MHKiT-Software · simmsa · Sep 27, 2025 · Sep 27, 2025 · Sep 27, 2025 · Sep 27, 2025
diff --git a/examples/data/dolfyn/RDI_7f79_2.000 b/examples/data/dolfyn/RDI_7f79_2.000
diff --git a/examples/data/dolfyn/RiverPro_test01.PD0 b/examples/data/dolfyn/RiverPro_test01.PD0
diff --git a/examples/data/dolfyn/RiverPro_test01.dolfyn.log b/examples/data/dolfyn/RiverPro_test01.dolfyn.log
diff --git a/examples/data/dolfyn/Sig1000_dp_echo.ad2cp b/examples/data/dolfyn/Sig1000_dp_echo.ad2cp
diff --git a/examples/data/dolfyn/Sig1000_online.ad2cp b/examples/data/dolfyn/Sig1000_online.ad2cp
diff --git a/examples/data/dolfyn/Sig1000_online.ad2cp.index b/examples/data/dolfyn/Sig1000_online.ad2cp.index
diff --git a/examples/data/dolfyn/Sig100_avg.ad2cp b/examples/data/dolfyn/Sig100_avg.ad2cp
diff --git a/examples/data/dolfyn/Sig100_avg.ad2cp.index b/examples/data/dolfyn/Sig100_avg.ad2cp.index
diff --git a/examples/data/dolfyn/Sig100_raw_avg.ad2cp b/examples/data/dolfyn/Sig100_raw_avg.ad2cp
diff --git a/examples/data/dolfyn/Sig100_raw_avg.ad2cp.index b/examples/data/dolfyn/Sig100_raw_avg.ad2cp.index
diff --git a/examples/data/dolfyn/Sig500_dp_ice.ad2cp b/examples/data/dolfyn/Sig500_dp_ice.ad2cp
diff --git a/examples/data/dolfyn/control/AWAC_test01.dolfyn.log b/examples/data/dolfyn/control/AWAC_test01.dolfyn.log
@@ -0,0 +1,101 @@
+root - INFO - Position: 2, codes: (165, 5)
+root - INFO - Reading hardware configuration (0x05) ping #0 @ 2...
+root - INFO - Position: 50, codes: (165, 4)
+root - INFO - Reading header configuration (0x04) ping #0 @ 50...
+root - INFO - Position: 274, codes: (165, 0)
+root - INFO - Reading user configuration (0x00) ping #0 @ 274...
+root - INFO - Position: 786, codes: (165, 32)
+root - INFO - Position: 1086, codes: (165, 32)
+root - INFO - Position: 1386, codes: (165, 32)
+root - INFO - Position: 1686, codes: (165, 32)
+root - INFO - Position: 1986, codes: (165, 32)
+root - INFO - Position: 2286, codes: (165, 32)
+root - INFO - Position: 2586, codes: (165, 32)
+root - INFO - Position: 2886, codes: (165, 32)
+root - INFO - Position: 3186, codes: (165, 32)
+root - INFO - Position: 3486, codes: (165, 32)
+root - INFO - Position: 3786, codes: (165, 32)
+root - INFO - Position: 4086, codes: (165, 32)
+root - INFO - Position: 4386, codes: (165, 32)
+root - INFO - Position: 4686, codes: (165, 32)
+root - INFO - Position: 4986, codes: (165, 32)
+root - INFO - Position: 5286, codes: (165, 32)
+root - INFO - Position: 5586, codes: (165, 32)
+root - INFO - Position: 5886, codes: (165, 32)
+root - INFO - Position: 6186, codes: (165, 32)
+root - INFO - Position: 6486, codes: (165, 32)
+root - INFO - Position: 6786, codes: (165, 32)
+root - INFO - Position: 7086, codes: (165, 32)
+root - INFO - Position: 7386, codes: (165, 32)
+root - INFO - Position: 7686, codes: (165, 32)
+root - INFO - Position: 7986, codes: (165, 32)
+root - INFO - Position: 8286, codes: (165, 32)
+root - INFO - Position: 8586, codes: (165, 32)
+root - INFO - Position: 8886, codes: (165, 32)
+root - INFO - Position: 9186, codes: (165, 32)
+root - INFO - Position: 9486, codes: (165, 32)
+root - INFO - Position: 9786, codes: (165, 32)
+root - INFO - Position: 10086, codes: (165, 32)
+root - INFO - Position: 10386, codes: (165, 32)
+root - INFO - Position: 10686, codes: (165, 32)
+root - INFO - Position: 10986, codes: (165, 32)
+root - INFO - Position: 11286, codes: (165, 32)
+root - INFO - Position: 11586, codes: (165, 32)
+root - INFO - Position: 11886, codes: (165, 32)
+root - INFO - Position: 12186, codes: (165, 32)
+root - INFO - Position: 12486, codes: (165, 32)
+root - INFO - Position: 12786, codes: (165, 32)
+root - INFO - Position: 13086, codes: (165, 32)
+root - INFO - Position: 13386, codes: (165, 32)
+root - INFO - Position: 13686, codes: (165, 32)
+root - INFO - Position: 13986, codes: (165, 32)
+root - INFO - Position: 14286, codes: (165, 32)
+root - INFO - Position: 14586, codes: (165, 32)
+root - INFO - Position: 14886, codes: (165, 32)
+root - INFO - Position: 15186, codes: (165, 32)
+root - INFO - Position: 15486, codes: (165, 32)
+root - INFO - Position: 15786, codes: (165, 32)
+root - INFO - p0=1084, pos=16084, i=49
+root - INFO - Init completed
+root - INFO - Position: 786, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #0 @ 786...
