# HG changeset patch
# User A.M. Thurnherr <athurnherr@yahoo.com>
# Date 1470409371 14400
# Node ID 2ccb81b7cea5d5ecddc83852805b38190d1c4977
# Parent  cc6c4309828ac0cd9dd7db8ba791fa7b8735e6a6
version found on whoosher after repair

diff -r cc6c4309828a -r 2ccb81b7cea5 HISTORY
--- a/HISTORY	Wed May 25 12:14:29 2016 -0400
+++ b/HISTORY	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 ======================================================================
                     H I S T O R Y 
                     doc: Mon Oct 12 16:09:24 2015
-                    dlm: Wed May 25 12:14:13 2016
+                    dlm: Wed Jun  8 22:07:57 2016
                     (c) 2015 A.M. Thurnherr
-                    uE-Info: 172 19 NIL 0 0 72 3 2 4 NIL ofnI
+                    uE-Info: 182 43 NIL 0 0 72 3 2 4 NIL ofnI
 ======================================================================
 
 ----------------------------------------------------------------------
@@ -170,3 +170,13 @@
 	May 25, 2016:
 		- updated version to V1.3beta1 [version.pl] [.hg/hgrc]
 		- published
+
+	May 26, 2016: V1.3beta2
+		- updated version to V1.3beta2 [version.pl] [.hg/hgrc]
+		- udated ANTS_tools lib to V1.7 (beam interpolation)
+		- adapted [LADCP_w_ocean] to beam interpolation
+
+...
+
+	Jun  8, 2016:
+		- removed plot_attitude_biases_w.pl
diff -r cc6c4309828a -r 2ccb81b7cea5 LADCP_w_CTD
--- a/LADCP_w_CTD	Wed May 25 12:14:29 2016 -0400
+++ b/LADCP_w_CTD	Fri Aug 05 11:02:51 2016 -0400
@@ -2,9 +2,9 @@
 #======================================================================
 #                    L A D C P _ W _ C T D 
 #                    doc: Mon Nov  3 17:34:19 2014
-#                    dlm: Thu Mar 31 05:52:01 2016
+#                    dlm: Thu May 26 20:42:15 2016
 #                    (c) 2014 A.M. Thurnherr
-#                    uE-Info: 62 42 NIL 0 0 72 2 2 4 NIL ofnI
+#                    uE-Info: 639 69 NIL 0 0 72 2 2 4 NIL ofnI
 #======================================================================
 
 $antsSummary = 'pre-process SBE 9plus CTD data for LADCP_w';
@@ -60,6 +60,8 @@
 #				  - added $libSBE_quiet flag
 #	Mar 30, 2016: - added station number of ASCII format
 #	Mar 31, 2016: - changed version %PARAM
+#	May 26, 2016: - renamed w[.raw] to CTD_w[.raw]
+#				  - added winch_w
 
 ($ANTS)  = (`which ANTSlib`   =~ m{^(.*)/[^/]*$});
 ($WCALC) = ($0                =~ m{^(.*)/[^/]*$});
@@ -68,24 +70,26 @@
 require "$WCALC/version.pl";
 require "$ANTS/ants.pl";
 require "$ANTS/fft.pl";
+require "$ANTS/libstats.pl";
 require "$ANTS/libGMT.pl";
 require "$ANTS/libSBE.pl";
 require "$ANTS/libEOS83.pl";
 &antsAddParams('LADCP_w_CTD::version',$VERSION);
 
 $antsParseHeader = 0;											# usage
-&antsUsage('ai:l:orp:s:v:',1,
+&antsUsage('ai:l:orp:s:v:w:',1,
 	'[-v)erbosity <level[0]>]',
 	'[use -a)lternate sensor pair]',
 	'[-r)etain all data (no editing)] [allow infinite -o)utliers]',
 	'[-s)ampling <rate[6Hz]>]',
-	'[-l)owpass w <cutoff[2s]>]',
+	'[-l)owpass w_CTD <cutoff[2s]>] [-w)inch-speed <granularity[10s]>]',
 	'[profile -i)d <id>]',
 	'[-p)lot_basenames <[%03d_w_CTD.ps],[%03d_sspd.ps]>]',
 	'<SBE CNV file>');
 
-&antsFloatOpt(\$opt_l,2);										# defaults
-&antsCardOpt(\$opt_s,6);
+&antsFloatOpt(\$opt_l,2);										# default low-pass cutoff for w_CTD
+&antsCardOpt(\$opt_s,6);										# default output samplint rate (Hz)
+&antsFloatOpt(\$opt_w,10);										# winch velocity granularity
 &antsCardOpt(\$opt_v,$ENV{VERB});								# support VERB env variable
 
 $CNVfile = $ARGV[0];											# open CNV file
@@ -579,7 +583,36 @@
 	@w_lp = @w;
 }
 
-#----------------------------------------------------------------------
+#----------------------------------------
+# Estimate winch speed
+#----------------------------------------
+
+print(STDERR "Estimating winch velocity...") if ($opt_v);
+&antsAddParams('winch_velocity_granularity',$opt_w);
+
+my($from_r) = 0; my($to_r);												# step 1: bin average in time
+for (my($from_r)=my($to_r)=0; $from_r<@elapsed; $from_r=$to_r+1) {
+	my($sumw) = $w_lp[2*$from_r]/@w_lp; my($n) = 1;
+	for ($to_r=$from_r+1; $to_r<@elapsed && $elapsed[$to_r]-$elapsed[$from_r]<$opt_w; $to_r++) {
+		$sumw += $w_lp[2*$to_r]/@w_lp; $n++;
+	}
+	$winch[$from_r] = $sumw/$n;
+}
+
+my($pwinch) = $winch[0];
+for (my($to_r),my($from_r)=0; $from_r<@elapsed; ) {						# step 2: fill after median filtering
+	for ($to_r=$from_r+1; $to_r<@elapsed && !defined($winch[$to_r]); $to_r++) {}
+	my($nwinch) = $to_r<@elapsed ? $winch[$to_r] : $winch[$from_r];
+	my($winch) = median($pwinch,$winch[$from_r],$nwinch);
+	$pwinch = $winch[$from_r]; $winch[$from_r] = $winch;
+	while (++$from_r < $to_r) { $winch[$from_r] = $winch[$from_r-1]; }
+}
+		
+printf(STDERR "\n") if ($opt_v);
+
+#----------------------------------------
+# Plot Data
+#----------------------------------------
 
 if (defined($opt_p)) {
 	print(STDERR "Plotting data...\n") if ($opt_v);
@@ -597,10 +630,15 @@
 		printf(GMT "%f %f\n",$elapsed[$r]/60,$w_lp[2*$r]/@w_lp);
 		GMT_psxy('-W1,SeaGreen') if ($r == $atBtm);
 	}
+	GMT_psxy('-W1,magenta');
+	for ($r=0; $r<@w; $r++) {
+		printf(GMT "%f %f\n",$elapsed[$r]/60,$winch[$r]);
+    }
 	GMT_psbasemap('-Bg60a30f5:"Elapsed Time [min]":/g1a1f0.1:"Vertical Package Velocity [ms@+-1@+]":WeSn');
 	GMT_unitcoords();
-	GMT_pstext('-F+f14,Helvetica,coral+jTR'); 	  print(GMT "0.98 0.98 dc\n");
-	GMT_pstext('-F+f14,Helvetica,SeaGreen+jTR');  print(GMT "0.98 0.94 uc\n");
+	GMT_pstext('-F+f14,Helvetica,coral+jBR'); 	 print(GMT "0.98 0.96 dc\n");
+	GMT_pstext('-F+f14,Helvetica,SeaGreen+jBR'); print(GMT "0.98 0.93 uc\n");
+	GMT_pstext('-F+f14,Helvetica,magenta+jBR');  print(GMT "0.98 0.89 winch\n");
 	GMT_pstext('-F+f14,Helvetica,blue+jTL -N');
 	if (defined($outfile)) { printf(GMT "0.01 1.06 $outfile\n",$id); }
 	else 				   { printf(GMT "0.01 1.06 %03d\n",$id); }
@@ -618,8 +656,8 @@
 		GMT_psxy('-W1.5,SeaGreen') if ($r == $atBtm);
 	}
 	GMT_unitcoords();
-	GMT_pstext('-F+f14,Helvetica,coral+jTR'); 	print(GMT "0.98 0.02 dc\n");
-	GMT_pstext('-F+f14,Helvetica,SeaGreen+jTR');  print(GMT "0.98 0.06 uc\n");
+	GMT_pstext('-F+f14,Helvetica,coral+jTR'); 	 print(GMT "0.98 0.02 dc\n");
+	GMT_pstext('-F+f14,Helvetica,SeaGreen+jTR'); print(GMT "0.98 0.06 uc\n");
 	GMT_pstext('-F+f14,Helvetica,blue+jTL -N');
 	if (defined($outfile)) { printf(GMT "0.01 -0.06 $outfile\n",$id); }
 	else 				   { printf(GMT "0.01 -0.06 %03d\n",$id); }
@@ -630,10 +668,11 @@
 
 print(STDERR "Writing output...\n") if ($opt_v);
 
-@antsNewLayout = ('elapsed','press','temp','cond','depth','salin','sspd','w.raw','w','lat','lon');
+@antsNewLayout = ('elapsed','press','temp','cond','depth','salin','sspd','w_CTD.raw','w_CTD','w_winch','lat','lon');
 for ($r=0; $r<@w; $r++) {
 	&antsOut($elapsed[$r],$press[$r],$temp[$r],$cond[$r],$depth[$r],$salin[$r],
-			 $sspd[$r],$w[$r],$w_lp[2*$r]/@w_lp,$lat[$r],$lon[$r]);
+			 $sspd[$r],$w[$r],$w_lp[2*$r]/@w_lp,$winch[$r],
+			 $lat[$r],$lon[$r]);
 }
 
 exit(0);															# don't flush @ants_
diff -r cc6c4309828a -r 2ccb81b7cea5 LADCP_w_ocean
--- a/LADCP_w_ocean	Wed May 25 12:14:29 2016 -0400
+++ b/LADCP_w_ocean	Fri Aug 05 11:02:51 2016 -0400
@@ -2,19 +2,22 @@
 #======================================================================
 #                    L A D C P _ W _ O C E A N 
 #                    doc: Fri Dec 17 18:11:13 2010
-#                    dlm: Tue May 24 16:33:29 2016
+#                    dlm: Sat Jun 11 18:34:12 2016
 #                    (c) 2010 A.M. Thurnherr
-#                    uE-Info: 1868 26 NIL 0 0 72 2 2 4 NIL ofnI
+#                    uE-Info: 272 65 NIL 0 0 72 2 2 4 NIL ofnI
 #======================================================================
 
 # TODO:
-#   ! plots:
+#   ! use instrument tilt in sidelobe editing
+#	! use instrument tilt in e.g. Sv
+#
+#   - plots:
 #       - avoid over-plotting axis labels
 #       - allow for different nsamp magnitudes
 #       - add "dc" "uc" labels
 #       - add seabed to eps.VKE profile
 #       - add seabed to LADCP_w_postproc .wprof output
-#   ! use instrument tilt in sidelobe editing
+#
 #   - worry about water-depth differences (disabled warning) 
 #   - make upcast-flag valid for yoyo casts
 #   - make diagnostic output 3-beam field work for Earth coordinates
@@ -251,13 +254,30 @@
 #				  - added w12, w34 for earth-coordinates
 #   May 19, 2016: - updated to ADCP_tools V1.6
 #	May 24, 2016: - calc_binDepths() -> binDepths()
+#	May 26, 2016: - added -d)isable bin interpolation
+#				  - adapted to w_CTD, w_winch
+#				  - re-enabled disabled L0 warning
+#				  - suppressing L0 warnings on screen
+#	May 27, 2016: - cosmetics
+#				  - added reflr_w to .wsamp output
+#	May 29, 2016: - BUG: do ProcessingParams did not handle all errors correctly
+#	Jun  1, 2016: - made empirical accoustic backscatter correction optional
+#				  - split [default_paths.pl] to same plus [default_output.pl]
+#	Jun  2, 2016: - added applyTiltCorrection()
+#				  - BUG: PPI-editing was no longer enabled automatically
+#						 for 150kHz instruments
+#	Jun  3, 2016: - BUG: earth-coordinate data did not have gimbal-pitch
+#						 calculated
+#	Jun  6, 2016: - removed applyTiltCorrection()
+#	Jun 11, 2016: - BUG: w12, w34 were wrong for Earth-coord data
 # HISTORY END
 
