diff --git a/scripts/make_test_fixtures.py b/scripts/make_test_fixtures.py new file mode 100644 index 0000000..8239cea --- /dev/null +++ b/scripts/make_test_fixtures.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python +"""Generate trimmed L1 CSV test fixtures from raw Slocum NetCDF files. + +Usage: + uv run python scripts/make_test_fixtures.py + +Outputs: + tests/data/sl685.dbd.csv — m_* source variables from core.yml + tests/data/sl685.ebd.csv — sci_* source variables + sci_generic_{a-l} + +The time window is fixed to 2026-03-27 00:33–06:45 UTC. +""" + +import argparse +import os +from datetime import datetime, timezone +from pathlib import Path + +import netCDF4 as nc +import numpy as np +import pandas as pd +import yaml + +REPO_ROOT = Path(__file__).parent.parent +CORE_YML = REPO_ROOT / "src/glide/assets/core.yml" +OUT_DIR = REPO_ROOT / "tests/data" + +T0 = datetime(2026, 3, 27, 0, 33, tzinfo=timezone.utc).timestamp() +T1 = datetime(2026, 3, 27, 6, 45, tzinfo=timezone.utc).timestamp() + +GENERIC_KEEP = {f"sci_generic_{c}" for c in "abcdefghijkl"} + + +def collect_sources(d: dict) -> set[str]: + sources: set[str] = set() + if not isinstance(d, dict): + return sources + if "source" in d: + s = d["source"] + sources.update(s if isinstance(s, list) else [s]) + for v in d.values(): + sources |= collect_sources(v) + return sources + + +def extract(nc_path: str, time_var: str, out_path: Path, keep: set[str]) -> None: + ds = nc.Dataset(nc_path) + t = np.array(ds.variables[time_var][:]) + mask = ~np.isnan(t) & (t >= T0) & (t <= T1) + avail = {v for v in ds.variables if ds.variables[v].dimensions == ("i",)} + cols = sorted(avail & keep) + data = {v: np.array(ds.variables[v][:])[mask] for v in cols} + ds.close() + + df = pd.DataFrame(data) + + # Use 12 significant figures + df.to_csv(out_path, index=False, float_format="%.12g") + sz = os.path.getsize(out_path) / 1024 + print(f" {out_path.name}: {len(df)} rows × {len(df.columns)} cols ({sz:.0f} KB)") + + +def main() -> None: + parser = argparse.ArgumentParser( + description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter + ) + parser.add_argument("dbd_nc", help="Path to the DBD (flight) NetCDF file") + parser.add_argument("ebd_nc", help="Path to the EBD (science) NetCDF file") + args = parser.parse_args() + + sources = collect_sources(yaml.safe_load(CORE_YML.read_text())) + OUT_DIR.mkdir(parents=True, exist_ok=True) + + print("Extracting test fixtures...") + extract(args.dbd_nc, "m_present_time", OUT_DIR / "sl685.dbd.csv", sources) + extract( + args.ebd_nc, + "sci_m_present_time", + OUT_DIR / "sl685.ebd.csv", + sources | GENERIC_KEEP, + ) + + +if __name__ == "__main__": + main() diff --git a/src/glide/assets/config.yml b/src/glide/assets/config.yml index e7cf03d..dc24faf 100644 --- a/src/glide/assets/config.yml +++ b/src/glide/assets/config.yml @@ -168,3 +168,41 @@ merged_variables: valid_max: 0.001 instrument: instrument_microrider observation_type: calculated + + +# ============================================================================= +# FLIGHT MODEL +# ============================================================================= +# Optional steady-state glider flight model parameters. This section is only +# used by the `glide flight` command and is ignored by all other commands. +# +# Parameters marked (*) are commonly calibrated per deployment. All others +# default to the values shown here if omitted. +# +# calibrate: list the parameter names to fit against the observed depth rate. +# Any subset of: Vg, mg, Cd0, ah, aw, Cd1 +# Default: [Vg, mg, Cd0, ah] +# +# bounds: restrict which observations are used during calibration. +# min_pressure / max_pressure — pressure range in dbar +# time_start / time_end — ISO 8601 datetime strings or null (no bound) +# +# All model parameters (calibrated and fixed) are stored as global NetCDF +# attributes prefixed with `flight_model_` in the output file. + +# flight: +# rho0: 1025.0 # reference density (kg m-3) +# mg: 70.0 # (*) glider mass (kg) +# Vg: 0.070 # (*) glider volume (m3) +# Cd0: 0.15 # (*) parasitic drag coefficient +# ah: 3.8 # (*) hull lift slope (rad-1) +# calibrate: +# - Vg +# - mg +# - Cd0 +# - ah +# bounds: +# min_pressure: 20.0 +# max_pressure: 200.0 +# time_start: null +# time_end: null diff --git a/src/glide/assets/core.yml b/src/glide/assets/core.yml index 249cb6f..1608d6b 100644 --- a/src/glide/assets/core.yml +++ b/src/glide/assets/core.yml @@ -2,527 +2,588 @@ # This file is bundled with the package and should not be edited by users. # Variable formatting follows IOOS national glider DAC netCDF format version 2 # https://ioos.github.io/glider-dac/ngdac-netcdf-file-format-version-2 - -# Dashes (---) indicate separate yaml documents. - ---- ### CORE VARIABLES (always extracted) - -# MEASURED — extracted directly from raw glider files (have a `source` field) - -time: - source: ["m_present_time", "sci_m_present_time"] - track_qc: True - CF: - long_name: Time - standard_name: time - calendar: gregorian - units: seconds since 1970-01-01T00:00:00Z - axis: T - observation_type: measured - valid_min: 2000-01-01T00:00:00 - valid_max: 2040-01-01T00:00:00 - -lat: - source: m_lat - conversion: dpm_to_dd - interpolate_missing: True - max_gap: 600 - track_qc: True - dtype: f4 - CF: - long_name: Latitude - standard_name: latitude - units: degrees_north - axis: Y - comment: "Estimated between surface fixes" - observation_type: measured - platform: platform - reference: WGS84 - valid_max: 90.0 - valid_min: -90.0 - coordinate_reference_frame: urn:ogc:crs:EPSG::4326 - -lon: - source: m_lon - conversion: dpm_to_dd - interpolate_missing: True - max_gap: 600 - track_qc: True - dtype: f4 - CF: - long_name: Longitude - standard_name: longitude - units: degrees_east - axis: X - comment: "Estimated between surface fixes" - observation_type: measured - platform: platform - reference: WGS84 - valid_max: 180.0 - valid_min: -180.0 - coordinate_reference_frame: urn:ogc:crs:EPSG::4326 - -lat_gps: - source: m_gps_lat - conversion: dpm_to_dd - drop_from_l2: True # Excluded from science-time interpolation; placed on time_gps by add_gps_fixes - drop_from_l3: True - dtype: f4 - CF: - long_name: Latitude - standard_name: latitude - units: degrees_north - axis: Y - comment: "Surface GPS fixes" - observation_type: measured - platform: platform - reference: WGS84 - valid_max: 90.0 - valid_min: -90.0 - coordinate_reference_frame: urn:ogc:crs:EPSG::4326 - -lon_gps: - source: m_gps_lon - conversion: dpm_to_dd - drop_from_l2: True # Excluded from science-time interpolation; placed on time_gps by add_gps_fixes - drop_from_l3: True - dtype: f4 - CF: - long_name: Longitude - standard_name: longitude - units: degrees_east - axis: X - comment: "Surface GPS