Raw data from the March 2021 Wave Glider ADCP experiment offshore of Del Mar, CA are contained in the following 7 files; descriptions of file contents follow.
WHOI43_PLD2_ADCP_ALL.matThese files, in MATLAB .mat format, each contain the records from a 300 kHz RDI ADCP in a single structure named PLD2_ADCP. The instruments were mounted in the floats of Wave Gliders "WHOI43", "Stokes", and "Planck" respectively. Key fields are defined below
| Variable | Units | Description |
|---|---|---|
| PLD2_ADCP.time | Matlab datenum | time |
| PLD2_ADCP.RECORD | record number | |
| PLD2_ADCP.roll_ADCP | degrees | starboard roll angle recorded by the ADCP's internal tilt sensor |
| PLD2_ADCP.pitch_ADCP | degrees | bow up pitch angle recorded by the ADCP's internal tilt sensor |
| PLD2_ADCP.heading_ADCP | degrees | heading angle clockwise from magnetic north recorded by the ADCP's internal compass |
| PLD2_ADCP.VelocityX_Y* | mm/s | 1-Hz current velocity in beam coordinates |
| PLD2_ADCP.EchoIntenseX_Y | 0-100 | Ping echo intensity |
| PLD2_ADCP.CorrelationX_Y | 0-255 | Ping correlation |
| PLD2_ADCP.TCE_X | mm/s | True current toward the east, corrected for orientation using RDI internal sensors |
| PLD2_ADCP.TCN_X | mm/s | True current toward the north, corrected for orientation using RDI internal sensors |
| PLD2_ADCP.TCZ_X | mm/s | True upward, corrected for orientation using RDI internal sensors |
where 'X', the beam number, runs from 1-4, and 'Y', the bin number, runs from 1 to 50
This file contains the rest of the raw data from Wave Glider "WHOI43" in a single structure named PLD1_20hz. Key fields are:
| Variable | Units | Description |
|---|---|---|
| time | Matlab datenum | time |
| RECORD | record number | |
| Ux_gill | m/s> | ultrasonic wind forward component |
| Uy_gill | m/s | ultrasonic wind port component |
| Uz_gill | m/s | ultrasonic wind upward component (m/s) |
| vn_pitch | degrees, bow up | VN-300 pitch |
| vn_roll | degrees, to starboard | VN-300 roll |
| vn_yaw | degrees, clockwise from north | VN-300 heading |
| vn_lat | degrees north | latitude |
| vn_lon | degrees east | longitude |
| vn_alt | m | altitude |
| vn_vn | m/s | VN-300 northward velocity |
| vn_ve | m/s | VN-300 eastward velocity |
| vn_vd | m/s | VN-300 downward velocity |
| vn_wx | rad/s | VN-300 angular velocity about the x-axis |
| vn_wy | rad/s | VN-300 angular velocity about the y-axis |
| vn_wz | rad/s | VN-300 angular velocity about the z-axis |
These files contains the rest of the raw data from Wave Gliders "Stokes" and "Planck" in a single structure named PLD1_NOVATEL_21. Key fields are:
| Variable | Units | Description |
|---|---|---|
| time | MATLAB datenum | time |
| RECORD | record number | |
| novatel_latitude | degrees north | latitude |
| novatel_longitude | degrees east | longitude |
| novatel_height | m | altitude |
| novatel_velocity_north | m/s | Novatel northward velocity |
| novatel_velocity_east | m/s | Novatel eastward velocity |
| novatel_velocity_up | m/s | Novatel upward velocity |
| novatel_roll | degrees to starboard | Novatel roll angle |
| novatel_pitch | degrees, bow up | Novatel pitch angle |
| novatel_azimuth | degrees | Novatel heading angle |
This file contains seven arrays with the raw data from the 600 kHz RDI bottom mounted ADCP.
| Variable | Units | Description |
|---|---|---|
| btime | MATLAB datenum | time |
| U | m/s | eastward current velocity |
| V | m/s | northward current velocity |
| blat | degrees north | ADCP latitude |
| blon | degrees east | ADCP longitude |
| depths | m | distance from the sea surface |
| ranges | m | distance from the ADCP |
Here is sample code that can be used to transform ADCP velocities into earth's reference frame using a GPS/IMU RDI_Stokes.m