 # CTD REQUIREMENTS
 #	- elapsed		elapsed seconds; see note below
 #	- depth
 #	- ss			sound speed
-#	- w				ddepth/dt
+#	- w[_CTD]		ddepth/dt
+#	- w_winch		OPTIONAL; winch-speed estimate
 #	- temp			OPTIONAL; used for backscatter calculation
 #	- %lat/%lon		OPTIONAL
 
@@ -302,9 +322,9 @@
 
 # VELOCITY AMBIGUITY ERRORS
 #	- quite extensive tests with DIMES US2 station 146, which has a lot of
-#	  ambiguity velocity errors, reveal that -m 1 catches those errors
+#	  ambiguity velocity errors, reveal that $w_max_lim catches those errors
 #	  quite nicely
-#	- even when the errors are not filtered with -m 1, they do not
+#	- even when the errors are not filtered with $w_max_lim, they do not
 #	  affect the w profiles, as long as the median bin values are used
 
 ($ANTS) 	  = (`which ANTSlib`   =~ m{^(.*)/[^/]*$});
@@ -344,13 +364,13 @@
 require "$WCALC/defaults.pl";												# load default/option parameters
 
 $antsParseHeader = 0;
-&antsUsage('3:4a:b:c:e:g:h:i:k:lm:n:o:p:qr:s:t:uv:Vw:x:',0,
+&antsUsage('3:4a:b:c:de:g:h:i:k:lm:n:o:p:qr:s:t:uv:Vw:x:',0,
 	"[print software -V)ersion] [-v)erbosity <level[$opt_v]>]",
 	"[-q)uick (no single-ping denoising)]",
-    "[require -4)-beam solutions] [apply beamvel-m)ask <file> if it exists]",
+    "[require -4)-beam solutions] [-d)isable bin interpolation] [apply beamvel-m)ask <file> if it exists]",
 	"[valid LADCP -b)ins <bin,bin[$opt_b]>",
 	"[-c)orrelation <min[$opt_c counts]>] [-t)ilt <max[$opt_t deg]> [-e)rr-vel <max[$opt_e m/s]>]",
-	"[-r)esidual <rms.max[$opt_r m/s]>]",
+	"[-r)esidual <rms.max[,delta.max][$opt_r m/s]>]",
 	"[-h water <depth|filename>]",
 	"[max LADCP time-series -g)ap <length[$opt_g s]>]",
 	"[-i)nitial CTD time offset <guestimate> [-u)se as final]]",
@@ -386,19 +406,30 @@
 	$RUN = 'profiles';
 }
 
-#-----------------------------
+#----------------------------------------------------------------
 # Handle Processing Parameters
-#-----------------------------
+#	- paths need to be read first to define ProcessingParams file
+# 	  and output directories
+#	- processing params file is read next to allow setting
+#	  plotting_level
+#	- default_output.pl is read finally to set any missing output
+#	  variables to default values
+#----------------------------------------------------------------
 
-require "$WCALC/default_paths.pl";										# load default input/output paths
-croak("$processing_param_file: $@")
-	unless ($err = do "$processing_param_file");						# load processing parameters
+require "$WCALC/default_paths.pl";										# define default input/output paths
+my($retval) = do $processing_param_file;								# load processing parameters
+if (!defined($retval) && $@ ne '') {
+	croak("$processing_param_file: $@\n");
+} elsif (!defined($retval) && $! != 0) {
+	croak("$processing_param_file: $!\n");
+}
+require "$WCALC/default_output.pl";										# set default output plots and files
 
 $processing_options = "-k $opt_k -o $opt_o -c $opt_c -t $opt_t -e $opt_e -g $opt_g -3 $opt_3";
 $processing_options .= " -i $opt_i" if defined($opt_i);
-$processing_options .= " -r $opt_r" if defined($opt_r);
 $processing_options .= ' -l' if defined($opt_l);
 $processing_options .= ' -q' if defined($opt_q);
+$processing_options .= ' -d' if defined($opt_d);
 
 if (defined($opt_x)) {													# eval cmd-line expression to override anything
 	$processing_options .= " -x $opt_x";
@@ -410,6 +441,12 @@
 	$RDI_Coords::minValidVels = 4;
 }
 	
+if (defined($opt_r)) {													# residuals filters
+	$processing_options .= " -r $opt_r";
+	($residuals_rms_max,$residuals_delta_max) = split(',',$opt_r);
+	croak("$0: cannot decode -r $opt_r\n") unless ($residuals_rms_max > 0);
+}
+
 ($LADCP_firstBin,$LADCP_lastBin) = split(',',$opt_b);					# select valid bins
 	croak("$0: cannot decode -b $opt_b\n")
     	unless (numberp($LADCP_firstBin) &&
@@ -430,6 +467,7 @@
 
 croak("$0: \$out_basename undefined\n")									# plotting routines use this to label the plots
 	unless defined($out_basename);
+&antsAddParams('RDI_Coords::binMapping',$RDI_Coords::binMapping);
 &antsAddParams('processing_options',$processing_options);
 &antsAddParams('out_basename',$out_basename);
 &antsAddParams('profile_id',$PROF,'run_label',$RUN);
@@ -467,7 +505,7 @@
 		printf(LOGF @msg);
 		print(LOGF "\n");
 	}
-	return if ($opt_v == 0);
+	return if ($opt_v == 0) || ($lvl == 0);
 
 	if ($opt_v == 1) {
 		print(STDERR "$LADCP_file: ") if defined($LADCP_file);
@@ -502,7 +540,11 @@
 
 progress("Reading LADCP data from <$LADCP_file>...\n");
 readData($LADCP_file,\%LADCP);
-progress("\t%d ensembles\n",scalar(@{$LADCP{ENSEMBLE}}));
+if ($LADCP{BEAM_COORDINATES}) {
+	progress("\t%d ensembles (beam coordinates)\n",scalar(@{$LADCP{ENSEMBLE}}));
+} else {
+	progress("\t%d ensembles (Earth coordinates)\n",scalar(@{$LADCP{ENSEMBLE}}));
+}
 
 error("$LADCP_file: cannot process multi-ping ensembles\n")
 	unless ($LADCP{PINGS_PER_ENSEMBLE} == 1);
@@ -548,6 +590,7 @@
 #------------------------------------------------------------
 # Edit beam-velocity data
 #	0) beam-vel mask on -m
+#		mask file has three columns: from_ens to_ens ignore_beam
 #	1) correlation threshold
 #------------------------------------------------------------
 
@@ -596,8 +639,7 @@
 	}
 	error("$LADCP_file: no valid data\n") unless ($nvv > 0);
 	progress("\tcorrelation threshold (-c %d counts): %d velocites removed (%d%% of total)\n",$opt_c,$cte,round(100*$cte/$nvv));
-#	progress("\tattitude threshold (-t %d deg): %d velocites removed (%d%% of total)\n",$opt_t,$pte,round(100*$pte/$nvv));
-} else {
+} else { # if BEAM_COORDINATES
 	progress("Editing velocity data...\n");
 	error("$LADCP_file: cannot apply beamvel-mask $opt_m to earth-coordinate data\n")
 		if defined($opt_m);
@@ -608,7 +650,6 @@
 	}
 	error("$LADCP_file: no valid data\n") unless ($nvv > 0);
 	progress("\tcorrelation threshold (-c %d counts): %d velocites removed (%d%% of total)\n",$opt_c,$cte,round(100*$cte/$nvv));
-#	progress("\tattitude threshold (-t %d deg): %d velocites removed (%d%% of total)\n",$opt_t,$pte,round(100*$pte/$nvv));
 }
 
 #-------------------------------------------------------------------
@@ -630,29 +671,40 @@
 	}
 	$nvw = 0;
 	for ($ens=0; $ens<=$#{$LADCP{ENSEMBLE}}; $ens++) {
+		$LADCP{ENSEMBLE}[$ens]->{GIMBAL_PITCH} =
+		 	gimbal_pitch($LADCP{ENSEMBLE}[$ens]->{PITCH},$LADCP{ENSEMBLE}[$ens]->{ROLL});
+
 		for (my($bin)=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
 			if ($bad_beam) {
 				undef($LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$bad_beam-1]);
 				undef($LADCP{ENSEMBLE}[$ens]->{BT_VELOCITY}[$bin][$bad_beam-1]);
 			}
-			($LADCP{ENSEMBLE}[$ens]->{U}[$bin],
-			 $LADCP{ENSEMBLE}[$ens]->{V}[$bin],
-			 $LADCP{ENSEMBLE}[$ens]->{W}[$bin],
-			 $LADCP{ENSEMBLE}[$ens]->{ERRVEL}[$bin]) =
-				velBeamToEarth(\%LADCP,$ens,@{$LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin]});
+			($LADCP{ENSEMBLE}[$ens]->{INTERP_U}[$bin],
+			 $LADCP{ENSEMBLE}[$ens]->{INTERP_V}[$bin],
+			 $LADCP{ENSEMBLE}[$ens]->{INTERP_W}[$bin],
+			 $LADCP{ENSEMBLE}[$ens]->{INTERP_ERRVEL}[$bin]) = earthVels(\%LADCP,$ens,$bin);
+			($LADCP{ENSEMBLE}[$ens]->{V12}[$bin],$LADCP{ENSEMBLE}[$ens]->{W12}[$bin],
+			 $LADCP{ENSEMBLE}[$ens]->{V34}[$bin],$LADCP{ENSEMBLE}[$ens]->{W34}[$bin]) = BPEarthVels(\%LADCP,$ens,$bin);
+		}
+
+		for (my($bin)=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			$LADCP{ENSEMBLE}[$ens]->{U}[$bin] = $LADCP{ENSEMBLE}[$ens]->{INTERP_U}[$bin];
+			$LADCP{ENSEMBLE}[$ens]->{V}[$bin] = $LADCP{ENSEMBLE}[$ens]->{INTERP_V}[$bin];
+			$LADCP{ENSEMBLE}[$ens]->{W}[$bin] = $LADCP{ENSEMBLE}[$ens]->{INTERP_W}[$bin];
+			$LADCP{ENSEMBLE}[$ens]->{ERRVEL}[$bin] = $LADCP{ENSEMBLE}[$ens]->{INTERP_ERRVEL}[$bin];
+			undef($LADCP{ENSEMBLE}[$ens]->{INTERP_U}[$bin]);
+			undef($LADCP{ENSEMBLE}[$ens]->{INTERP_V}[$bin]);
+			undef($LADCP{ENSEMBLE}[$ens]->{INTERP_W}[$bin]);
+			undef($LADCP{ENSEMBLE}[$ens]->{INTERP_ERRVEL}[$bin]);
+
 			if (defined($LADCP{ENSEMBLE}[$ens]->{W}[$bin])) {
 				$per_bin_nsamp[$bin]++;
 				$nvw++;
 			}
-			$LADCP{ENSEMBLE}[$ens]->{GIMBAL_PITCH} =
-			 	gimbal_pitch($LADCP{ENSEMBLE}[$ens]->{PITCH},$LADCP{ENSEMBLE}[$ens]->{ROLL});
+		
 			$LADCP{ENSEMBLE}[$ens]->{U_UNEDITED}[$bin] = $LADCP{ENSEMBLE}[$ens]->{U}[$bin];
 			$LADCP{ENSEMBLE}[$ens]->{V_UNEDITED}[$bin] = $LADCP{ENSEMBLE}[$ens]->{V}[$bin];
 			$LADCP{ENSEMBLE}[$ens]->{W_UNEDITED}[$bin] = $LADCP{ENSEMBLE}[$ens]->{W}[$bin];
-			
-			($LADCP{ENSEMBLE}[$ens]->{V12}[$bin],$LADCP{ENSEMBLE}[$ens]->{W12}[$bin],
-			 $LADCP{ENSEMBLE}[$ens]->{V34}[$bin],$LADCP{ENSEMBLE}[$ens]->{W34}[$bin]) =
-			 	velBeamToBPEarth(\%LADCP,$ens,@{$LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin]});
 		}
 	}
 	progress("\t$nvw valid velocities in bins $LADCP_firstBin-$LADCP_lastBin\n");
@@ -665,6 +717,8 @@
 	progress("Counting valid vertical velocities...\n");
 	$nvw = 0;
 	for ($ens=0; $ens<=$#{$LADCP{ENSEMBLE}}; $ens++) {
+		$LADCP{ENSEMBLE}[$ens]->{GIMBAL_PITCH} =
+		 	gimbal_pitch($LADCP{ENSEMBLE}[$ens]->{PITCH},$LADCP{ENSEMBLE}[$ens]->{ROLL});
 		for (my($bin)=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
 			($LADCP{ENSEMBLE}[$ens]->{U}[$bin],
 			 $LADCP{ENSEMBLE}[$ens]->{V}[$bin],
@@ -681,9 +735,9 @@
 			$LADCP{ENSEMBLE}[$ens]->{V12}[$bin] = $LADCP{ENSEMBLE}[$ens]->{V34}[$bin] = nan;
 