fixes" - observation_type: measured - platform: platform - reference: WGS84 - valid_max: 180.0 - valid_min: -180.0 - coordinate_reference_frame: urn:ogc:crs:EPSG::4326 - -m_depth: - source: m_depth - drop_from_l2: True - CF: - long_name: Depth - standard_name: depth - units: m - valid_min: 0.0 - valid_max: 2000.0 - positive: down - reference_datum: sea-surface - instrument: instrument_ctd - observation_type: measured - -pressure: - source: sci_water_pressure - conversion: bar_to_dbar - interpolate_missing: True - track_qc: True - dtype: f4 - CF: - long_name: Pressure - standard_name: sea_water_pressure - units: dbar - valid_min: 0.0 - valid_max: 2000.0 - positive: down - reference_datum: sea-surface - instrument: instrument_ctd - observation_type: measured - accuracy: 1.0 - precision: 2.0 - resolution: 0.02 - comment: "ctd pressure sensor" - -conductivity: - source: sci_water_cond - interpolate_missing: True - track_qc: True - dtype: f4 - CF: - long_name: Conductivity - standard_name: sea_water_electrical_conductivity - units: S m-1 - instrument: instrument_ctd - valid_min: 0.1 - valid_max: 10.0 - observation_type: measured - accuracy: 0.0003 - precision: 0.0001 - resolution: 0.00002 - -temperature: - source: sci_water_temp - interpolate_missing: True - track_qc: True - dtype: f4 - CF: - long_name: Temperature - standard_name: sea_water_temperature - units: celsius - instrument: instrument_ctd - valid_min: -5.0 - valid_max: 50.0 - observation_type: measured - accuracy: 0.002 - precision: 0.001 - resolution: 0.0002 - -pitch: - source: m_pitch - conversion: rad_to_deg - interpolate_missing: True - dtype: f4 - CF: - long_name: Pitch - standard_name: platform_pitch_fore_up - units: degrees - observation_type: measured - valid_max: 180.0 - valid_min: -180.0 - -roll: - source: m_roll - conversion: rad_to_deg - interpolate_missing: True - dtype: f4 - CF: - long_name: Roll - standard_name: platform_roll_starboard_down - units: degrees - observation_type: measured - valid_max: 180.0 - valid_min: -180.0 - -# PIPELINE — added by named processing functions (no `source` field) - -# GPS coordinates (add_gps_fixes): valid surface fixes on a dedicated time_gps dimension -# See config.yml for instructions on adding companion variables to time_gps. - -time_gps: - anchor: [lat_gps, lon_gps] # defines the valid-fix mask for this dimension - drop_from_l3: True - CF: - calendar: gregorian - long_name: GPS Fix Time - observation_type: measured - source_sensor: m_present_time - standard_name: time - units: seconds since 1970-01-01T00:00:00Z - -# Depth-averaged velocity (add_velocity): one value per dive cycle on time_uv dimension - -u: - dtype: f4 - CF: - comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." - long_name: Depth-Averaged Eastward Sea Water Velocity - observation_type: calculated - platform: platform - source_sensor: m_water_vx - standard_name: eastward_sea_water_velocity - units: m s-1 - valid_max: 10.0 - valid_min: -10.0 - -v: - dtype: f4 - CF: - comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." - long_name: Depth-Averaged Northward Sea Water Velocity - observation_type: calculated - platform: platform - source_sensor: m_water_vy - standard_name: northward_sea_water_velocity - units: m s-1 - valid_max: 10.0 - valid_min: -10.0 - -time_uv: - CF: - calendar: gregorian - comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." - long_name: Depth-Averaged Time - observation_type: calculated - source_sensor: m_present_time - standard_name: time - units: seconds since 1970-01-01T00:00:00Z - -lat_uv: - dtype: f4 - CF: - comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." - long_name: Depth-Averaged Latitude - observation_type: calculated - platform: platform - source_sensor: m_gps_lat - standard_name: latitude - units: degrees_north - valid_max: 90.0 - valid_min: -90.0 - -lon_uv: - dtype: f4 - CF: - comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." - long_name: Depth-Averaged Longitude - observation_type: calculated - platform: platform - source_sensor: m_gps_lon - standard_name: longitude - units: degrees_east - valid_max: 180.0 - valid_min: -180.0 - -# Profile identification (get_profiles): dive/climb labels on the main time dimension - -dive_id: - dtype: i4 - CF: - long_name: Dive ID - comment: "Unique identifier for each dive profile, starting from 1. -1 indicates no dive." - -climb_id: - dtype: i4 - CF: - long_name: Climb ID - comment: "Unique identifier for each climb profile, starting from 1. -1 indicates no climb." - -profile_id: - dtype: i4 - CF: - long_name: Profile ID - comment: "Unique identifier for each profile (one descent or one ascent), starting from 1 in time order. -1 indicates no profile. Reduced to a scalar in IOOS NGDAC profile files. Profiles sharing a surface-to-surface segment can be identified by sharing the same time_uv value." - -state: - dtype: i1 - CF: - long_name: Glider State - comment: "Glider state: -1=unknown, 0=surface, 1=dive, 2=climb" - flag_values: [-1, 0, 1, 2] - flag_meanings: "unknown surface dive climb" - ---- ### OPTIONAL SUITE: flight (measured) - -heading: - source: m_heading - conversion: rad_to_deg - interpolate_missing: True - dtype: f4 - CF: - long_name: Heading - standard_name: platform_orientation - units: degrees - observation_type: measured - valid_max: 360.0 - valid_min: 0.0 - -battpos: - source: m_battpos - interpolate_missing: true - dtype: f4 - CF: - long_name: Battery position - units: inches - -fin: - source: m_fin - conversion: rad_to_deg - dtype: f4 - CF: - long_name: Fin angle - units: degrees - -ballast_pumped: - source: m_de_oil_vol - dtype: f4 - CF: - long_name: Ballast pumped - units: cm^3 - observation_type: measured - ---- ### OPTIONAL SUITE: thermo (derived) - -# Tier 1 — derived from measured CTD variables - -salinity: - derived_from: [conductivity, temperature, pressure] - track_qc: True - dtype: f4 - CF: - instrument: instrument_ctd - long_name: Salinity - observation_type: calculated - platform: platform - standard_name: sea_water_practical_salinity - units: "1" - valid_max: 40.0 - valid_min: 0.0 - -# Tier 2 — derived from Tier 1 - -SA: - derived_from: [salinity, pressure, lon, lat] - track_qc: True - dtype: f4 - CF: - instrument: instrument_ctd - long_name: Absolute salinity - observation_type: calculated - platform: platform - standard_name: sea_water_absolute_salinity - units: g kg-1 - valid_max: 40.0 - valid_min: 0.0 - -z: - derived_from: [pressure, lat] - track_qc: True - dtype: f4 - CF: - long_name: Height - standard_name: height - units: m - valid_min: -2000.0 - valid_max: 0.0 - positive: up - reference_datum: sea-surface - instrument: instrument_ctd - observation_type: calculated - -# Tier 3 — derived from Tier 2 - -CT: - derived_from: [SA, temperature, pressure] - track_qc: True - dtype: f4 - CF: - long_name: Conservative temperature - standard_name: sea_water_conservative_temperature - units: celsius - instrument: instrument_ctd - valid_min: -5.0 - valid_max: 50.0 - observation_type: calculated - -density: - derived_from: [SA, temperature, pressure] - track_qc: True - dtype: f4 - CF: - instrument: instrument_ctd - long_name: Density - observation_type: calculated - platform: platform - standard_name: sea_water_density - units: kg m-3 - valid_max: 1040.0 - valid_min: 1015.0 - -rho0: - derived_from: [SA, temperature, pressure] - track_qc: True - dtype: f4 - CF: - instrument: instrument_ctd - long_name: Potential density - observation_type: calculated - platform: platform - reference_pressure: 0 - standard_name: sea_water_potential_density - units: kg m-3 - valid_max: 1040.0 - valid_min: 1015.0 - -depth: - derived_from: [z] - track_qc: True - dtype: f4 - CF: - long_name: Depth - standard_name: depth - units: m - valid_min: 0.0 - valid_max: 2000.0 - positive: down - reference_datum: sea-surface - instrument: instrument_ctd - observation_type: calculated - -# Tier 4 — derived from Tier 3 - -sound_speed: - derived_from: [SA, CT, pressure] - track_qc: True - dtype: f4 - CF: - long_name: Sound speed - standard_name: speed_of_sound_in_sea_water - units: m s-1 - instrument: instrument_ctd - valid_min: 1400.0 - valid_max: 1600.0 - observation_type: calculated - -N2: - derived_from: [SA, CT, pressure, lat] - track_qc: True - dtype: f4 - CF: - long_name: Buoyancy frequency squared - standard_name: square_of_brunt_vaisala_frequency_in_sea_water - units: s-2 - observation_type: calculated - ---- ### NGDAC STRUCTURAL CONFIG - -crs: - CF: - epsg_code: EPSG:4326 - grid_mapping_name: latitude_longitude - inverse_flattening: 298.257223563 - long_name: http://www.opengis.net/def/crs/EPSG/0/4326 - semi_major_axis: 6378137.0 - -profile_time: - CF: - axis: T - calendar: gregorian - comment: Timestamp corresponding to the mid-point of the profile - long_name: Profile Center Time - observation_type: calculated - platform: platform - standard_name: time - units: seconds since 1970-01-01T00:00:00Z - -profile_lat: - CF: - axis: Y - comment: Value is interpolated to provide an estimate of the latitude at the mid-point of the profile - long_name: Profile Center Latitude - observation_type: calculated - platform: platform - standard_name: latitude - units: degrees_north - valid_max: 90.0 - valid_min: -90.0 - -profile_lon: - CF: - axis: X - comment: Value is interpolated to provide an estimate of the longitude at the mid-point of the profile - long_name: Profile Center Longitude - observation_type: calculated - platform: platform - standard_name: longitude - units: degrees_east - valid_max: 180.0 - valid_min: -180.0 - -platform: - CF: - ancillary_variables: " " - comment: Autonomous vehicle - long_name: platform - type: platform +# +# Structure: +# core — variables always extracted/derived (never toggled off) +# ngdac — IOOS NGDAC structural variables (crs, profile_time, etc.) +# suites — optional variable groups; each key matches a toggle in config.yml include: + +# ============================================================================= +# CORE VARIABLES (always included) +# ============================================================================= + +core: + + # MEASURED — extracted directly from raw glider files (have a `source` field) + + time: + source: ["m_present_time", "sci_m_present_time"] + track_qc: True + CF: + long_name: Time + standard_name: time + calendar: gregorian + units: seconds since 1970-01-01T00:00:00Z + axis: T + observation_type: measured + valid_min: 2000-01-01T00:00:00 + valid_max: 2040-01-01T00:00:00 + + lat: + source: m_lat + conversion: dpm_to_dd + interpolate_missing: True + max_gap: 600 + track_qc: True + dtype: f4 + CF: + long_name: Latitude + standard_name: latitude + units: degrees_north + axis: Y + comment: "Estimated between surface fixes" + observation_type: measured + platform: platform + reference: WGS84 + valid_max: 90.0 + valid_min: -90.0 + coordinate_reference_frame: urn:ogc:crs:EPSG::4326 + + lon: + source: m_lon + conversion: dpm_to_dd + interpolate_missing: True + max_gap: 600 + track_qc: True + dtype: f4 + CF: + long_name: Longitude + standard_name: longitude + units: degrees_east + axis: X + comment: "Estimated between surface fixes" + observation_type: measured + platform: platform + reference: WGS84 + valid_max: 180.0 + valid_min: -180.0 + coordinate_reference_frame: urn:ogc:crs:EPSG::4326 + + lat_gps: + source: m_gps_lat + conversion: dpm_to_dd + drop_from_l2: True # Excluded from science-time interpolation; placed on time_gps by add_gps_fixes + drop_from_l3: True + dtype: f4 + CF: + long_name: Latitude + standard_name: latitude + units: degrees_north + axis: Y + comment: "Surface GPS fixes" + observation_type: measured + platform: platform + reference: WGS84 + valid_max: 90.0 + valid_min: -90.0 + coordinate_reference_frame: urn:ogc:crs:EPSG::4326 + + lon_gps: + source: m_gps_lon + conversion: dpm_to_dd + drop_from_l2: True # Excluded from science-time interpolation; placed on time_gps by add_gps_fixes + drop_from_l3: True + dtype: f4 + CF: + long_name: Longitude + standard_name: longitude + units: degrees_east + axis: X + comment: "Surface GPS fixes" + observation_type: measured + platform: platform + reference: WGS84 + valid_max: 180.0 + valid_min: -180.0 + coordinate_reference_frame: urn:ogc:crs:EPSG::4326 + + m_depth: + source: m_depth + drop_from_l2: True + CF: + long_name: Depth + standard_name: depth + units: m + valid_min: 0.0 + valid_max: 2000.0 + positive: down + reference_datum: sea-surface + instrument: instrument_ctd + observation_type: measured + + pressure: + source: sci_water_pressure + conversion: bar_to_dbar + interpolate_missing: True + track_qc: True + dtype: f4 + CF: + long_name: Pressure + standard_name: sea_water_pressure + units: dbar + valid_min: 0.0 + valid_max: 2000.0 + positive: down + reference_datum: sea-surface + instrument: instrument_ctd + observation_type: measured + accuracy: 1.0 + precision: 2.0 + resolution: 0.02 + comment: "ctd pressure sensor" + + conductivity: + source: sci_water_cond + interpolate_missing: True + track_qc: True + dtype: f4 + CF: + long_name: Conductivity + standard_name: sea_water_electrical_conductivity + units: S m-1 + instrument: instrument_ctd + valid_min: 0.1 + valid_max: 10.0 + observation_type: measured + accuracy: 0.0003 + precision: 0.0001 + resolution: 0.00002 + + temperature: + source: sci_water_temp + interpolate_missing: True + track_qc: True + dtype: f4 + CF: + long_name: Temperature + standard_name: sea_water_temperature + units: celsius + instrument: instrument_ctd + valid_min: -5.0 + valid_max: 