+root - INFO - Position: 1086, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #1 @ 1086...
+root - INFO - Position: 1386, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #2 @ 1386...
+root - INFO - Position: 1686, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #3 @ 1686...
+root - INFO - Position: 1986, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #4 @ 1986...
+root - INFO - Position: 2286, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #5 @ 2286...
+root - INFO - Position: 2586, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #6 @ 2586...
+root - INFO - Position: 2886, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #7 @ 2886...
+root - INFO - Position: 3186, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #8 @ 3186...
+root - INFO - Position: 3486, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #9 @ 3486...
+root - INFO - Position: 3786, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #10 @ 3786...
+root - INFO - Position: 4086, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #11 @ 4086...
+root - INFO - Position: 4386, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #12 @ 4386...
+root - INFO - Position: 4686, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #13 @ 4686...
+root - INFO - Position: 4986, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #14 @ 4986...
+root - INFO - Position: 5286, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #15 @ 5286...
+root - INFO - Position: 5586, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #16 @ 5586...
+root - INFO - Position: 5886, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #17 @ 5886...
+root - INFO - Position: 6186, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #18 @ 6186...
+root - INFO - Position: 6486, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #19 @ 6486...
+root - INFO - Position: 6786, codes: (165, 32)
+root - INFO - Reading AWAC velocity data (0x20) ping #20 @ 6786...
diff --git a/examples/data/dolfyn/control/AWAC_test01.nc b/examples/data/dolfyn/control/AWAC_test01.nc
diff --git a/examples/data/dolfyn/control/AWAC_test01_clean.nc b/examples/data/dolfyn/control/AWAC_test01_clean.nc
diff --git a/examples/data/dolfyn/control/AWAC_test01_earth2inst.nc b/examples/data/dolfyn/control/AWAC_test01_earth2inst.nc
diff --git a/examples/data/dolfyn/control/AWAC_test01_earth2principal.nc b/examples/data/dolfyn/control/AWAC_test01_earth2principal.nc
diff --git a/examples/data/dolfyn/control/AWAC_test01_inst2beam.nc b/examples/data/dolfyn/control/AWAC_test01_inst2beam.nc
diff --git a/examples/data/dolfyn/control/AWAC_test01_ud.nc b/examples/data/dolfyn/control/AWAC_test01_ud.nc
diff --git a/examples/data/dolfyn/control/BenchFile01.mat b/examples/data/dolfyn/control/BenchFile01.mat
diff --git a/examples/data/dolfyn/control/BenchFile01.nc b/examples/data/dolfyn/control/BenchFile01.nc
diff --git a/examples/data/dolfyn/control/BenchFile01.repr.txt b/examples/data/dolfyn/control/BenchFile01.repr.txt
@@ -0,0 +1,26 @@
+<ADCP data object>:  Nortek Signature500
+  . 49.50 seconds (started: Feb 24, 2017 10:01)
+  . beam-frame
+  . (100 pings @ 2Hz)
+  Variables:
+  - time ('time',)
+  - time_altraw ('time_altraw',)
+  - time_b5 ('time_b5',)
+  - vel ('dir', 'range', 'time')
+  - vel_b5 ('range_b5', 'time_b5')
+  - range ('range',)
+  - orientmat ('earth', 'inst', 'time')
+  - heading ('time',)