 			# for 3-beam solutions, the following code sets w12 and w34 equal to w
-			my($delta) = $LADCP{ENSEMBLE}[$ens]->{ERRVEL}[$bin] * sqrt(2)/2 * tan(rad($LADCP{BEAM_ANGLE}));
-			$LADCP{ENSEMBLE}[$ens]->{W12}[$bin] = $LADCP{ENSEMBLE}[$ens]->{W}[$bin] - $delta;
-			$LADCP{ENSEMBLE}[$ens]->{W34}[$bin] = $LADCP{ENSEMBLE}[$ens]->{W}[$bin] + $delta; 
+			my($delta) = $LADCP{ENSEMBLE}[$ens]->{ERRVEL}[$bin] / sqrt(2) / tan(rad($LADCP{BEAM_ANGLE}));
+			$LADCP{ENSEMBLE}[$ens]->{W12}[$bin] = $LADCP{ENSEMBLE}[$ens]->{W}[$bin] + $delta/2;
+			$LADCP{ENSEMBLE}[$ens]->{W34}[$bin] = $LADCP{ENSEMBLE}[$ens]->{W}[$bin] - $delta/2; 
 		}
 	}
 	progress("\t$nvw valid velocities in bins $LADCP_firstBin-$LADCP_lastBin\n");
@@ -844,8 +898,11 @@
 &antsAddParams('lat',$P{lat}) if defined($P{lat});
 &antsAddParams('lon',$P{lon}) if defined($P{lon});
 
-($CTD_elapsed,$CTD_depth,$CTD_svel,$CTD_w) = &fnr('elapsed','depth','ss','w');
-$CTD_temp = &fnrNoErr('temp');
+($CTD_elapsed,$CTD_depth,$CTD_svel) = &fnr('elapsed','depth','ss');
+$CTD_w 	  		= &fnrNoErr('w_CTD');
+$CTD_w	  		= &fnr('w') unless defined($CTD_w);
+$CTD_winchvel 	= &fnrNoErr('w_winch');
+$CTD_temp 		= &fnrNoErr('temp');
 warning(0,"no CTD temperature --- using ADCP temperature instead => Sv degraded!\n",$s)
    unless defined($CTD_temp);
 
@@ -857,7 +914,8 @@
 	push(@{$CTD{DEPTH}},  $ants_[0][$CTD_depth]);
 	push(@{$CTD{SVEL}},   $ants_[0][$CTD_svel]);
 	push(@{$CTD{W}},      $ants_[0][$CTD_w]);
-	push(@{$CTD{TEMP}},	  $ants_[0][$CTD_temp]) if defined($CTD_temp);
+	push(@{$CTD{TEMP}},	  $ants_[0][$CTD_temp]) 	if defined($CTD_temp);
+	push(@{$CTD{W_WINCH}},$ants_[0][$CTD_winchvel]) if defined($CTD_winchvel);
 	if ($ants_[0][$CTD_depth] > $CTD_maxdepth) {
 		$CTD_maxdepth = $ants_[0][$CTD_depth];
 		$CTD_atbottom = $#{$CTD{DEPTH}};
@@ -1091,10 +1149,9 @@
 	&antsAddParams('rms_w_reflr_err',sqrt($sumWsq/$nWsq),'rms_w_reflr_err_interior',sqrt($sumWsqI/$nWsqI));
 	progress("\t%.2f cm/s rms reference-layer w_ocean, %.2f cm/s away from boundaries\n",
 						100*sqrt($sumWsq/$nWsq),100*sqrt($sumWsqI/$nWsqI));
-#	if (sqrt($sumWsqI/$nWsqI) > 0.05) {
-#		warning(0,"%.2f cm/s (large) reference-layer w_ocean away from boundaries\n",100*sqrt($sumWsqI/$nWsqI));
-#	} els
-	if (sqrt($sumWsqI/$nWsqI) > 0.15) {
+	if (sqrt($sumWsqI/$nWsqI) > 0.05) {
+		warning(0,"%.2f cm/s (large) reference-layer w_ocean away from boundaries\n",100*sqrt($sumWsqI/$nWsqI));
+	} elsif (sqrt($sumWsqI/$nWsqI) > 0.15) {
 		warning(2,"%.2f cm/s (implausibly large) reference-layer w_ocean away from boundaries\n",100*sqrt($sumWsqI/$nWsqI));
 	}
 } elsif ($nWsq > 0) {
@@ -1111,8 +1168,9 @@
 progress("Calculating volume-scattering coefficients (Sv)...\n");
 calc_backscatter_profs($firstGoodEns,$lastGoodEns);
 
-if (@nSv) {
+if (defined($Sv_ref_bin) && @nSv) {
 	progress("\tapplying empirical Sv correction\n");
+	&antsAddParams('Sv_correction','empirical');
 	correct_backscatter($firstGoodEns,$lastGoodEns);
 }
 
@@ -1207,6 +1265,7 @@
 	        &antsAddParams('sidelobe_editing','seabed');
 	    }
 
+		$PPI_editing |= eval($PPI_seabed_editing_required);
 		if ($PPI_editing) {
 			&antsAddParams('PPI_editing','seabed');
 			&antsAddParams('PPI_extend_upper_limit',$PPI_extend_upper_limit)
@@ -1267,7 +1326,7 @@
 #----------------------------------------------------------------------
 # Data Editing after LADCP and CTD data have been merged
 #	1) surface layer editing
-#	2) user-supplied $edit_data_hook
+#	2) Execute user-supplied $edit_data_hook
 #----------------------------------------------------------------------
 
 progress("Removing data from instrument at surface...\n");
@@ -1321,7 +1380,7 @@
 
 progress("Creating binned profiles at ${opt_o}m resolution...\n");
 
-&antsAddParams('outgrid_dz',$opt_o,'outgrid_minsamp',$opt_k);					# used by LADCP_w_regrid
+&antsAddParams('outgrid_dz',$opt_o,'outgrid_minsamp',$opt_k);					# used by LADCP_w_postproc
 &antsAddParams('outgrid_firstbin',$outGrid_firstBin,'outgrid_lastbin',$outGrid_lastBin);
 
 my($min_depth) = 9e99;
@@ -1471,7 +1530,7 @@
 #------------------------------------------------------------------------------------------------------
 
 unless ($opt_q) {
-	progress("Removing ping-coherent residuals...\n");
+	progress("Subtracting ping-coherent residuals...\n");
 	
 	for ($ens=$firstGoodEns; $ens<=$lastGoodEns; $ens++) {
 		next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
@@ -1539,30 +1598,17 @@
 #----------------------------------------------------------------------
 
 if (defined($opt_r)) {
-	progress("Removing ensembles with large residuals...\n");	
+	progress("Applying residuals filters...\n");	
 	
-	$nerm = 0;
-	for ($ens=$firstGoodEns; $ens<=$lastGoodEns; $ens++) {
-		next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+	progress("\trms residuals > $residuals_rms_max: ");
+	my($nerm) = editResiduals_rmsMax($firstGoodEns,$lastGoodEns,$residuals_rms_max);
+	progress("$nerm ensembles removed (%d%% of total)\n",round(100*$nerm/($lastGoodEns-$firstGoodEns+1)));
 
-		my($sum) = my($n) = 0;														# calculate rms residual
-		my(@bindepth) = binDepths($ens);
-		for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
-			next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
-		  	next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
-		  	my($bi) = $bindepth[$bin]/$opt_o;
-			my($res) = ($ens < $LADCP_atbottom) ? 
-						$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W}[$bin] - $DNCAST{MEDIAN_W}[$bi] :
-						$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W}[$bin] - $UPCAST{MEDIAN_W}[$bi];
-			$sum += &SQR($res); $n++;						
-		}
-
-		if ($n == 0 || sqrt($sum/$n) > $opt_r) {									# ensemble is bad
-			undef($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
-			$nerm++;
-		}
+	if (defined($residuals_delta_max)) {											# filter based on difference between
+		progress("\tbeampair residuals difference > $residuals_delta_max [m/s]: ");    
+		my($nvrm) = editResiduals_deltaMax($firstGoodEns,$lastGoodEns,$residuals_delta_max);
+        progress("$nvrm velocities removed (%d%% of total in bins $LADCP_firstBin-$LADCP_lastBin)\n",round(100*$nvrm/$nvw));
 	}
-	progress("\t$nerm ensembles removed (%d%% of total)\n",round(100*$nerm/($lastGoodEns-$firstGoodEns+1)));
 
     progress("\tre-binning profile data...\n");
     undef(%DNCAST); undef(%UPCAST);
@@ -1807,7 +1853,7 @@
 	progress("Writing vertical-velocity data to ");
 	@antsNewLayout = ('ensemble','bin','elapsed','depth','CTD_depth','downcast',
 					  'w','w12','w34','v12','v34','residual','residual12','residual34',
-					  'CTD_w','CTD_w_t','CTD_w_tt','LADCP_w',
+					  'CTD_w','CTD_w_t','CTD_w_tt','LADCP_w','LADCP_reflr_w','winch_w',
 					  'errvel','correlation','echo_amplitude','Sv',
 					  'pitch','roll','tilt','heading','3_beam','svel');
 