50.0 + observation_type: measured + accuracy: 0.002 + precision: 0.001 + resolution: 0.0002 + + pitch: + source: m_pitch + conversion: rad_to_deg + interpolate_missing: True + dtype: f4 + CF: + long_name: Pitch + standard_name: platform_pitch_fore_up + units: degrees + observation_type: measured + valid_max: 180.0 + valid_min: -180.0 + + roll: + source: m_roll + conversion: rad_to_deg + interpolate_missing: True + dtype: f4 + CF: + long_name: Roll + standard_name: platform_roll_starboard_down + units: degrees + observation_type: measured + valid_max: 180.0 + valid_min: -180.0 + + # PIPELINE — added by named processing functions (no `source` field) + + # GPS coordinates (add_gps_fixes): valid surface fixes on a dedicated time_gps dimension + # See config.yml for instructions on adding companion variables to time_gps. + + time_gps: + anchor: [lat_gps, lon_gps] # defines the valid-fix mask for this dimension + drop_from_l3: True + CF: + calendar: gregorian + long_name: GPS Fix Time + observation_type: measured + source_sensor: m_present_time + standard_name: time + units: seconds since 1970-01-01T00:00:00Z + + # Depth-averaged velocity (add_velocity): one value per dive cycle on time_uv dimension + + u: + dtype: f4 + CF: + comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." + long_name: Depth-Averaged Eastward Sea Water Velocity + observation_type: calculated + platform: platform + source_sensor: m_water_vx + standard_name: eastward_sea_water_velocity + units: m s-1 + valid_max: 10.0 + valid_min: -10.0 + + v: + dtype: f4 + CF: + comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." + long_name: Depth-Averaged Northward Sea Water Velocity + observation_type: calculated + platform: platform + source_sensor: m_water_vy + standard_name: northward_sea_water_velocity + units: m s-1 + valid_max: 10.0 + valid_min: -10.0 + + time_uv: + CF: + calendar: gregorian + comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." + long_name: Depth-Averaged Time + observation_type: calculated + source_sensor: m_present_time + standard_name: time + units: seconds since 1970-01-01T00:00:00Z + + lat_uv: + dtype: f4 + CF: + comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." + long_name: Depth-Averaged Latitude + observation_type: calculated + platform: platform + source_sensor: m_gps_lat + standard_name: latitude + units: degrees_north + valid_max: 90.0 + valid_min: -90.0 + + lon_uv: + dtype: f4 + CF: + comment: "The depth-averaged current is an estimate of the net current measured while the glider is underwater. The value is calculated over the entire underwater segment, which may consist of 1 or more dives." + long_name: Depth-Averaged Longitude + observation_type: calculated + platform: platform + source_sensor: m_gps_lon + standard_name: longitude + units: degrees_east + valid_max: 180.0 + valid_min: -180.0 + + # Profile identification (get_profiles): dive/climb labels on the main time dimension + + dive_id: + dtype: i4 + CF: + long_name: Dive ID + comment: "Unique identifier for each dive profile, starting from 1. -1 indicates no dive." + + climb_id: + dtype: i4 + CF: + long_name: Climb ID + comment: "Unique identifier for each climb profile, starting from 1. -1 indicates no climb." + + profile_id: + dtype: i4 + CF: + long_name: Profile ID + comment: "Unique identifier for each profile (one descent or one ascent), starting from 1 in time order. -1 indicates no profile. Reduced to a scalar in IOOS NGDAC profile files. Profiles sharing a surface-to-surface segment can be identified by sharing the same time_uv value." + + state: + dtype: i1 + CF: + long_name: Glider State + comment: "Glider state: -1=unknown, 0=surface, 1=dive, 2=climb" + flag_values: [-1, 0, 1, 2] + flag_meanings: "unknown surface dive climb" + +# ============================================================================= +# NGDAC STRUCTURAL CONFIG (always included) +# ============================================================================= + +ngdac: + + crs: + CF: + epsg_code: EPSG:4326 + grid_mapping_name: latitude_longitude + inverse_flattening: 298.257223563 + long_name: http://www.opengis.net/def/crs/EPSG/0/4326 + semi_major_axis: 6378137.0 + + profile_time: + CF: + axis: T + calendar: gregorian + comment: Timestamp corresponding to the mid-point of the profile + long_name: Profile Center Time + observation_type: calculated + platform: platform + standard_name: time + units: seconds since 1970-01-01T00:00:00Z + + profile_lat: + CF: + axis: Y + comment: Value is interpolated to provide an estimate of the latitude at the mid-point of the profile + long_name: Profile Center Latitude + observation_type: calculated + platform: platform + standard_name: latitude + units: degrees_north + valid_max: 90.0 + valid_min: -90.0 + + profile_lon: + CF: + axis: X + comment: Value is interpolated to provide an estimate of the longitude at the mid-point of the profile + long_name: Profile Center Longitude + observation_type: calculated + platform: platform + standard_name: longitude + units: degrees_east + valid_max: 180.0 + valid_min: -180.0 + + platform: + CF: + ancillary_variables: " " + comment: Autonomous vehicle + long_name: platform + type: platform + +# ============================================================================= +# OPTIONAL SUITES — toggled via include: in config.yml +# ============================================================================= + +suites: + + # --------------------------------------------------------------------------- + flight: # measured flight attitude and control variables + # --------------------------------------------------------------------------- + + heading: + source: m_heading + conversion: rad_to_deg + interpolate_missing: True + dtype: f4 + CF: + long_name: Heading + standard_name: platform_orientation + units: degrees + observation_type: measured + valid_max: 360.0 + valid_min: 0.0 + + battpos: + source: m_battpos + interpolate_missing: true + dtype: f4 + CF: + long_name: Battery position + units: inches + + fin: + source: m_fin + conversion: rad_to_deg + dtype: f4 + CF: + long_name: Fin angle + units: degrees + + ballast_pumped: + source: m_de_oil_vol + dtype: f4 + CF: + long_name: Ballast pumped + units: cm^3 + observation_type: measured + + # --------------------------------------------------------------------------- + thermo: # derived thermodynamic variables (requires CTD) + # --------------------------------------------------------------------------- + + salinity: + derived_from: [conductivity, temperature, pressure] + track_qc: True + dtype: f4 + CF: + instrument: instrument_ctd + long_name: Salinity + observation_type: calculated + platform: platform + standard_name: sea_water_practical_salinity + units: "1" + valid_max: 