LAST CHANGED : 2021/04/24 07:47:04 CRUISE NAME(S) : FK210409 CRUISE DATES : 2021/04/10 23:26:15 to 2021/04/24 07:46:51 SHIP NAME : Falkor PORTS : Darwin, AUS to Darwin, AUS CHIEF SCIENTIST : Karen Miller DATABASE NAME : a_fk DATA FILES : fk2021_099_84254.raw to fk2021_113_21600.raw STATUS : to do done ------ ----------- averaged [ X ] loaded [ X ] # done at sea NOTE: heading correction instrument exists NOTE: time-dependent heading corrections applied IN the ensembles (see cal/rotate/ens_hcorr.ang) check heading correction [ X ] calibration [ X ] edited [ X ] re-check heading correction [ X ] check editing [ X ] figures [ X ] INSTRUMENT : wh300 ACQUISITION : PROGRAM : uhdas PROCESSING: : python LOGGING : PARAMETERS : BT : bottom track mode (on or off) SI : sampling interval or averaging period for ensemble (sec) NB : number of bins BL : bin length (m) TD : transducer depth (m) BK : blanking length (m) HO : heading offset applied by DAS (deg) HB : heading bias (deg) CRPH : compensation for roll-pitch-heading, 1:on, 0:off) yy/mm/dd hh:mm:ss BT SI NB BL TD BK HO HB CRPH 2021/04/10 23:26:15 off 120 70 2 7 2 44.63 0.00 0001 2021/04/16 20:35:58 on 120 70 2 7 2 44.63 0.00 0001 HEADING : PRIMARY : heading from gyro CORRECTION : heading correction from seapath NOTE: time-dependent heading corrections applied IN the ensembles (see cal/rotate/ens_hcorr.ang) POSITIONS : gps positions from cnav CALIBRATION : wh300 original alignment: 44.63 additional rotation: -0.03 final transducer angle is: 44.66 (44.63) - (-0.03) original scalefactor: 1.0 additional scale factor (none) final scale factor: 1.0 COMMENTS : Falkor ROV cruise with very few calibration points. We use FK210605 as a flanking cruise for calibration, and the bottomtrack data from that cruise is: **bottomtrack** ------------ unedited: 5 points edited: 5 points, 2.0 min speed, 2.5 max dev median mean std amplitude 0.9970 0.9969 0.0018 phase -0.0308 0.0070 0.1090 ------------ The final adjustments to phase are -0.03, and no change for amplitude. PROCESSOR : Joseph Gum --- processing parameters ---------- ## (determined from "sonar"): model = wh ## (determined from "sonar"): frequency = 300 ## (determined from "sonar"): instname = wh300 ## (determined from "sonar"): pingtype = bb beamangle 20 cruisename FK210409 datatype uhdas ens_len 120 fixfile a_fk.gps frequency 300 hcorr_inst seapath instname wh300 model wh pingtype bb proc_engine python ref_method refsm refuv_smoothwin 3 refuv_source nav sonar wh300 txy_file a_fk.agt xducer_dx 2 xducer_dy 18 yearbase 2021 ================================================== PROCESSING STEPS: ================================================== # Processing commands start in the os75 directory. ----------------------------- # 1. Check heading correction ----------------------------- Check that we have a good heading correction for all of the ADCP data. There should be no holes in the heading correction graphs, where good fixes are green circles and no fixes are red crosses. Gaps in the plots where there are no symbols are okay, no data was collected there. If there are red crosses on the heading correction graphs (cal/rotate/ens_hcorr_*.png) then they need to be patched in the cal/rotate dir using patch_hcorr.py. $ plot_nav.py nav/a_fk.gps $ figview.py We're missing a few heading fixes at the end of data collection multiple days that will probably be edited out anyway. We'll recover them using patch_hcorr. $ dataviewer.py It looks stable around the gaps, time to look at watertrack. $ catwt **watertrack** ------------ Number of edited points: 1 out of 3 amp = 1.0010 + 0.0000 (t - 103.9) phase = -0.70 + 0.0000 (t - 103.9) median mean std amplitude 1.0010 1.0010 nan phase -0.6980 -0.6980 nan ------------ $ cd cal/rotate $ patch_hcorr.py $ cd ../.. $ dataviewer.py -c . ../wh300.orig The small gaps at the end of the data periods were fixed, but there's no real change in the data. --------------------- # 2. ADCP calibration --------------------- Calibrate the dataset in sum by checking the calibration values and applying a fix to the necessary categories if necessary. When looking at a water track or bottom track calibration, we want to see statistics inside the following values: median_tolerance amplitude 1.003 # 0.3% phase/angle 0.05 When looking at an xy calibration to adjust the relative location of the sonar to the currently known location we hope that the dx and dy values are as close to 0 as possible, and the signal is between 1000 and 5000. Less than 1000 means very little data, more than 5000 means too much change. If values are out of range we make a bulk correction to the entire dataset which should reduce the number of outliers to be edited out. If we make any changes to x or y they should be integers. $ catwt **watertrack** ------------ Number of edited points: 1 out of 3 amp = 1.0010 + 0.0000 (t - 103.9) phase = -0.78 + 0.0000 (t - 103.9) median mean std amplitude 1.0010 1.0010 nan phase -0.7840 -0.7840 nan ------------ $ catbt **bottomtrack** ------------ unedited: 2746 points edited: 1 points, 2.0 min speed, 2.5 max dev median mean std amplitude 0.9974 0.9974 nan phase 0.1755 0.1755 nan ------------ $ catxy **transducer-gps offset** ------------ guessing ADCP (dx=starboard, dy=fwd) meters from GPS positions from a_fk.agt calculation done at 2021/07/08 01:09:51 xducer_dx = -11.456512 xducer_dy = 23.633297 signal = 181.665973 ------------ There are no good wt, bt, or xy data, we'll need a flanking cruise. ------------------- # 3. Editing points ------------------- Edit out biased data or artifacts deeper than the range of the sonar in the dataset, or other problems. Use `dataviewer.py -e` to look for problems with the data and flag the bad data as bad. After editing out data we rerun the calibration to see if the changed dataset statistics have changed enough that a new calibration is needed. $ dataviewer.py -e Bins at or past effective range were removed, very little otherwise. $ quick_adcp.py --steps2rerun navsteps:calib --auto $ catwt **watertrack** ------------ Number of edited points: 0 out of 2 amp = nan + nan (t - nan) phase = nan + nan (t - nan) median mean std amplitude nan nan -0.0000 phase nan nan -0.0000 ------------ $ catxy **transducer-gps offset** ------------ guessing ADCP (dx=starboard, dy=fwd) meters from GPS positions from a_fk.agt calculation done at 2021/07/08 01:43:06 xducer_dx = -0.792271 xducer_dy = -0.789049 signal = 181.665973 ------------ We edited out our only good watertrack point, but that's okay because we're going to use a flanking cruise anyway for calibration. -------------------------------------------------- # 4. Re-check heading correction and other figures -------------------------------------------------- Check all figures again to make sure that any problems were addressed and no new problems have appeared after making changes to the dataset. $ figview.py All of the figures look fine. -------------------------------------------------------------- # 5. Check edited, calibrated dataset against original dataset -------------------------------------------------------------- Compare the edited, calibrated (or lack thereof) dataset against the original dataset to make sure all problems have been dealt with and no new problems have appeared. $ dataviewer.py -c . ../wh300.orig With the bottomtrack calibration from FK210605, we apply the new angle calibration based on its numbers. $ quick_adcp.py --steps2rerun rotate:apply_edit:navsteps:calib --rotate_angle -0.03 --auto $ catwt **watertrack** ------------ Number of edited points: 0 out of 2 amp = nan + nan (t - nan) phase = nan + nan (t - nan) median mean std amplitude nan nan -0.0000 phase nan nan -0.0000 ------------ Still no points. A final compare of data after watertrack adjustment $ dataviewer.py -c . ../wh300.orig The change is so small that nothing much changes anyway. ------------------------- # 6. Make plots and files ------------------------- Create the figures and data files needed to finish processing and make public/submit to a repository (JASADCP, if nowhere else). Make the plots needed for web viewing, matlab files (legacy), and netCDF files, then check that the netCDF files are readable. Plots should be in 3 to 5 day chunks for a cruise longer than one week, or divided by geographic features where it makes sense. $ quick_web.py --interactive $ quick_adcp.py --steps2rerun matfiles --auto $ adcp_nc.py adcpdb contour/wh300 Fk210409 wh300 --ship_name Falkor $ ncdump contour/wh300.nc -h