@@ -1846,6 +1892,8 @@
 				  $CTD{W_t}[$LADCP{ENSEMBLE}[$ens]->{CTD_SCAN}],
 				  $CTD{W_tt}[$LADCP{ENSEMBLE}[$ens]->{CTD_SCAN}],
 				  $LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_W}[$bin],
+				  $LADCP{ENSEMBLE}[$ens]->{REFLR_W},
+				  $CTD{W_WINCH}[$LADCP{ENSEMBLE}[$ens]->{CTD_SCAN}],
 				  $LADCP{ENSEMBLE}[$ens]->{ERRVEL}[$bin],
 				  median(@{$LADCP{ENSEMBLE}[$ens]->{CORRELATION}[$bin]}),
 				  median(@{$LADCP{ENSEMBLE}[$ens]->{ECHO_AMPLITUDE}[$bin]}),
@@ -1884,6 +1932,8 @@
 				  $CTD{W_t}[$LADCP{ENSEMBLE}[$ens]->{CTD_SCAN}],
 				  $CTD{W_tt}[$LADCP{ENSEMBLE}[$ens]->{CTD_SCAN}],
 				  $LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_W}[$bin],
+				  $LADCP{ENSEMBLE}[$ens]->{REFLR_W},
+				  $CTD{W_WINCH}[$LADCP{ENSEMBLE}[$ens]->{CTD_SCAN}],
 				  $LADCP{ENSEMBLE}[$ens]->{ERRVEL}[$bin],
 				  median(@{$LADCP{ENSEMBLE}[$ens]->{CORRELATION}[$bin]}),
 				  median(@{$LADCP{ENSEMBLE}[$ens]->{ECHO_AMPLITUDE}[$bin]}),
diff -r cc6c4309828a -r 2ccb81b7cea5 LADCP_w_postproc
--- a/LADCP_w_postproc	Wed May 25 12:14:29 2016 -0400
+++ b/LADCP_w_postproc	Fri Aug 05 11:02:51 2016 -0400
@@ -2,9 +2,9 @@
 #======================================================================
 #                    L A D C P _ W _ P O S T P R O C 
 #                    doc: Fri Apr 24 17:15:59 2015
-#                    dlm: Tue May 24 22:48:51 2016
+#                    dlm: Thu May 26 18:21:11 2016
 #                    (c) 2015 A.M. Thurnherr
-#                    uE-Info: 602 50 NIL 0 0 72 2 2 4 NIL ofnI
+#                    uE-Info: 101 35 NIL 0 0 72 2 2 4 NIL ofnI
 #======================================================================
 
 $antsSummary = 'edit and re-grid LADCP vertical-velocity samples';
@@ -64,6 +64,7 @@
 #   Mar 31, 2016: - changed version %PARAM
 #	Apr 14, 2016: - added profile id to warning messages
 #	May 24, 2016: - improved plot
+#	May 26, 2016: - added automatic directory creation on -d
 
 ($ANTS)  = (`which ANTSlib` =~ m{^(.*)/[^/]*$});
 ($WCALC) = ($0              =~ m{^(.*)/[^/]*$});
@@ -88,20 +89,25 @@
 	'[-p)lot <[%03d_wprof.eps]> [-b)t <wprof>]]',
 	'<DL.wsamp file> [UL.wsamp file] (or only <UL.wsamp file>)');
 
-$dual_head = (@ARGV==1);								# single or dual head
+$dual_head = (@ARGV==1);												# single or dual head
 
-$id = defined($opt_i) ? $opt_i : &antsParam('profile_id');		# ensure profile id
+$id = defined($opt_i) ? $opt_i : &antsParam('profile_id');				# ensure profile id exists
 croak("$0: no profile_id in first file => -i required\n")
 	unless defined($id);
 	
-if (defined($opt_d)) {									# different output directory
-	croak("$opt_d: no such directory\n")
-		unless (-d "$opt_d");
+if (defined($opt_d)) {													# select output directory
+	unless (-d $opt_d) {
+	    unless ($opt_d =~ m{/}) {
+			print(STDERR "Warning: Creating output sub-directory ./$opt_d\n");
+		    mkdir($opt_d);
+		}
+		croak("$opt_d: no such directory\n") unless (-d $opt_d);
+	}
 }
 
-&antsCardOpt(\$opt_s,300);								# surface layer depth limit
+&antsCardOpt(\$opt_s,300);												# surface layer depth limit
 
-if (defined($opt_v)) {									# bin ranges with valid data to use
+if (defined($opt_v)) {													# bin ranges with valid data to use
 	($fvBin,$lvBin,$UL_fvBin,$UL_lvBin) = split(/,/,$opt_v);
 	croak("$0: cannot decode -v $opt_v\n")
 		unless (defined($lvBin) && (!$dual_head || defined($UL_lvBin)));
@@ -114,8 +120,8 @@
 				   'DL_last_valid_bin',&antsRequireParam('outgrid_lastbin'));
 }
 
-if (defined($opt_w)) {									# vertical-velocity fields to use
-	($Ddwf,$Duwf,$Udwf,$Uuwf) = split(/,/,$opt_w);		# DL dc, DL uc, ...
+if (defined($opt_w)) {													# vertical-velocity fields to use
+	($Ddwf,$Duwf,$Udwf,$Uuwf) = split(/,/,$opt_w);						# DL dc, DL uc, ...
 	croak("$0: cannot decode -w $opt_w\n")
 		unless (defined($Duwf) && (!$dual_head || defined($Uuwf)));
 	&antsAddParams('DL_dc_w_field',$Ddwf,'DL_uc_w_field',$Duwf,
@@ -124,14 +130,14 @@
 	($Ddwf,$Duwf,$Udwf,$Uuwf) = ('w','w','w','w');
 }
 
-if (defined($opt_o)) {									# output grid resolution
+if (defined($opt_o)) {													# output grid resolution
 	$opt_o_override = 1;
 	&antsCardOpt($opt_o);
 } else {
 	$opt_o = &antsRequireParam('outgrid_dz');
 }
 
-if (defined($opt_k)) {									# minimum number of required samples
+if (defined($opt_k)) {													# minimum number of required samples
 	$opt_k_override = 1;
 	&antsCardOpt($opt_k);
 } else {
@@ -588,7 +594,7 @@
 			GMT_pstext('-F+f12,Helvetica,coral+jTL -Gred');
 		} elsif ($dc_R < 0.5) { 	GMT_pstext('-F+f12,Helvetica,coral+jTL -Gyellow'); }
 		else {						GMT_pstext('-F+f12,Helvetica,coral+jTL -Gwhite'); }
-	        printf(GMT "%f %f r = %.1f\n",0.64,0.01,$dc_R);
+	        printf(GMT "%f %f r = %.1f\n",0.61,0.01,$dc_R);
 	}
 	GMT_pstext('-F+f12,Helvetica,coral+jTR -Gwhite');
 		printf(GMT "%f %f [%.1f/%.1f cm/s @~s@~\@-e/r\@-]\n",
@@ -599,7 +605,7 @@
 			GMT_pstext('-F+f12,Helvetica,SeaGreen+jTL -Gred');
 		} elsif ($uc_R < 0.5) { 	GMT_pstext('-F+f12,Helvetica,SeaGreen+jTL -Gyellow'); }
 		else {						GMT_pstext('-F+f12,Helvetica,SeaGreen+jTL -Gwhite'); }
-	        printf(GMT "%f %f r = %.1f\n",0.64,0.05,$uc_R);
+	        printf(GMT "%f %f r = %.1f\n",0.61,0.05,$uc_R);
 	}
 	GMT_pstext('-F+f12,Helvetica,SeaGreen+jTR -Gwhite');
 		printf(GMT "%f %f [%.1f/%.1f cm/s @~s@~\@-e/r\@-]\n",
diff -r cc6c4309828a -r 2ccb81b7cea5 default_output.pl
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/default_output.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -0,0 +1,111 @@
+#======================================================================
+#                    D E F A U L T _ O U T P U T . P L 
+#                    doc: Wed Jun  1 19:21:19 2016
+#                    dlm: Wed Jun  1 19:26:01 2016
+#                    (c) 2016 A.M. Thurnherr
+#                    uE-Info: 106 1 NIL 0 0 72 0 2 4 NIL ofnI
+#======================================================================
+
+# NOTES:
+#  - as this file is executed after ProcessingParams, only undefined
+#	 variables are set
+
+# HISTORY:
+#	Jun  1, 2016: - created from [default_paths.pl]
+
+#----------------------------------------------------------------------
+# Processing log (diagnostic messages) output
+#----------------------------------------------------------------------
+
+$out_log = "$log_dir/$out_basename.log"
+	unless defined($out_log);
+
+
+#----------------------------------------------------------------------
+# Vertical-velocity profile output and plots:
+#
+# Data:
+#	*.wprof				vertical velocity profiles
+#
+# Plots:
+# 	*_wprof.ps			vertical velocity profiles (main output plot)
+#----------------------------------------------------------------------
+
+unless (@out_profile) {
+	push(@out_profile,"$data_dir/$out_basename.wprof");
+	push(@out_profile,"plot_wprof($plot_dir/${out_basename}_wprof.ps)")
+		if ($plotting_level > 0);
+}
+
+#--------------------------------------------------------------------------------------------------
+# Vertical-velocity sample data output and plots:
+#
+# Data (in $data_dir):
+#	*.wsamp							w sample data
+#	residuals/<prof>/<ens>.rprof	OPTIONAL: per-ensemble residuals
+#						
+# Plots (in $plot_dir):
+#	*_wsamp.ps						1: vertical velocity time-depth plot
+#	*_residuals.ps					1: residual vertical velocity time-depth plot
+#	*_residual_profs.ps				1: residuals binned in depth
+#	*_backscatter.ps				1: volume scattering coefficient time-depth plot
+#	*_attitude_res.ps				2: residuals binned wrt. pitch/roll
+#	*_residuals12.ps				2: beampair <1,2> residual vertical velocity time-depth plot
+#	*_residuals34.ps				2: beampair <3,4> residual vertical velocity time-depth plot
+#	*_attitude_res.ps				2: residuals binned wrt. package attitude
+#	*_acceleration_res.ps			2: residuals binned wrt. package acceleration derivative
+#	*_correlation.ps				3: correlation time-depth plot
+#--------------------------------------------------------------------------------------------------
+
+unless (@out_wsamp) {
+	push(@out_wsamp,"$data_dir/$out_basename.wsamp");
+	#push(@out_wsamp,sprintf('dump_residual_profiles(%s/residuals/%03d)',$data_dir,$PROF));
+
+	if ($plotting_level > 0) {
+		push(@out_wsamp,"plot_wsamp($plot_dir/${out_basename}_wsamp.ps)");
+		push(@out_wsamp,"plot_residuals($plot_dir/${out_basename}_residuals.ps)");
+		push(@out_wsamp,"plot_residual_profs($plot_dir/${out_basename}_residual_profs.ps)");
+		push(@out_wsamp,"plot_backscatter($plot_dir/${out_basename}_backscatter.ps)");
+		if ($plotting_level > 1) {
+			push(@out_wsamp,"plot_residuals12($plot_dir/${out_basename}_residuals12.ps)");
+			push(@out_wsamp,"plot_residuals34($plot_dir/${out_basename}_residuals34.ps)");
+			push(@out_wsamp,"plot_attitude_residuals($plot_dir/${out_basename}_attitude_res.ps)");
+			push(@out_wsamp,"plot_acceleration_residuals($plot_dir/${out_basename}_acceleration_res.ps)");
+			if ($plotting_level > 2) {
+				push(@out_wsamp,"plot_correlation($plot_dir/${out_basename}_correlation.ps)");
+			}
+		}
+	}
+}
+
+#----------------------------------------------------------------------
+# Time-series output
+#
+#	*.tis			combined CTD/LADCP time-series data, including 
+#					package- and LADCP reference layer w
+#----------------------------------------------------------------------
+
+push(@out_timeseries,"$data_dir/$out_basename.tis")
+	unless (@out_timeseries);
+
+#----------------------------------------------------------------------
+# Per-bin vertical-velocity residuals (plot only)
+#----------------------------------------------------------------------
+
+push(@out_BR,"plot_mean_residuals($plot_dir/${out_basename}_bin_residuals.ps)")
+	unless (@out_BR);
+
+
+#----------------------------------------------------------------------
+# Time-lagging correlation statistics (plot only)
+#----------------------------------------------------------------------
+
+unless (@out_TL) {
+	push(@out_TL,"plot_time_lags($plot_dir/${out_basename}_time_lags.ps)")
+		if ($plotting_level > 0);
+}
+
+#----------------------------------------------------------------------
+
+1;	# return true
+
diff -r cc6c4309828a -r 2ccb81b7cea5 default_paths.pl
--- a/default_paths.pl	Wed May 25 12:14:29 2016 -0400
+++ b/default_paths.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 #======================================================================
 #                    D E F A U L T _ P A T H S . P L 
 #                    doc: Tue Mar 29 07:09:52 2016
-#                    dlm: Wed May 18 20:23:32 2016
+#                    dlm: Wed Jun  1 19:20:45 2016
 #                    (c) 2016 A.M. Thurnherr
-#                    uE-Info: 13 44 NIL 0 0 72 0 2 4 NIL ofnI
+#                    uE-Info: 16 57 NIL 0 0 72 0 2 4 NIL ofnI
 #======================================================================
 