40.0 + valid_min: 0.0 + + SA: + derived_from: [salinity, pressure, lon, lat] + track_qc: True + dtype: f4 + CF: + instrument: instrument_ctd + long_name: Absolute salinity + observation_type: calculated + platform: platform + standard_name: sea_water_absolute_salinity + units: g kg-1 + valid_max: 40.0 + valid_min: 0.0 + + z: + derived_from: [pressure, lat] + track_qc: True + dtype: f4 + CF: + long_name: Height + standard_name: height + units: m + valid_min: -2000.0 + valid_max: 0.0 + positive: up + reference_datum: sea-surface + instrument: instrument_ctd + observation_type: calculated + + CT: + derived_from: [SA, temperature, pressure] + track_qc: True + dtype: f4 + CF: + long_name: Conservative temperature + standard_name: sea_water_conservative_temperature + units: celsius + instrument: instrument_ctd + valid_min: -5.0 + valid_max: 50.0 + observation_type: calculated + + density: + derived_from: [SA, temperature, pressure] + track_qc: True + dtype: f4 + CF: + instrument: instrument_ctd + long_name: Density + observation_type: calculated + platform: platform + standard_name: sea_water_density + units: kg m-3 + valid_max: 1040.0 + valid_min: 1015.0 + + rho0: + derived_from: [SA, temperature, pressure] + track_qc: True + dtype: f4 + CF: + instrument: instrument_ctd + long_name: Potential density + observation_type: calculated + platform: platform + reference_pressure: 0 + standard_name: sea_water_potential_density + units: kg m-3 + valid_max: 1040.0 + valid_min: 1015.0 + + depth: + derived_from: [z] + track_qc: True + dtype: f4 + CF: + long_name: Depth + standard_name: depth + units: m + valid_min: 0.0 + valid_max: 2000.0 + positive: down + reference_datum: sea-surface + instrument: instrument_ctd + observation_type: calculated + + sound_speed: + derived_from: [SA, CT, pressure] + track_qc: True + dtype: f4 + CF: + long_name: Sound speed + standard_name: speed_of_sound_in_sea_water + units: m s-1 + instrument: instrument_ctd + valid_min: 1400.0 + valid_max: 1600.0 + observation_type: calculated + + N2: + derived_from: [SA, CT, pressure, lat] + track_qc: True + dtype: f4 + CF: + long_name: Buoyancy frequency squared + standard_name: square_of_brunt_vaisala_frequency_in_sea_water + units: s-2 + observation_type: calculated + + # --------------------------------------------------------------------------- + flight_model: # output variables from the steady-state flight model + # --------------------------------------------------------------------------- + + speed_through_water: + dtype: f4 + CF: + long_name: Speed through water + units: m s-1 + comment: Along-axis incident water speed from steady-state flight model + observation_type: calculated + valid_min: 0.0 + valid_max: 2.0 + + vertical_glider_velocity: + dtype: f4 + CF: + long_name: Vertical glider velocity + units: m s-1 + comment: >- + Vertical component of glider velocity through the water (upward + positive). Negative when diving, positive when climbing. + observation_type: calculated + valid_min: -1.0 + valid_max: 1.0 + + vertical_water_velocity: + dtype: f4 + CF: + long_name: Vertical water velocity + units: m s-1 + comment: >- + Vertical water velocity estimated as dz/dt minus modelled vertical + glider velocity (upward positive). + observation_type: calculated + valid_min: -1.0 + valid_max: 1.0 + + angle_of_attack: + dtype: f4 + CF: + long_name: Angle of attack + units: degrees + comment: Angle of attack of glider relative to oncoming flow + observation_type: calculated + valid_min: -30.0 + valid_max: 30.0 diff --git a/src/glide/cli.py b/src/glide/cli.py index cbc35b5..f4c5a46 100644 --- a/src/glide/cli.py +++ b/src/glide/cli.py @@ -21,6 +21,9 @@ process_l3, profiles, ) +from . import ( + flight as flt, +) _log = logging.getLogger(__name__) @@ -435,6 +438,48 @@ def concat( ds.to_netcdf(out_file) +@app.command() +@log_args +def flight( + l2_file: Annotated[str, typer.Argument(help="The L2 dataset.")], + out_file: _out_file_annotation = "slocum.flight.nc", + config_file: _config_annotation = None, + inplace: Annotated[ + bool, + typer.Option( + "--inplace", + "-i", + help="Amend the L2 file in-place instead of writing a new file. " + "Cannot be combined with --out.", + ), + ] = False, +) -> None: + """ + Apply a steady-state glider flight model to L2 data. + + By default the result is written to a new file (--out). Pass --inplace + to overwrite the L2 file directly instead. + """ + if inplace and out_file != "slocum.flight.nc": + raise typer.BadParameter("--inplace and --out are mutually exclusive.") + + conf = config.load_config(config_file) + + ds = process_l2.parse_l2(l2_file) + + params = flt.calibrate(ds, conf) + + out = flt.apply_model(ds, params) + + if inplace: + target = l2_file + else: + target = out_file + + out.to_netcdf(target) + _log.info("Flight model output written to %s", target) + + @app.command() @log_args def cfg( diff --git a/src/glide/config.py b/src/glide/config.py index 69ae852..eda3667 100644 --- a/src/glide/config.py +++ b/src/glide/config.py @@ -4,7 +4,7 @@ import logging from datetime import datetime, timezone -from yaml import safe_load_all +from yaml import safe_load, safe_load_all _log = logging.getLogger(__name__) @@ -39,39 +39,33 @@ def _deep_merge(base: dict, override: dict) -> dict: return result -def _load_core() -> tuple[dict, dict, dict, dict]: +def _load_core() -> dict: """Load core variable definitions from bundled core.yml. - Returns - ------- - core_variables : dict - Core variables that are always included. - flight_attitude : dict - Optional flight attitude variables (heading, pitch, roll). - derived_thermo : dict - Optional derived thermodynamic variables. - ngdac : dict - IOOS NGDAC structural configuration. + Returns a dict with keys ``core``, ``ngdac``, and ``suites``. Callers + index what they need: + + raw = _load_core() + raw["core"] # always-included variables + raw["ngdac"] # IOOS NGDAC structural variables + raw["suites"]["flight"] # one optional suite + raw["suites"] # all suites, for generic iteration """ from importlib import resources core_file = str(resources.files("glide").joinpath("assets/core.yml")) - with open(core_file) as f: - docs = [doc for doc in safe_load_all(f)] - - if len(docs) != 4: - raise ValueError( - f"Expected core.yml to contain exactly 4 YAML documents (core, " - f"flight_attitude, derived_thermo, ngdac), but found {len(docs)}." - ) + return safe_load(f) - core = docs[0] - flight = docs[1] - thermo = docs[2] - ngdac = docs[3] - return core, flight, thermo, ngdac +def _merge_suites(core: dict, suites: dict, include: dict) -> dict: + """Merge enabled optional suites into the core variable set.""" + variables = copy.deepcopy(core) + for name, suite_vars in suites.items(): + if