagnostic plots
-
-- output shear vals to make histograms
-
-- try median instead of mean for shear binning
-
-- add pitch/roll to BT
-
-- check interaction between 3-beam solutions and correlation limit
-
-- implement TILT_BIT (others?)
-
-- calculate real acoustic backscatter profile
- - currently, profiles are arbitarily calculated from bins 3-9
-
-- clean up LADCPproc.UHcode:
- - remove weirdnesses
- - avoid multiple calculation of &depthOfBin()
- - improve "staging":
- 1) basic velocity editing (BADVEL, ERRVEL, CORREL) NB: before
- beam-to-Earth transformation!!!
- 2) ref-lr w (also handle W_BIT editing?)
- 3) integrate w to get z_approx
- 4) match LADCP to CTD time series
- 5) make accoustic backscatter profile
- 6) find seabed
- 7) sidelobe & PPI editing
- 8) ref-lr u,v,w
- 9) WAKE editing
- 10) SHEAR editing
- 11) ref-lr u,v,w
-
-- re-add time-series calculation