 # HISTORY:
@@ -11,6 +11,9 @@
 #	May 18, 2016: - added new attitude and acceleration residuals plots
 #				  - renamed mean_residual to bin_residuals plots
 #				  - added new residual_profs plot
+#	Jun  1, 2016: - added residuals12 plots
+#				  - added support for $plotting_level
+#				  - exported stuff to [default_output.pl]
 
 #======================================================================
 # ProcessingParams file selection
@@ -46,13 +49,6 @@
 	}
 	error("$data_dir: no such directory\n") unless (-d $data_dir);
 }
-unless (-d $plot_dir) { 										    
-	unless ($plot_dir =~ m{/}) {
-		warning(0,"Creating plot sub-directory ./$plot_dir\n");
-		mkdir($plot_dir);
-	}
-	error("$plot_dir: no such directory\n") unless (-d $plot_dir);
-}
 unless (-d $log_dir) {
 	unless ($log_dir =~ m{/}) {
 		warning(0,"Creating log-file sub-directory ./$log_dir\n");
@@ -60,78 +56,17 @@
 	}
 	error("$log_dir: no such directory\n") unless (-d $log_dir);
 }
-           
-
-#----------------------------------------------------------------------
-# Processing log (diagnostic messages) output
-#----------------------------------------------------------------------
-
-$out_log = "$log_dir/$out_basename.log";
-
+if ($plotting_level > 0) {
+	unless (-d $plot_dir) { 										    
+		unless ($plot_dir =~ m{/}) {
+			warning(0,"Creating plot sub-directory ./$plot_dir\n");
+			mkdir($plot_dir);
+		}
+		error("$plot_dir: no such directory\n") unless (-d $plot_dir);
+	}
+}
 
 #----------------------------------------------------------------------
-# Vertical-velocity profile output and plots:
-#
-# Data:
-#	*.wprof				vertical velocity profiles
-#
-# Plots:
-# 	*_wprof.ps			vertical velocity profiles (main output plot)
-#----------------------------------------------------------------------
-
-@out_profile = ("plot_wprof($plot_dir/${out_basename}_wprof.ps)",
-			    "$data_dir/$out_basename.wprof");
-
-
-#--------------------------------------------------------------------------------------------------
-# Vertical-velocity sample data output and plots:
-#
-# Data (in $data_dir):
-#	*.wsamp							w sample data
-#	residuals/<prof>/<ens>.rprof	OPTIONAL: per-ensemble residuals
-#						
-# Plots (in $plot_dir):
-#	*_wsamp.ps						vertical velocity time-depth plot
-#	*_residuals.ps					residual vertical velocity time-depth plot
-#	*_backscatter.ps				volume scattering coefficient time-depth plot
-#	*_attitude_res.ps				residuals binned wrt. pitch/roll
-#	*_res_profs.ps					residuals binned in depth
-#	*_acceleration_res.ps			OPTIONAL: residuals binned wrt. package acceleration derivative
-#	*_correlation.ps				OPTIONAL: correlation time-depth plot
-#--------------------------------------------------------------------------------------------------
-
-push(@out_wsamp,"$data_dir/$out_basename.wsamp");
-#push(@out_wsamp,sprintf('dump_residual_profiles(%s/residuals/%03d)',$data_dir,$PROF));
-
-push(@out_wsamp,"plot_residuals($plot_dir/${out_basename}_residuals.ps)");
-push(@out_wsamp,"plot_backscatter($plot_dir/${out_basename}_backscatter.ps)");
-push(@out_wsamp,"plot_wsamp($plot_dir/${out_basename}_wsamp.ps)");
-push(@out_wsamp,"plot_attitude_residuals($plot_dir/${out_basename}_attitude_res.ps)");
-push(@out_wsamp,"plot_residual_profs($plot_dir/${out_basename}_residual_profs.ps)");
-#push(@out_wsamp,"plot_acceleration_residuals($plot_dir/${out_basename}_acceleration_res.ps)");
-#push(@out_wsamp,"plot_correlation($plot_dir/${out_basename}_correlation.ps)");
-
-#----------------------------------------------------------------------
-# Time-series output
-#
-#	*.tis			combined CTD/LADCP time-series data, including 
-#					package- and LADCP reference layer w
-#----------------------------------------------------------------------
-
-@out_timeseries = ("$data_dir/$out_basename.tis");
-
-#----------------------------------------------------------------------
-# Per-bin vertical-velocity residuals (plot only)
-#----------------------------------------------------------------------
-
-@out_BR	= ("plot_mean_residuals($plot_dir/${out_basename}_bin_residuals.ps)");
-
-
-#----------------------------------------------------------------------
-# Time-lagging correlation statistics (plot only)
-#----------------------------------------------------------------------
-
-@out_TL = ("plot_time_lags($plot_dir/${out_basename}_time_lags.ps)");
 
 1;	# return true
 
diff -r cc6c4309828a -r 2ccb81b7cea5 defaults.pl
--- a/defaults.pl	Wed May 25 12:14:29 2016 -0400
+++ b/defaults.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 #======================================================================
 #                    D E F A U L T S . P L 
 #                    doc: Tue Oct 11 17:11:21 2011
-#                    dlm: Tue Mar 29 07:23:24 2016
+#                    dlm: Mon Jun  6 22:07:19 2016
 #                    (c) 2011 A.M. Thurnherr
-#                    uE-Info: 74 39 NIL 0 0 72 0 2 4 NIL ofnI
+#                    uE-Info: 179 18 NIL 0 0 72 0 2 4 NIL ofnI
 #======================================================================
 
 # HISTORY:
@@ -72,6 +72,10 @@
 #	Mar 19, 2016: - improved docu
 #	Mar 29, 2016: - moved out dir creation to [LADCP_w_ocean]
 #				  - added opt_r support
+#	May 26, 2016: - added RDI_Coords::binMapping
+#	May 28, 2016: - added delta-residual filter (-r)
+#	Jun  1, 2016: - added $plotting_level
+#	Jun  2, 2016: - added $tilt_correction_*
 
 #======================================================================
 # Output Log Files
@@ -87,17 +91,35 @@
 &antsCardOpt(\$opt_v,$ENV{VERB});
 $opt_v = 1 unless numberp($opt_v);
 
+#======================================================================
+# Output Plots
+#	- there are 3 plotting levels
+#		0 : suppress all plots
+#		1* : produce default plots; *DEFAULT
+#		2 : produce default and diagnostic plots
+#		>2: produce all plots, including useless ones
+#======================================================================
+
+$plotting_level = 1;
+
 
 #======================================================================
-# Data Input 
+# Input Data 
 #======================================================================
 
 # Set $opt_4 to 1 (or use the -4 option) to suppress 3-beam LADCP 
-# solutions
+# solutions. This only has an effect for beam-coordinate data.
 
 #$opt_4 = 1;
 
 
+# Set $RDI_Coords::binMapping to 'none' or use -d to disable
+# linear bin interpolation (which is better than bin mapping).
+# This only has an effect for beam-coordinate data.
+
+$RDI_Coords::binMapping = $opt_d ? 'none' : 'linterp';
+
+
 # The following variables allow bias-correcting the attiude 
 # sensors.
 # NB: heading is not used for vertical-velocity processing!
@@ -125,10 +147,15 @@
 # Data Editing
 #======================================================================
 
-# The following sets the max allowable rms residual w per ensemble; 
-# data from ensembles with larger rms residuals are discarded.
+# The following sets the max allowable rms residual w per ensemble, as 
+# well as the max allowable difference between the two beam-pair
+# residuals. Measurements that fail either of these tests are are 
+# discarded. The limiting values were chosed by inspection of 
+# log files and diagnostic plots of a few example profiles. In case of
+# the delta-residual limit, histograms of this parameter show a very
+# steep cutoff at 0.05 cm/s for both IWISE and 2016_I08S data. 
 
-&antsFloatOpt(\$opt_r,0.04);
+&antsFloatOpt(\$opt_r,'0.06,0.06');
 
 
 # By default, ensembles with uncertain time-lagging are discarded.
@@ -147,25 +174,18 @@
 &antsFloatOpt(\$opt_c,70);
 
 
-# The following sets the default limit for instrument attitude 
-# (pitch/roll).
-# 
-# The default value was established with IWISE profiles 004, 005, 045
-# and 049, which all show considerabe tilt-related discrepancies between
-# the corresponding 2-beam solutions. The first and second pair of
-# profiles were collected with 8 and 6m bins, respectively, without
-# bin re-mapping. The original default of 15 degrees led to large
-# beam-pair differences. Based on diagnostic plots it appears that
-# only tilt angles smaller than 9 degrees or so are satisfactory. 
-# In case of the IWISE data set, such a tight constraint causes
-# too many data gaps. The compromise of 12 degrees seems to work
-# quite well, based on the p0 vs epsilon correlation across 5
-# data sets.
+# Instrument Tilt
 #
-# NB: if this default is changed, the usage message in [LADCP_w]
-#	  needs to be updated as well.
+# It is not fully clear what tilt angles are acceptable for 
+# obtaining good vertical velocities. Up to 2016 (V1.3) the
+# default limit was 12 degrees based on an analysis of 
+# the 2010 IWISE data with inaccurate 2-beam transformations.
+# As re-processing with a limit of 20 degrees improves the
+# agreement between DL and UL data (R = 0.77/0.67 => 0.79/0.74)
+# the limit was changed to 22 degrees, the same used
+# in Martin Visbeck's inversion code.
 
-&antsFloatOpt(\$opt_t,12);
+&antsFloatOpt(\$opt_t,22);
 
 
 # The following sets the default error velocity limit; measurements 
@@ -224,8 +244,10 @@
 
 # Previous Ping Interference editing as described in [edit_data.pl]
 #	- enabled by default for WH150 data
-#	- the variable defines a string with a perl expression, which is
-#	  evaluated once the data are loaded
+#	- PPI_seabed_editing_required defines a string with a perl expression 
+#	  that is evaluated once the data are loaded; if true, seabed PPI
+#	  editing is enabled 
+#	- to enable PPI editing without condition, set $PPI_editing = 1;
 #	- 2014 CLIVAR P16 #47 has a slight discontinuity at 4000m; this
 #	  discontinuity is there without PPI filtering but gets slightly
 #	  worse with PPI filtering. Setting $PPI_extend_upper_limit to 
@@ -236,8 +258,9 @@
 #	  set by the shortest acoustic path between the ADCP and the 
 #	  seabed.
 
-$PPI_editing_required = '($LADCP{BEAM_FREQUENCY} < 300)';
+$PPI_seabed_editing_required = '($LADCP{BEAM_FREQUENCY} < 300)';
 
+#$PPI_editing = 1;						# uncomment to enable PPI always
 #$PPI_extend_upper_limit = 1.03;		# see comments above
 
 
@@ -311,7 +334,9 @@
 # bin is chosen to construct a reference profile for Sv. The bin number
 # is automatically increased if the selected bin does not contain valid
 # data, i.e. the default value of 1 ensures that the closest valid bin
-# is used to construct the reference profile.
+# is used to construct the reference profile. The empirical correction
+# causes artifacts every 100m. To disable the empirical
+# correction, undefine the following variable.
 