include.get(name, False): + variables.update(copy.deepcopy(suite_vars)) + _log.debug("Including %s suite", name) + return variables def _apply_qc_overrides(variables: dict, qc_overrides: dict) -> dict: @@ -179,9 +173,13 @@ def load_config(file: str | None = None) -> dict: - instruments: per-deployment instrument metadata - include: which optional suites are enabled - ngdac: IOOS NGDAC structural metadata + - flight: optional flight model parameters (empty dict if not set) """ # Load core definitions - core, flight, thermo, ngdac = _load_core() + raw_core = _load_core() + core = raw_core["core"] + ngdac = raw_core["ngdac"] + suites = raw_core.get("suites", {}) # Load user config if file is None: @@ -203,20 +201,10 @@ def _section(name: str) -> dict: qc_overrides = _section("qc") l1_vars = _section("l1_variables") merged_vars = _section("merged_variables") + flight_model_cfg = _section("flight") - include_flight = include.get("flight", True) - include_thermo = include.get("thermo", True) - - # Build variable set: start with core - variables = copy.deepcopy(core) - - # Add optional suites if enabled - if include_flight: - variables.update(copy.deepcopy(flight)) - _log.debug("Including flight_attitude suite") - if include_thermo: - variables.update(copy.deepcopy(thermo)) - _log.debug("Including derived_thermo suite") + # Build variable set: core + enabled optional suites + variables = _merge_suites(core, suites, include) # Apply QC overrides variables = _apply_qc_overrides(variables, qc_overrides) @@ -254,10 +242,8 @@ def _section(name: str) -> dict: merged_variables=merged_vars, instruments=instruments, ngdac=ngdac, - include=dict( - flight=include_flight, - thermo=include_thermo, - ), + include=include, + flight=flight_model_cfg, ) return config diff --git a/src/glide/convert.py b/src/glide/convert.py index 2320eba..40d6d12 100644 --- a/src/glide/convert.py +++ b/src/glide/convert.py @@ -26,6 +26,21 @@ def rad_to_deg(x: ArrayLike) -> NDArray: return np.rad2deg(x) +def deg_to_rad(x: ArrayLike) -> NDArray: + """Convert degrees to radians.""" + return np.deg2rad(x) + + +def dbar_to_Pa(x: ArrayLike) -> NDArray: + """Convert pressure in dbar to Pa.""" + return 1e4 * np.asarray(x) + + +def cm3_to_m3(x: ArrayLike) -> NDArray: + """Convert volume in cm3 to m3.""" + return 1e-6 * np.asarray(x) + + def mid(x: ArrayLike) -> NDArray: """Estimate mid points of an array. Works with datetimes.""" x = np.asarray(x) diff --git a/src/glide/flight.py b/src/glide/flight.py new file mode 100644 index 0000000..1788f91 --- /dev/null +++ b/src/glide/flight.py @@ -0,0 +1,413 @@ +# Steady-state glider flight model following Merckelbach et al. 2010 & 2019. + +import logging + +import numpy as np +import xarray as xr +from scipy.interpolate import interp1d +from scipy.optimize import fsolve, least_squares + +from .config import _load_core +from .convert import cm3_to_m3, dbar_to_Pa, deg_to_rad + +_log = logging.getLogger(__name__) + + +# Default model parameters +DEFAULTS = dict( + rho0=1025.0, # reference density (kg m-3) + mg=70.0, # glider mass (kg) + Vg=0.090, # glider volume (m3) + Cd0=0.15, # parasitic drag coefficient (-) + Cd1=10.0, # induced drag coefficient (s-2); derived from aw if not set + Cd1_hull=9.7, # hull induced-drag coefficient + ah=3.8, # hull lift coefficient slope rad-1) + aw=None, # wing lift coefficient slope (rad-1); derived from aspect_ratio/Omega + reference_area=0.10, # reference area (m-2) + aspect_ratio=7.0, # aspect ratio + sweep_angle=0.7505, # sweep angle (rad, approx 43 degrees) + osborne_efficiency=0.8, # Osborne efficiency factor + hull_compressibility=5e-10, # hull compressibility (Pa-1) +) + +_G = 9.81 # gravity m s-2 + +# Physical bounds for calibratable parameters. +BOUNDS: dict[str, tuple[float, float]] = dict( + mg=(40.0, 150.0), # glider mass (kg) + Vg=(0.005, 0.2), # glider volume (m3) + Cd0=(0.0, 2.0), # parasitic drag coefficient + ah=(0.0, 10.0), # hull lift slope (rad-1) + Cd1=(0.0, 100.0), # induced drag coefficient + aw=(0.0, 30.0), # wing lift slope (rad-1) +) + + +def _aw_from_geometry(aspect_ratio: float, sweep_angle: float) -> float: + """Lift-curve slope from wing aspect ratio and sweep angle.""" + return ( + 2 + * np.pi + * aspect_ratio + / (2 + np.sqrt(aspect_ratio**2 * (1 + np.tan(sweep_angle) ** 2) + 4)) + ) + + +def _cd1_from_params( + aw: float, osborne_efficiency: float, aspect_ratio: float, Cd1_hull: float +) -> float: + """Induced drag coefficient from wing and hull contributions.""" + Cd1_wing = aw**2 / (np.pi * osborne_efficiency * aspect_ratio) + return Cd1_wing + Cd1_hull + + +def _build_params(cfg: dict) -> dict: + """Merge user config over defaults, derive aw / Cd1 if not explicitly set.""" + p = {**DEFAULTS, **cfg} + + if p["aw"] is None: + p["aw"] = _aw_from_geometry(p["aspect_ratio"], p["sweep_angle"]) + _log.debug("Derived aw = %.4f from aspect_ratio and sweep_angle", p["aw"]) + + # Cd1 is derived unless the caller overrides it directly. + if "Cd1" not in cfg: + p["Cd1"] = _cd1_from_params( + p["aw"], p["osborne_efficiency"], p["aspect_ratio"], p["Cd1_hull"] + ) + _log.debug("Derived Cd1 = %.4f", p["Cd1"]) + + return p + + +def _to_si(ds: xr.Dataset) -> dict[str, np.ndarray]: + """Extract flight model inputs from ds and convert to SI units. + + If ``dzdt`` is already present in ds (pre-computed on a larger timeseries), + it is used directly; otherwise it is computed via np.gradient on z and time. + + Returns a dict with keys: pressure [Pa], dzdt [m s-1], pitch [rad], + Vbp [m3], density [kg m-3]. + """ + time_s = ds.time.values.astype("f8") / 1e9 + dzdt = ( + ds.dzdt.values.astype("f8") + if "dzdt" in ds + else np.gradient(ds.z.values.astype("f8"), time_s) + ) + return dict( + pressure=dbar_to_Pa(ds.pressure.values.astype("f8")), + dzdt=dzdt, + pitch=deg_to_rad(ds.pitch.values.astype("f8")), + Vbp=cm3_to_m3(ds.ballast_pumped.values.astype("f8")), + density=ds.density.values.astype("f8"), + ) + + +def _compute_buoyancy( + pressure: np.ndarray, + rho: np.ndarray, + Vbp: np.ndarray, + Vg: float, + hull_compressibility: float, + mg: float, +) -> tuple[np.ndarray, float]: + """Return buoyancy force FB (N) and gravity force Fg (N). + + pressure : Pa + Vbp : m3 + + Merckelbach et al. 2019 equation 3 & 4. + """ + FB = _G * rho * (Vg * (1.0 - hull_compressibility * pressure) + Vbp) + Fg = mg * _G + return FB, Fg + + +def _aoa_equation( + alpha: float, pitch: float, Cd0: float, Cd1: float, ah: float, aw: float +) -> float: + """Implicit equation whose zero is the angle of attack. + + pitch : rad + + Merckelbach et al. 2019 equation 9. + """ + return (Cd0 + Cd1 * alpha**2) / ((ah + aw) * np.tan(alpha + pitch)) - alpha + + +def _solve_aoa( + pitch: np.ndarray, Cd0: float, Cd1: float, ah: float, aw: float +) -> np.ndarray: + """Solve for angle