 $Sv_ref_bin = 1; 
 
diff -r cc6c4309828a -r 2ccb81b7cea5 edit_data.pl
--- a/edit_data.pl	Wed May 25 12:14:29 2016 -0400
+++ b/edit_data.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 #======================================================================
 #                    E D I T _ D A T A . P L 
 #                    doc: Sat May 22 21:35:55 2010
-#                    dlm: Tue May 24 16:36:37 2016
+#                    dlm: Mon Jun  6 21:13:28 2016
 #                    (c) 2010 A.M. Thurnherr
-#                    uE-Info: 374 18 NIL 0 0 72 2 2 4 NIL ofnI
+#                    uE-Info: 543 0 NIL 0 0 72 2 2 4 NIL ofnI
 #======================================================================
 
 # HISTORY:
@@ -35,18 +35,25 @@
 #	Jan 23, 2016: - added &editBadTimeLagging()
 #	May 18, 2016: - removed assumption of 1500m/s soundspeed setting
 #   May 24, 2016: - calc_binDepths() -> binDepths()
+#	May 28, 2016: - added editResiduals_rmsMax, editResiduals_deltaMax
+#	Jun  2, 2016: - added applyTiltCorrection()
+#				  - maded editCorr_Earthcoords() less conservative
+#				  - verified that removed velocities are counted correctly
+#	Jun  3, 2016: - BUG: applyTiltCorrection() did not use gimbal_pitch
+#	Jun  6, 2016: - removed applyTiltCorrection()
 
 # NOTES:
-#	- editCorr_Earthcoords() is overly conservative and removed most
-#	  or all 3-beam solutions
 #	- all bins must be edited (not just the ones between $LADCP_firstBin
 #	  and $LADCP_lastBin to allow reflr calculations to use bins outside
 #	  this range (ONLY FOR BEAM-COORD EDITS)
 #	- however, to make the stats work, only the edited velocities
-#	  inside the bin range are counted
+#	  inside the bin range are counted for those edit functions that
+#	  report their stats wrt $nvw (for those which use $nvv,
+#	  all velocities must be counted)
 
 #======================================================================
 # correctAttitude($ens,$pitch_bias,$roll_bias,$heading_bias)
+#	- this is called before gimbal_pitch is calculated
 #======================================================================
 
 sub correctAttitude($$$$)
@@ -59,6 +66,10 @@
 
 #======================================================================
 # $vv = countValidVels($ens)
+#
+# NOTES:
+#	- in case of Earth coords, this counts the velocity components
+#	  (including errvel)
 #======================================================================
 
 sub countValidBeamVels($)
@@ -79,7 +90,8 @@
 # $removed = editCorr($ens,$threshold)
 #
 # NOTES:
-#	- called before Earth vels have been calculated
+#	- called before Earth vels are calculated
+#	- count removed velocities in all bins
 #======================================================================
 
 sub editCorr($$)
@@ -102,12 +114,11 @@
 # $removed = editCorr_Earthcoords($ens,$threshold)
 #
 # NOTES:
-#	- if any of the 4 beam correlations is below the threshold,
+#	- if any of the used correlations is below the threshold,
 #	  the entire velocity is removed
-#	- this implies that (most? all?) three-beam solutions will
-#	  be edited out, which is overly conserative
-#	- a potentially better algorithm (used in LADCPproc) ignores the
-#	  lowest correlation in all 3-beam solutions
+#	- for three-beam solutions two correlations must fail the
+#	  test
+#	- count velocities in all bins
 #======================================================================
 
 sub editCorr_Earthcoords($$)
@@ -116,14 +127,14 @@
 
 	my($nrm) = 0;
 	for (my($bin)=0; $bin<$LADCP{N_BINS}; $bin++) {
-		my($beam);
-		for ($beam=0; $beam<4; $beam++) {
-			last unless ($LADCP{ENSEMBLE}[$ens]->{CORRELATION}[$bin][$beam] >= $lim);
+		my($nBad) = 0;
+		for (my($beam)=0; $beam<4; $beam++) {
+			$nBad++ unless ($LADCP{ENSEMBLE}[$ens]->{CORRELATION}[$bin][$beam] > $lim);
 		}
-		if ($beam < 4) {
-			for (my($c)=0; $c<4; $c++) {
-				next unless defined($LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$c]);
-				undef($LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$c]);
+		if ($nBad-$LADCP{ENSEMBLE}[$ens]->{THREE_BEAM}[$bin] > 0) {
+			for (my($beam)=0; $beam<4; $beam++) {
+				next unless defined($LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam]);
+				undef($LADCP{ENSEMBLE}[$ens]->{VELOCITY}[$bin][$beam]);
 				$nrm++;
 			}
 		}
@@ -137,6 +148,7 @@
 # NOTES:
 #	- called after Earth vels have been calculated
 #	- sets TILT field for each ensemble as a side-effect
+#	- count all removed velocities
 #======================================================================
 
 sub editTilt($$)
@@ -209,6 +221,7 @@
 #
 # NOTES:
 #	- call after Earth vels have been calculated
+#	- count only removed vels in selected bin range
 #======================================================================
 
 sub editTruncRange($$)
@@ -232,6 +245,7 @@
 #	- remove data from far bins
 #	- only bins in valid range are considered here, because
 #	  $per_bin_nsamp is only defined for those
+#	- only velocities from bins in valid range are counted
 #======================================================================
 
 sub editFarBins($$)
@@ -255,6 +269,8 @@
 #	   along-beam soundspeed variation, but the soundspeed at the transducer is accounted for.
 #	2) for surface sidelobes, water_depth == undef; surface sidelobes include the
 #	   vessel draft
+#	- all velocities are counted, even those outside valid bin range,
+#	  because the %age is not reported
 #======================================================================
 
 sub editSideLobes($$$)
@@ -290,6 +306,7 @@
 # ($nvrm,$nerm) = editPPI($fromEns,$toEns,$water_depth)
 #
 # NOTES:
+#	- only velocities in good bin range are removed/counted
 #	- for UL, water_depth == undef; for DL water_depth is always defined,
 #	  or else editPPI is not called
 #	- when this code is executed a suitable UL or DL depth-average-soundspeed
@@ -422,6 +439,9 @@
 
 #===============================================================================
 # $nerm = editBadTimeLagging($fromEns,$toEns,$good_from_elapsed1,$good_to_elapsed1,...)
+#
+# NOTES:
+#	- deleted velocities are not counted
 #===============================================================================
 
 sub editBadTimeLagging($$@)
@@ -458,5 +478,69 @@
 	return $nerm;
 }
 
+#======================================================================
+# $nerm = editResiduals_rmsMax($fe,$te,$max_val)
+#
+# NOTES:
+#	- removed velocities are not counted
+#======================================================================
+
+sub editResiduals_rmsMax($$$)
+{
+	my($fe,$te,$limit) = @_;
+	my($nerm) = 0;
+	for (my($ens)=$fe; $ens<=$te; $ens++) {
+		next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+		my($sum) = my($n) = 0;														# calculate rms residual
+		my(@bindepth) = binDepths($ens);
+		for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
+		  	next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+		  	my($bi) = $bindepth[$bin]/$opt_o;
+			my($res) = ($ens < $LADCP_atbottom) ? 
+						$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W}[$bin] - $DNCAST{MEDIAN_W}[$bi] :
+						$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W}[$bin] - $UPCAST{MEDIAN_W}[$bi];
+			$sum += &SQR($res); $n++;						
+		}
+		if ($n == 0 || sqrt($sum/$n) > $limit) {									# ensemble is bad
+			undef($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+			$nerm++;
+		}
+	}
+	return $nerm;
+}
+
+#======================================================================
+# $nerm = editResiduals_deltaMax($fe,$te,$max_val)
+#	- delta residual = delta beampair w => equal to scaled error velocity?
+#	- sharp cutoff near 5cm/s for std parameters (0.1 m/s error velocity
+#	  filter) in several data sets
+#	- samples with large residuals differences are clear outliers in
+# 	  the residuals vs tilt plots => obvious to remove
+#	- how are large delta res possible given the errvel limit???
+#	- only valid bin range is edited/counted
+#======================================================================
+
+sub editResiduals_deltaMax($$$)
+{
+	my($fe,$te,$limit) = @_;
+	my($nvrm) = 0;
+	for (my($ens)=$fe; $ens<=$te; $ens++) {
+		next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+		for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
+			next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+			my($Dr) = abs($LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W12}[$bin] -
+						  $LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W34}[$bin]);
+			if ($Dr > $limit) {
+				undef($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+				$nvrm++;
+			}
+		}
+    }
+    return $nvrm;
+}
+
+#======================================================================
 
 1;
diff -r cc6c4309828a -r 2ccb81b7cea5 plot_attitude_biases_w.pl
--- a/plot_attitude_biases_w.pl	Wed May 25 12:14:29 2016 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,238 +0,0 @@
-#======================================================================
-#                    P L O T _ A T T I T U D E _ B I A S E S _ W . P L 
-#                    doc: Sun May 15 16:08:59 2016
-#                    dlm: Tue May 24 16:38:31 2016
-#                    (c) 2016 A.M. Thurnherr
-#                    uE-Info: 15 31 NIL 0 0 72 2 2 4 NIL ofnI
-#======================================================================
-
-# HISTORY:
-#	May 15, 2016: - created from [plot_mean_residuals.pl]
-#	May 16, 2016: - continued
-#	May 17, 2016: - renamed from [plot_attitude_biases.pl]
-#   May 18, 2016: - added version
-#				  - expunged $realLastGoodEns
-#	May 19, 2016: - added notes about wrong beam plane
-#   May 24, 2016: - calc_binDepths() -> binDepths()
-
-# IMPORTANT NOTE:
-#   - the variables prefixed with p/r refer to beam-pairs 1,2 and 3,4 respectively,
-#     i.e. the p variables correspond to the roll plane and the r variables
-#          correspond to the pitch plane
-
-require "$ANTS/libGMT.pl";
-
-sub plot_attitude_biases_w($)
-{
-	my($pfn) = @_;																	# plot file name
-
-	my($xmin) = -round($opt_t);														# full pitch range 
-	my($xmax) =  round($opt_t);
-	my($ymin) =  -0.05;
-	my($ymax) =   0.05;
-
-	my($min_thin) = 200;
-	my($min_fat)  = 500;
-	my($btstrp_ndraw) = 20;
-	my($excluded_surf_layer) = 150;
-
-	#--------------------------------------------------------
-	# Bin-Average & Create Histogram from Beampair Velocities
-	#	- use 1-degree bins for simplicity
-	#	- use gimbal pitch (not measured pitch)
-	#--------------------------------------------------------
-
-	my(@pHistDC,@rHistDC,@pSumDC,@rSumDC,$pHistDC,$rHistDC,$pSumDC,$rSumDC);
-	my(@pHistUC,@rHistUC,@pSumUC,@rSumUC,$pHistUC,$rHistUC,$pSumUC,$rSumUC);
-	my(@pValsDC,@rValsDC,@pValsUC,@rValsUC,$mode);
-	for (my($e)=$firstGoodEns; $e<=$lastGoodEns; $e++) {
-		next unless numberp($LADCP{ENSEMBLE}[$e]->{CTD_DEPTH});
-		my(@bindepth) = binDepths($e);
-		for (my($bin)=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
-			next if ($bindepth[$bin] <= $excluded_surf_layer);
-			next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
-			next unless numberp($LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]) &&
-						numberp($LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]);
-			my($pi) = int($LADCP{ENSEMBLE}[$e]->{GIMBAL_PITCH}+$opt_t);			# pitch/roll indices
-			my($ri) = int($LADCP{ENSEMBLE}[$e]->{ROLL}+$opt_t);
-			if ($e < $LADCP_atbottom) {											# downcast
-			 	push(@{$pValsDC[$pi]},$LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]);
-			 	push(@{$rValsDC[$ri]},$LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]);
-				$pSumDC += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]; $pHistDC++; 
-				$rSumDC += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]; $rHistDC++;
-				$pSumDC[$pi] += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]; $pHistDC[$pi]++; 
-				$rSumDC[$ri] += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]; $rHistDC[$ri]++;
-				$mode = $pHistDC[$pi] if ($pHistDC[$pi] > $mode);
-				$mode = $rHistDC[$ri] if ($rHistDC[$ri] > $mode);
-			} else { 																# upcast
-			 	push(@{$pValsUC[$pi]},$LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]);
-			 	push(@{$rValsUC[$ri]},$LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]);
-				$pSumUC += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]; $pHistUC++; 
-				$rSumUC += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]; $rHistUC++;
-				$pSumUC[$pi] += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]; $pHistUC[$pi]++; 
-				$rSumUC[$ri] += $LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]; $rHistUC[$ri]++;
-				$mode = $pHistUC[$pi] if ($pHistUC[$pi] > $mode);
-				$mode = $rHistUC[$ri] if ($rHistUC[$ri] > $mode);
-			}
-		}
-	}
-
-	#----------
-	# Plot Data
-	#----------
-
-	my($R) = "-R$xmin/$xmax/$ymin/$ymax";												# begin plot
-	GMT_begin($pfn,'-JX10/10',$R,"-P -Bg5f1a5:'Pitch/Roll [\260]':/g0.01f0.001a0.01:'Beam-Plane Vertical Velocity [m/s]':WeSn");
-
-	# ZERO LINE
-	GMT_psxy('-W4,CornflowerBlue');
-		print(GMT "$xmin 0\n$xmax 0\n");
-
-	# DC BEAMS 1,2
-	GMT_psxy('-Ey0.2/2,coral');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {										# error bars
-			next unless ($pHistDC[$i] >= $min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$pValsDC[$i]});	# 95% bootstrap conf limits
-			printf(GMT "%f %f %f\n",$i-round($opt_t)-0.3,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Ey0.2/1,coral');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistDC[$i]>=$min_thin && $pHistDC[$i]<$min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$pValsDC[$i]});	# 95% bootstrap conf limits
-			printf(GMT "%f %f %f\n",$i-round($opt_t)-0.3,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Sc0.15 -Gcoral');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistDC[$i] >= $min_thin);
-			printf(GMT "%f %f\n",$i-round($opt_t)-0.3,$pSumDC[$i]/$pHistDC[$i]);		# errorbar center symbol 
-			printf(GMT "%f %f\n",$i-round($opt_t)-0.3,$ymin+0.03*$pHistDC[$i]/$mode);	# histogram symbol
-		}
-	if ($pHistDC) {
-		GMT_psxy('-W1,coral,8_2:0');													# average bias (horizontal line);
-			printf(GMT ">\n%f %f\n%f %f\n",-$opt_t,$pSumDC/$pHistDC,$opt_t,$pSumDC/$pHistDC)
-	}
-	GMT_psxy('-W2,coral,8_2:0');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistDC[$i] >= $min_thin);
-			printf(GMT ">\n%f %f\n%f %f\n%f %f\n>\n%f %f\n%f %f\n",						# histogram bar
-					$i-round($opt_t)-0.3-0.5,$ymin,
-					$i-round($opt_t)-0.3-0.5,$ymin+0.03*$pHistDC[$i]/$mode,
-					$i-round($opt_t)-0.3+0.5,$ymin+0.03*$pHistDC[$i]/$mode,
-					$i-round($opt_t)-0.3+0.5,$ymin,
-					$i-round($opt_t)-0.3+0.5,$ymin+0.03*$pHistDC[$i]/$mode);
-		}
-
-	# DC BEAMS 3,4
-	GMT_psxy('-Ey0.2/2,coral');															
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistDC[$i] >= $min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$rValsDC[$i]});
-			printf(GMT "%f %f %f\n",$i-round($opt_t)-0.1,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Ey0.2/1,coral');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistDC[$i]>=$min_thin && $rHistDC[$i]<$min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$rValsDC[$i]});
-			printf(GMT "%f %f %f\n",$i-round($opt_t)-0.1,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Sx0.25 -W2,coral');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistDC[$i] >= $min_thin);
-			printf(GMT "%f %f\n",$i-round($opt_t)-0.1,$rSumDC[$i]/$rHistDC[$i]);
-			printf(GMT "%f %f\n",$i-round($opt_t)-0.1,$ymin+0.03*$rHistDC[$i]/$mode);
-		}
-	if ($rHistDC) {
-		GMT_psxy('-W1,coral,2_2:0');
-			printf(GMT ">\n%f %f\n%f %f\n",-$opt_t,$rSumDC/$rHistDC,$opt_t,$rSumDC/$rHistDC);
-	}
-	GMT_psxy('-W2,coral,2_2:0');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistDC[$i] >= $min_thin);
-			printf(GMT ">\n%f %f\n%f %f\n%f %f\n>\n%f %f\n%f %f\n",
-					$i-round($opt_t)-0.1-0.5,$ymin,
-					$i-round($opt_t)-0.1-0.5,$ymin+0.03*$rHistDC[$i]/$mode,
-					$i-round($opt_t)-0.1+0.5,$ymin+0.03*$rHistDC[$i]/$mode,
-					$i-round($opt_t)-0.1+0.5,$ymin,
-					$i-round($opt_t)-0.1+0.5,$ymin+0.03*$rHistDC[$i]/$mode);
-		}
-
-	# UC BEAMS 1,2
-	GMT_psxy('-Ey0.2/2,SeaGreen');													
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistUC[$i] >= $min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$pValsUC[$i]});
-			printf(GMT "%f %f %f\n",$i-round($opt_t)+0.1,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Ey0.2/1,SeaGreen');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistUC[$i]>=$min_thin && $pHistUC[$i]<$min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$pValsUC[$i]});
-			printf(GMT "%f %f %f\n",$i-round($opt_t)+0.1,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Sc0.15 -GSeaGreen');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistUC[$i] >= $min_thin);
-			printf(GMT "%f %f\n",$i-round($opt_t)+0.1,$pSumUC[$i]/$pHistUC[$i]);
-			printf(GMT "%f %f\n",$i-round($opt_t)+0.1,$ymin+0.03*$pHistUC[$i]/$mode);
-		}
-	if ($pHistUC) {
-		GMT_psxy('-W1,SeaGreen,8_2:0');
-			printf(GMT ">\n%f %f\n%f %f\n",-$opt_t,$pSumUC/$pHistUC,$opt_t,$pSumUC/$pHistUC);
-	}
-	GMT_psxy('-W2,SeaGreen,8_2:0');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($pHistUC[$i] >= $min_thin);
-			printf(GMT ">\n%f %f\n%f %f\n%f %f\n>\n%f %f\n%f %f\n",
-					$i-round($opt_t)+0.1-0.5,$ymin,
-					$i-round($opt_t)+0.1-0.5,$ymin+0.03*$pHistUC[$i]/$mode,
-					$i-round($opt_t)+0.1+0.5,$ymin+0.03*$pHistUC[$i]/$mode,
-					$i-round($opt_t)+0.1+0.5,$ymin,
-					$i-round($opt_t)+0.1+0.5,$ymin+0.03*$pHistUC[$i]/$mode);
-		}
-
-	# UC BEAMS 3,4
-	GMT_psxy('-Ey0.2/2,SeaGreen');													
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistUC[$i] >= $min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$rValsUC[$i]});
-			printf(GMT "%f %f %f\n",$i-round($opt_t)+0.3,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Ey0.2/1,SeaGreen');													
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistUC[$i]>=$min_thin && $rHistUC[$i]<$min_fat);
-			my($minLim,$maxLim) = &bootstrap($btstrp_ndraw,0.95,\&avg,@{$rValsUC[$i]});
-			printf(GMT "%f %f %f\n",$i-round($opt_t)+0.3,($maxLim+$minLim)/2,($maxLim-$minLim)/2);
-		}
-	GMT_psxy('-Sx0.25 -W2,SeaGreen');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistUC[$i] >= $min_thin);
-			printf(GMT "%f %f\n",$i-round($opt_t)+0.3,$rSumUC[$i]/$rHistUC[$i]);
-			printf(GMT "%f %f\n",$i-round($opt_t)+0.3,$ymin+0.03*$rHistUC[$i]/$mode);
-		}
-	if ($rHistUC) {
-		GMT_psxy('-W1,SeaGreen,2_2:0');
-			printf(GMT ">\n%f %f\n%f %f\n",-$opt_t,$rSumUC/$rHistUC,$opt_t,$rSumUC/$rHistUC);
-	}
-	GMT_psxy('-W2,SeaGreen,2_2:0');
-		for (my($i)=0; $i<2*round($opt_t); $i++) {
-			next unless ($rHistUC[$i] >= $min_thin);
-			printf(GMT ">\n%f %f\n%f %f\n%f %f\n>\n%f %f\n%f %f\n",
-					$i-round($opt_t)+0.3-0.5,$ymin,
-					$i-round($opt_t)+0.3-0.5,$ymin+0.03*$rHistUC[$i]/$mode,
-					$i-round($opt_t)+0.3+0.5,$ymin+0.03*$rHistUC[$i]/$mode,
-					$i-round($opt_t)+0.3+0.5,$ymin,
-					$i-round($opt_t)+0.3+0.5,$ymin+0.03*$rHistUC[$i]/$mode);
-		}
-
-	GMT_unitcoords();																	# LABELS
-	GMT_pstext('-F+f9,Helvetica,orange+jTR -N -Gwhite');
-        print(GMT "0.99 0.01 V$VERSION\n");
-        
-	GMT_pstext('-F+f14,Helvetica,blue+jBL -N');											# profile id
-		print(GMT "0.0 1.03 $P{out_basename} $P{run_label}\n");
-
-	GMT_setR($R);																		# FINISH PLOT
-	GMT_end();
-}
-
-1; # return true on require
diff -r cc6c4309828a -r 2ccb81b7cea5 plot_attitude_residuals.pl
--- a/plot_attitude_residuals.pl	Wed May 25 12:14:29 2016 -0400
+++ b/plot_attitude_residuals.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 #======================================================================
 #                    P L O T _ A T T I T U D E _ R E S I D U A L S . P L 
 #                    doc: Sun May 15 16:08:59 2016
-#                    dlm: Tue May 24 16:39:01 2016
+#                    dlm: Wed Jun  8 22:12:19 2016
 #                    (c) 2016 A.M. Thurnherr
-#                    uE-Info: 54 24 NIL 0 0 72 2 2 4 NIL ofnI
+#                    uE-Info: 92 0 NIL 0 0 72 2 2 4 NIL ofnI
 #======================================================================
 
 # HISTORY:
@@ -15,11 +15,12 @@
 #                 - expunged $realLastGoodEns
 #	May 19, 2016: - added notes about beam planes
 #   May 24, 2016: - calc_binDepths() -> binDepths()
+#   Jun  8, 2016: - adapted to correct tilt axis
 
 # IMPORTANT NOTE:
 #   - the variables prefixed with p/r refer to beam-pairs 1,2 and 3,4 respectively,
 #     i.e. the p variables correspond to the roll plane and the r variables
-#          correspond to the pitch plane
+#     correspond to the pitch plane. This is confusing.
 
 require "$ANTS/libGMT.pl";
 
@@ -59,8 +60,8 @@
 			next unless numberp($LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W12}[$bin]) &&
 						numberp($LADCP{ENSEMBLE}[$e]->{SSCORRECTED_OCEAN_W34}[$bin]);
 