of attack at each pitch sample. + + pitch : rad + + Builds an interpolating table over the pitch range for efficiency, then + applies it. Pitches whose magnitude is below ~5 degrees receive aoa = 0. + """ + pitch_abs = np.abs(pitch) + pitch_grid = np.linspace(5 * np.pi / 180, 60 * np.pi / 180, 120) + + aoa_grid = np.zeros_like(pitch_grid) + for i, _pitch in enumerate(pitch_grid): + sol = fsolve( + _aoa_equation, + _pitch / 50.0, + args=(_pitch, Cd0, Cd1, ah, aw), + full_output=True, + ) + aoa_grid[i] = sol[0][0] + + ifun = interp1d(pitch_grid, aoa_grid, bounds_error=False, fill_value=0.0) + + aoa = np.where( + pitch_abs >= pitch_grid[0], + ifun(pitch_abs) * np.sign(pitch), + 0.0, + ) + return aoa + + +def _compute_speed( + FB: np.ndarray, + Fg: float, + rho: np.ndarray, + alpha: np.ndarray, + pitch: np.ndarray, + reference_area: float, + Cd0: float, + Cd1: float, +) -> np.ndarray: + """Incident water speed U (m s-1) from force balance. + + pitch : rad + + Merckelbach et al. 2019 equation 8. + """ + numer = 2.0 * (FB - Fg) * np.sin(pitch + alpha) + denom = rho * reference_area * (Cd0 + Cd1 * alpha**2) + U2 = np.where(denom != 0, numer / denom, 0.0) + U2 = np.maximum(U2, 0.0) + return np.sqrt(U2) + + +def _solve_flight( + pressure: np.ndarray, + dzdt: np.ndarray, + pitch: np.ndarray, + Vbp: np.ndarray, + density: np.ndarray, + p: dict, +) -> dict: + """Core steady-state flight model. All inputs in SI units. + + Parameters + ---------- + pressure : Pa + dzdt : m s-1, observed vertical velocity (upward positive) + pitch : rad + Vbp : m3, ballast volume change + density : kg m-3, in-situ seawater density + + Returns + ------- + dict with keys: speed_through_water [m s-1], vertical_glider_velocity + [m s-1], vertical_water_velocity [m s-1], angle_of_attack [degrees]. + """ + FB, Fg = _compute_buoyancy( + pressure, density, Vbp, p["Vg"], p["hull_compressibility"], p["mg"] + ) + alpha = _solve_aoa(pitch, p["Cd0"], p["Cd1"], p["ah"], p["aw"]) + U = _compute_speed( + FB, Fg, density, alpha, pitch, p["reference_area"], p["Cd0"], p["Cd1"] + ) + + # wg: vertical component of glider velocity through the water (upward +) + # sin(pitch + alpha) is negative when diving (negative pitch), positive + # when climbing — matching the z convention. + wg = U * np.sin(pitch + alpha) + ww = dzdt - wg # vertical water velocity + + return dict( + speed_through_water=U, + vertical_glider_velocity=wg, + vertical_water_velocity=ww, + angle_of_attack=np.rad2deg(alpha), + ) + + +def _residuals( + x: np.ndarray, + param_names: list[str], + base_params: dict, + pressure: np.ndarray, + dzdt: np.ndarray, + pitch: np.ndarray, + Vbp: np.ndarray, + density: np.ndarray, +) -> np.ndarray: + """Residual vector (modelled minus observed vertical velocity) for least_squares. + + pressure : Pa; pitch : rad; Vbp : m3 + """ + p = {**base_params} + for name, val in zip(param_names, x): + p[name] = val + + # Re-derive Cd1 if any of its dependencies changed. + if any( + n in param_names + for n in ("aw", "osborne_efficiency", "aspect_ratio", "Cd1_hull") + ): + p["Cd1"] = _cd1_from_params( + p["aw"], p["osborne_efficiency"], p["aspect_ratio"], p["Cd1_hull"] + ) + + result = _solve_flight(pressure, dzdt, pitch, Vbp, density, p) + return result["vertical_glider_velocity"] - dzdt + + +def calibrate(ds: xr.Dataset, conf: dict) -> dict: + """Calibrate flight model parameters against depth-rate. + + Parameters + ---------- + ds : xr.Dataset + L2 dataset. Must contain: pressure, pitch, ballast_pumped, density, z. + conf : dict + glide config dict (as returned by config.load_config). + + Returns + ------- + dict + All model parameters after calibration (including fixed ones). + """ + flight_cfg = conf.get("flight", {}) + p = _build_params(flight_cfg) + + required = ["pressure", "pitch", "ballast_pumped", "density", "z"] + missing = [v for v in required if v not in ds] + if missing: + raise ValueError(f"L2 dataset is missing required variables: {missing}") + + # Drop rows with any NaN, then compute dzdt on the clean contiguous timeseries + # before any pressure/time subsetting (so edge samples aren't lost). + full = ds[required].dropna(dim="time", how="any") + full["dzdt"] = ("time", _to_si(full)["dzdt"]) + + bounds = flight_cfg.get("bounds", {}) + min_pressure = float(bounds.get("min_pressure", 20.0)) + max_pressure = float(bounds.get("max_pressure", 1000.0)) + time_start = bounds.get("time_start") + time_end = bounds.get("time_end") + + sub = full + if time_start is not None or time_end is not None: + sub = sub.sel(time=slice(time_start, time_end)) + sub = sub.where( + (sub.pressure > min_pressure) & (sub.pressure < max_pressure) + ).dropna(dim="time", how="any") + + if sub.time.size < 100: + raise ValueError( + f"Fewer than 100 data points ({sub.time.size}) after applying bounds. " + "Check flight.bounds in the config." + ) + + # _to_si picks up the pre-computed dzdt stored in sub["dzdt"] + si = _to_si(sub) + + calibrate_params = flight_cfg.get("calibrate", ["Vg", "mg", "Cd0", "ah"]) + _log.info("Calibrating parameters: %s", calibrate_params) + + x0 = np.array([p[name] for name in calibrate_params]) + lb = np.array([BOUNDS.get(name, (-np.inf, np.inf))[0] for name in calibrate_params]) + ub = np.array([BOUNDS.get(name, (-np.inf, np.inf))[1] for name in calibrate_params]) + + args = ( + calibrate_params, + p, + si["pressure"], + si["dzdt"], + si["pitch"], + si["Vbp"], + si["density"], + ) + + result = least_squares( + _residuals, x0, args=args, bounds=(lb, ub), x_scale="jac", method="trf" + ) + + for name, val in zip(calibrate_params, result.x): + p[name] = val + + # Re-derive Cd1 in case dependent params changed. + if any( + n in calibrate_params + for n in ("aw", "osborne_efficiency", "aspect_ratio", "Cd1_hull") + ): + p["Cd1"] = _cd1_from_params( + p["aw"], p["osborne_efficiency"], p["aspect_ratio"], p["Cd1_hull"] + ) + + _log.info( + "Calibration complete: %s", + {n: f"{p[n]:.5g}" for n in calibrate_params}, + ) + return p + + +def apply_model(ds: xr.Dataset, params: dict) -> xr.Dataset: + """Solve the flight model over the full dataset and add output variables. + + Parameters + ---------- + ds : xr.Dataset + L2 dataset. Must contain: pressure, pitch, ballast_pumped, density, z. + params : dict + Model parameters (e.g. as returned by calibrate()). + + Returns + ------- + xr.Dataset + Copy of ``ds`` with flight model variables added on the ``time`` + dimension and calibrated parameters stored as global attributes. + """ + required = ["pressure", "pitch", "ballast_pumped", "density", "z"] + missing = [v for v in required if v not in ds] + if missing: + raise ValueError(f"L2 dataset is missing required variables: {missing}") + + si = _to_si(ds) + result = _solve_flight( + si["pressure"], si["dzdt"], si["pitch"], si["Vbp"], si["density"], params + ) + + out = ds.copy() + + flight_vars = _load_core()["suites"]["flight_model"] + for var_name, values in result.items(): + attrs = flight_vars[var_name]["CF"] + out[var_name] = (("time",), values.astype("f4"), attrs) + + # Store all model parameters as global attributes. + _param_keys = [ + "mg", + "Vg", + "Cd0", + "ah", + "Cd1", + "aw", + "reference_area", + "aspect_ratio", + "sweep_angle", + "osborne_efficiency", + "Cd1_hull", + "hull_compressibility", + "rho0", + ] + for key in _param_keys: + if params.get(key) is not None: + out.attrs[f"flight_model_{key}"] = params[key] + + return out diff --git a/src/glide/gliderdac.py b/src/glide/gliderdac.py index b2740a1..6aff062 100644 --- a/src/glide/gliderdac.py +++ b/src/glide/gliderdac.py @@ -18,8 +18,7 @@ def _load_ngdac_config() -> dict: - _, _, _, ngdac = _load_core() - return ngdac + return _load_core()["ngdac"] def _slice_profile( diff --git a/tests/conftest.py b/tests/conftest.py new file mode 100644 index 0000000..3ae09c0 --- /dev/null +++ b/tests/conftest.py @@ -0,0 +1,32 @@ +"""Shared pytest fixtures for the glide test suite.""" + +from importlib import resources + +import pytest +import xarray as xr +from typer.testing import CliRunner + +from glide.cli import app + +_runner = CliRunner() + + +@pytest.fixture(scope="session") +def sl685_l2(tmp_path_factory): + """L2 xr.Dataset produced by running the CLI over the sl685 test fixtures. + + Built once per test session by invoking ``glide l2`` on the trimmed + sl685.dbd.csv / sl685.ebd.csv files in tests/data/. All tests that need + a realistic L2 dataset (e.g. flight model calibration) should use this + fixture rather than loading a pre-baked CSV. + """ + dbd = str(resources.files("tests").joinpath("data/sl685.dbd.csv")) + ebd = str(resources.files("tests").joinpath("data/sl685.ebd.csv")) + out = str(tmp_path_factory.mktemp("l2") / "sl685.l2.nc") + + result = _runner.invoke(app, ["l2", dbd, ebd, "-o", out]) + assert result.exit_code == 0, f"CLI l2 failed:\n{result.output}" + + ds = xr.open_dataset(out).load() + yield ds + ds.close() diff --git a/tests/data/sl685.dbd.csv b/tests/data/sl685.dbd.csv new file mode 100644 index 0000000..253a666 --- /dev/null +++ b/tests/data/sl685.dbd.csv @@ -0,0 +1,5052 @@ +m_battpos,m_de_oil_vol,m_depth,m_fin,m_gps_lat,m_gps_lon,m_heading,m_lat,m_lon,m_pitch,m_present_time,m_roll,sci_m_present_time 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+,,,,,,,,,,,,1774593639.33,,, diff --git a/tests/test_flight.py b/tests/test_flight.py new file mode 100644 index 0000000..0ce49a4 --- /dev/null +++ b/tests/test_flight.py @@ -0,0 +1,151 @@ +import numpy as np +import pytest +import xarray as xr + +import glide.flight as fl +from glide.config import load_config + + +def minimal_conf(overrides: dict | None = None) -> dict: + """Return a config dict with a simple flight section.""" + conf = load_config() + conf["flight"] = { + "rho0": 1025.0, + "mg": 70.0, + "Vg": 0.070, + "Cd0": 0.15, + "ah": 3.8, + "calibrate": ["Vg", "mg"], + "bounds": {"min_pressure": 5.0, "max_pressure": 1000.0}, + } + if overrides: + conf["flight"].update(overrides) + return conf + + +def test_aw_from_geometry(): + aw = fl._aw_from_geometry(aspect_ratio=7.0, sweep_angle=0.7505) + assert 3.0 < aw < 5.0, f"Unexpected aw={aw}" + + +def test_cd1_from_params(): + aw = fl._aw_from_geometry(7.0, 0.7505) + cd1 = fl._cd1_from_params( + aw, osborne_efficiency=0.8, aspect_ratio=7.0, Cd1_hull=9.7 + ) + assert cd1 > 0 + + +def test_build_params_derives_aw_and_cd1(): + p = fl._build_params({}) + assert p["aw"] is not None + assert p["Cd1"] is not None + + +def test_build_params_respects_user_cd1(): + p = fl._build_params({"Cd1": 99.0}) + # User-supplied Cd1 should be preserved (not re-derived). + assert p["Cd1"] == 99.0 + + +def test_solve_aoa_positive_pitch(): + p = fl._build_params({}) + pitch = np.full(10, np.deg2rad(20.0)) + aoa = fl._solve_aoa(pitch, p["Cd0"], p["Cd1"], p["ah"], p["aw"]) + assert np.all(aoa >= 0) + + +def test_solve_aoa_negative_pitch(): + p = fl._build_params({}) + pitch = np.full(10, np.deg2rad(-20.0)) + aoa = fl._solve_aoa(pitch, p["Cd0"], p["Cd1"], p["ah"], p["aw"]) + assert np.all(aoa <= 0) + + +def test_solve_aoa_zero_pitch(): + p = fl._build_params({}) + pitch = np.zeros(5) + aoa = fl._solve_aoa(pitch, p["Cd0"], p["Cd1"], p["ah"], p["aw"]) + assert np.allclose(aoa, 0.0) + + +def test_calibrate_returns_all_params(sl685_l2): + ds = sl685_l2 + conf = minimal_conf() + params = fl.calibrate(ds, conf) + + # Every key in DEFAULTS should be present in the output. + for key in fl.DEFAULTS: + assert key in params, f"Missing param '{key}' in calibrate output" + + +def test_calibrate_params_are_finite(sl685_l2): + ds = sl685_l2 + conf = minimal_conf() + params = fl.calibrate(ds, conf) + for key in ["mg", "Vg", "Cd0", "ah"]: + assert np.isfinite(params[key]), f"param '{key}' is not finite" + + +def test_calibrate_bounds_too_restrictive_raises(sl685_l2): + ds = sl685_l2 + conf = minimal_conf({"bounds": {"min_pressure": 490.0, "max_pressure": 491.0}}) + with pytest.raises(ValueError, match="Fewer than 100 data points"): + fl.calibrate(ds, conf) + + +def test_apply_model_adds_variables(sl685_l2): + ds = sl685_l2 + p = fl._build_params({}) + out = fl.apply_model(ds, p) + + for var in ( + "speed_through_water", + "vertical_glider_velocity", + "vertical_water_velocity", + "angle_of_attack", + ): + assert var in out, f"'{var}' missing from apply_model output" + assert out[var].dims == ("time",) + + +def test_apply_model_stores_global_attrs(sl685_l2): + ds = sl685_l2 + p = fl._build_params({}) + out = fl.apply_model(ds, p) + + for key in ["mg", "Vg", "Cd0", "ah", "rho0"]: + attr = f"flight_model_{key}" + assert attr in out.attrs, f"Global attribute '{attr}' missing" + + +def test_apply_model_does_not_mutate_input(sl685_l2): + ds = sl685_l2 + original_vars = set(ds.data_vars) + p = fl._build_params({}) + _ = fl.apply_model(ds, p) + assert set(ds.data_vars) == original_vars + + +def test_apply_model_output_shape(sl685_l2): + ds = sl685_l2 + p = fl._build_params({}) + out = fl.apply_model(ds, p) + n = ds.time.size + assert out["speed_through_water"].shape == (n,) + + +def test_end_to_end(sl685_l2): + ds = sl685_l2 + conf = minimal_conf() + params = fl.calibrate(ds, conf) + out = fl.apply_model(ds, params) + + # Calibrated params should be reflected in global attrs. + assert abs(out.attrs["flight_model_mg"] - params["mg"]) < 1e-9 + assert abs(out.attrs["flight_model_Vg"] - params["Vg"]) < 1e-9 + + # Vertical water velocity should be small (order cm/s) for typical data. + ww = out["vertical_water_velocity"].values + finite = ww[np.isfinite(ww)] + assert np.abs(finite).mean() < 0.5, "Mean |ww| suspiciously large"