-			my($pi) = int($LADCP{ENSEMBLE}[$e]->{GIMBAL_PITCH}+$opt_t);							# pitch/roll indices
-			my($ri) = int($LADCP{ENSEMBLE}[$e]->{ROLL}+$opt_t);
+			my($ri) = int($LADCP{ENSEMBLE}[$e]->{GIMBAL_PITCH}+$opt_t);							# pitch/roll indices
+			my($pi) = int($LADCP{ENSEMBLE}[$e]->{ROLL}+$opt_t);
 			my($bi) = $bindepth[$bin]/$opt_o;
 
 			if ($e < $LADCP_atbottom) {															# downcast
diff -r cc6c4309828a -r 2ccb81b7cea5 plot_residuals12.pl
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/plot_residuals12.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -0,0 +1,87 @@
+#======================================================================
+#                    P L O T _ R E S I D U A L S 1 2 . P L 
+#                    doc: Wed Jun  1 19:05:22 2016
+#                    dlm: Wed Jun  1 19:35:43 2016
+#                    (c) 2016 A.M. Thurnherr
+#                    uE-Info: 82 67 NIL 0 0 72 0 2 4 NIL ofnI
+#======================================================================
+
+# HISTORY:
+#	Jun  1, 2016: - created from [plot_residuals.pl]
+
+require "$ANTS/libGMT.pl";
+
+sub plot_residuals12($)
+{
+	my($pfn) = @_;
+
+	return unless ($P{max_depth});
+
+	my($xmin) = $P{min_ens}-0.5;
+	my($xmax) = $P{max_ens}+0.5;
+	my($ymin) = round(antsParam('min_depth')-25,50);
+	my($ymax) = ($P{water_depth} > 0) ?
+				round($P{water_depth}+25,50) :
+				round($P{max_depth}+$P{ADCP_bin_length}+25,50);
+
+	my($ens_width) = 10 / ($P{max_ens} - $P{min_ens} + 1);
+	my($bin_length) = 10 * $P{ADCP_bin_length} / 
+						($P{max_depth}-$P{min_depth}+$P{ADCP_bin_length});
+
+	my($R) = "-R$xmin/$xmax/$ymin/$ymax";
+	GMT_begin($pfn,'-JX10/-10',$R,'-P');
+
+	my($C) = "-C$WCALC/residuals.cpt";
+	GMT_psxy("$C -Sr");
+		for ($ens=$firstGoodEns; $ens<$LADCP_atbottom; $ens++) {						# downcast
+		  next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+		  my(@bindepth) = binDepths($ens);
+		  for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			  next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W12}[$bin]);
+			  my($bi) = $bindepth[$bin]/$opt_o;
+			  printf(GMT "%d %f %f $ens_width $bin_length\n",
+				$LADCP{ENSEMBLE}[$ens]->{NUMBER},
+				$bindepth[$bin],
+				$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W12}[$bin] - $DNCAST{MEDIAN_W}[$bi]);
+          }
+        }
+		for ($ens=$LADCP_atbottom; $ens<=$lastGoodEns; $ens++) {					  # upcast 
+		  next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+		  my(@bindepth) = binDepths($ens);
+		  for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			  next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W12}[$bin]);
+			  my($bi) = $bindepth[$bin]/$opt_o;
+			  printf(GMT "%d %f %f $ens_width $bin_length\n",
+				$LADCP{ENSEMBLE}[$ens]->{NUMBER},
+				$bindepth[$bin],
+				$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W12}[$bin] - $UPCAST{MEDIAN_W}[$bi]);
+          }
+        }
+
+	if ($P{water_depth} > 0) {															# SEABED
+		GMT_psxy('-G204/153/102');
+		print(GMT "$xmin $ymax\n$xmax $ymax\n$xmax $P{water_depth}\n $xmin $P{water_depth}\n");
+	}
+
+	GMT_unitcoords();																	# LABELS
+	GMT_pstext('-F+f9,Helvetica,orange+jTR -N -Gwhite');
+        print(GMT "0.99 0.01 V$VERSION\n");
+	GMT_pstext('-F+f14,Helvetica,blue+jTL -N');
+		print(GMT "0.01 -0.06 $P{out_basename} $P{run_label}\n");
+
+	my($depth_tics) = ($ymax-$ymin < 1000) ? 'f10a100' : 'f100a500';					# AXES
+	my($ens_tics) =   ($xmax-$xmin < 4000) ? 'f50a500' : 'f500a2000';
+	GMT_setR($R);
+	GMT_psbasemap("-B$ens_tics:'Ensemble [#]':/$depth_tics:'Depth [m]':WeSn");
+
+	GMT_setAnnotFontSize(7);															# SCALE BAR
+	GMT_psscale("-Dn0.83/0.1+w3/0.4+e $C -B/:'w<1,2>\@-residual\@-':");
+		 
+	GMT_end();																			# FINISH PLOT
+}
+
+1; # return true on require
diff -r cc6c4309828a -r 2ccb81b7cea5 plot_residuals34.pl
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/plot_residuals34.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -0,0 +1,87 @@
+#======================================================================
+#                    P L O T _ R E S I D U A L S 3 4 . P L 
+#                    doc: Wed Jun  1 19:05:22 2016
+#                    dlm: Wed Jun  1 19:35:58 2016
+#                    (c) 2016 A.M. Thurnherr
+#                    uE-Info: 82 67 NIL 0 0 72 0 2 4 NIL ofnI
+#======================================================================
+
+# HISTORY:
+#	Jun  1, 2016: - created from [plot_residuals.pl]
+
+require "$ANTS/libGMT.pl";
+
+sub plot_residuals34($)
+{
+	my($pfn) = @_;
+
+	return unless ($P{max_depth});
+
+	my($xmin) = $P{min_ens}-0.5;
+	my($xmax) = $P{max_ens}+0.5;
+	my($ymin) = round(antsParam('min_depth')-25,50);
+	my($ymax) = ($P{water_depth} > 0) ?
+				round($P{water_depth}+25,50) :
+				round($P{max_depth}+$P{ADCP_bin_length}+25,50);
+
+	my($ens_width) = 10 / ($P{max_ens} - $P{min_ens} + 1);
+	my($bin_length) = 10 * $P{ADCP_bin_length} / 
+						($P{max_depth}-$P{min_depth}+$P{ADCP_bin_length});
+
+	my($R) = "-R$xmin/$xmax/$ymin/$ymax";
+	GMT_begin($pfn,'-JX10/-10',$R,'-P');
+
+	my($C) = "-C$WCALC/residuals.cpt";
+	GMT_psxy("$C -Sr");
+		for ($ens=$firstGoodEns; $ens<$LADCP_atbottom; $ens++) {						# downcast
+		  next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+		  my(@bindepth) = binDepths($ens);
+		  for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			  next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W34}[$bin]);
+			  my($bi) = $bindepth[$bin]/$opt_o;
+			  printf(GMT "%d %f %f $ens_width $bin_length\n",
+				$LADCP{ENSEMBLE}[$ens]->{NUMBER},
+				$bindepth[$bin],
+				$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W34}[$bin] - $DNCAST{MEDIAN_W}[$bi]);
+          }
+        }
+		for ($ens=$LADCP_atbottom; $ens<=$lastGoodEns; $ens++) {					  # upcast 
+		  next unless numberp($LADCP{ENSEMBLE}[$ens]->{CTD_DEPTH});
+		  my(@bindepth) = binDepths($ens);
+		  for ($bin=$LADCP_firstBin-1; $bin<=$LADCP_lastBin-1; $bin++) {
+			  next unless ($bin+1>=$outGrid_firstBin && $bin+1<=$outGrid_lastBin);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W}[$bin]);
+			  next unless numberp($LADCP{ENSEMBLE}[$ens]->{W34}[$bin]);
+			  my($bi) = $bindepth[$bin]/$opt_o;
+			  printf(GMT "%d %f %f $ens_width $bin_length\n",
+				$LADCP{ENSEMBLE}[$ens]->{NUMBER},
+				$bindepth[$bin],
+				$LADCP{ENSEMBLE}[$ens]->{SSCORRECTED_OCEAN_W34}[$bin] - $UPCAST{MEDIAN_W}[$bi]);
+          }
+        }
+
+	if ($P{water_depth} > 0) {															# SEABED
+		GMT_psxy('-G204/153/102');
+		print(GMT "$xmin $ymax\n$xmax $ymax\n$xmax $P{water_depth}\n $xmin $P{water_depth}\n");
+	}
+
+	GMT_unitcoords();																	# LABELS
+	GMT_pstext('-F+f9,Helvetica,orange+jTR -N -Gwhite');
+        print(GMT "0.99 0.01 V$VERSION\n");
+	GMT_pstext('-F+f14,Helvetica,blue+jTL -N');
+		print(GMT "0.01 -0.06 $P{out_basename} $P{run_label}\n");
+
+	my($depth_tics) = ($ymax-$ymin < 1000) ? 'f10a100' : 'f100a500';					# AXES
+	my($ens_tics) =   ($xmax-$xmin < 4000) ? 'f50a500' : 'f500a2000';
+	GMT_setR($R);
+	GMT_psbasemap("-B$ens_tics:'Ensemble [#]':/$depth_tics:'Depth [m]':WeSn");
+
+	GMT_setAnnotFontSize(7);															# SCALE BAR
+	GMT_psscale("-Dn0.83/0.1+w3/0.4+e $C -B/:'w<3,4>\@-residual\@-':");
+		 
+	GMT_end();																			# FINISH PLOT
+}
+
+1; # return true on require
diff -r cc6c4309828a -r 2ccb81b7cea5 plot_wprof.pl
--- a/plot_wprof.pl	Wed May 25 12:14:29 2016 -0400
+++ b/plot_wprof.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 #======================================================================
 #                    P L O T _ W P R O F . P L 
 #                    doc: Sun Jul 26 11:08:50 2015
-#                    dlm: Tue May 24 22:31:14 2016
+#                    dlm: Thu May 26 11:29:32 2016
 #                    (c) 2015 A.M. Thurnherr
-#                    uE-Info: 19 51 NIL 0 0 72 2 2 4 NIL ofnI
+#                    uE-Info: 20 0 NIL 0 0 72 2 2 4 NIL ofnI
 #======================================================================
 
 # HISTORY:
@@ -17,6 +17,7 @@
 #	May 24, 2016: - BUG: ymin did not work for nsamp
 #				  - fixed for partial-depth profiles
 #				  - suppress plotting of nsamp == 0
+#	May 26, 2016: - added instrument coord system to plot labels
 
 # Tweakables:
 #
@@ -139,7 +140,9 @@
 
 	GMT_pstext('-F+f9,Helvetica,CornFlowerBlue+jTL -N');
 		printf(GMT "0.64 1.020 $LADCP{BEAM_FREQUENCY}kHz $LADCP{INSTRUMENT_TYPE} $P{ADCP_orientation}\n");
-		printf(GMT "0.64 1.055 bin setup\n		0.77 1.055 : %.1fm/%1.fm/%1.fm\n",
+#		printf(GMT "0.64 1.055 %s\n		0.77 1.055 : %.1fm/%1.fm/%1.fm\n",
+		printf(GMT "0.64 1.055 %s [%.1fm/%1.fm/%1.fm]\n",
+			$LADCP{BEAM_COORDINATES} ? 'beam vels' : 'Earth vels',
 			$LADCP{BLANKING_DISTANCE},$LADCP{TRANSMITTED_PULSE_LENGTH},$LADCP{BIN_LENGTH});
 		print(GMT "0.64 1.090 mean tilt\n 		0.77 1.096 :\n");
 		print(GMT "0.64 1.130 rms a\@-pkg\@-\n	0.77 1.1315 :\n");
diff -r cc6c4309828a -r 2ccb81b7cea5 version.pl
--- a/version.pl	Wed May 25 12:14:29 2016 -0400
+++ b/version.pl	Fri Aug 05 11:02:51 2016 -0400
@@ -1,9 +1,9 @@
 #======================================================================
 #                    V E R S I O N . P L 
 #                    doc: Tue Oct 13 10:40:57 2015
-#                    dlm: Wed May 25 12:12:54 2016
+#                    dlm: Thu Jun  2 12:20:26 2016
 #                    (c) 2015 A.M. Thurnherr
-#                    uE-Info: 24 20 NIL 0 0 72 0 2 4 NIL ofnI
+#                    uE-Info: 27 110 NIL 0 0 72 0 2 4 NIL ofnI
 #======================================================================
 
 # HISTORY:
@@ -21,8 +21,8 @@
 #$VERSION = '1.1';				# Jan  4, 2016
 #$VERSION = '1.2';				# May 12, 2016
 
-$VERSION = '1.3beta1';
+$VERSION = '1.3beta2';
 
 $antsMinLibVersion 		= 6.6;
-$ADCP_tools_minVersion 	= 1.6;	# May 19, 2016 (RDI_Coords with bin interpolation)
+$ADCP_tools_minVersion 	= 1.7;		# May 2016 (RDI_Coords with bin interpolation & better pitch/roll rotation)