+  - pitch ('time',)
+  - roll ('time',)
+  - temp ('time',)
+  - pressure ('time',)
+  - pressure_alt ('time',)
+  - pressure_altraw ('time_altraw',)
+  - amp ('beam', 'range', 'time')
+  - amp_b5 ('range_b5', 'time_b5')
+  - corr ('beam', 'range', 'time')
+  - corr_b5 ('range_b5', 'time_b5')
+  - accel ('dirIMU', 'time')
+  - mag ('dirIMU', 'time')
+  ... and others (see `<obj>.variables`)
diff --git a/examples/data/dolfyn/control/BenchFile01_avg.nc b/examples/data/dolfyn/control/BenchFile01_avg.nc
diff --git a/examples/data/dolfyn/control/BenchFile01_crop.nc b/examples/data/dolfyn/control/BenchFile01_crop.nc
diff --git a/examples/data/dolfyn/control/BenchFile01_func.nc b/examples/data/dolfyn/control/BenchFile01_func.nc
diff --git a/examples/data/dolfyn/control/BenchFile01_rotate_beam2inst.nc b/examples/data/dolfyn/control/BenchFile01_rotate_beam2inst.nc
diff --git a/examples/data/dolfyn/control/BenchFile01_rotate_earth2principal.nc b/examples/data/dolfyn/control/BenchFile01_rotate_earth2principal.nc
diff --git a/examples/data/dolfyn/control/BenchFile01_rotate_inst2earth.nc b/examples/data/dolfyn/control/BenchFile01_rotate_inst2earth.nc
diff --git a/examples/data/dolfyn/control/H-AWAC_test01.nc b/examples/data/dolfyn/control/H-AWAC_test01.nc
diff --git a/examples/data/dolfyn/control/RDI_7f79.nc b/examples/data/dolfyn/control/RDI_7f79.nc
diff --git a/examples/data/dolfyn/control/RDI_7f79_2.nc b/examples/data/dolfyn/control/RDI_7f79_2.nc
diff --git a/examples/data/dolfyn/control/RDI_test01.nc b/examples/data/dolfyn/control/RDI_test01.nc
diff --git a/examples/data/dolfyn/control/RDI_test01.repr.txt b/examples/data/dolfyn/control/RDI_test01.repr.txt
@@ -0,0 +1,18 @@
+<ADCP data object>:  TRDI Workhorse
+  . 10.50 seconds (started: Feb 10, 2011 18:00)
+  . beam-frame
+  . (22 pings @ 2.0Hz)
+  Variables:
+  - time ('time',)
+  - vel ('dir', 'range', 'time')
+  - range ('range',)
+  - orientmat ('earth', 'inst', 'time')
+  - heading ('time',)
+  - pitch ('time',)
+  - roll ('time',)
+  - temp ('time',)
+  - pressure ('time',)
+  - pressure_std ('time',)
+  - amp ('beam', 'range', 'time')
+  - corr ('beam', 'range', 'time')
+  ... and others (see `<obj>.variables`)
diff --git a/examples/data/dolfyn/control/RDI_test01_clean.nc b/examples/data/dolfyn/control/RDI_test01_clean.nc
diff --git a/examples/data/dolfyn/control/RDI_test01_ofilt.nc b/examples/data/dolfyn/control/RDI_test01_ofilt.nc
diff --git a/examples/data/dolfyn/control/RDI_test01_rotate_beam2inst.nc b/examples/data/dolfyn/control/RDI_test01_rotate_beam2inst.nc
diff --git a/examples/data/dolfyn/control/RDI_test01_rotate_earth2principal.nc b/examples/data/dolfyn/control/RDI_test01_rotate_earth2principal.nc
diff --git a/examples/data/dolfyn/control/RDI_test01_rotate_inst2earth.nc b/examples/data/dolfyn/control/RDI_test01_rotate_inst2earth.nc
diff --git a/examples/data/dolfyn/control/RDI_withBT.dolfyn.log b/examples/data/dolfyn/control/RDI_withBT.dolfyn.log
@@ -0,0 +1,101 @@
+root - INFO - pos 2
+root - INFO - cfgid0: [7f, 7f]
+root - INFO - {'nbyte': 579, 'dat_offsets': array([ 20,  79, 144, 282, 352, 422, 492])}
+root - INFO - pos 20
+root - INFO - id 0 offset 20
+root - DEBUG - Number of cells set to 17
+root - DEBUG - Cell size set to 1.0
+root - DEBUG - Bin 1 distance set to 2.09
+root - INFO - Read Config
+root - INFO - Read Fixed
+root - INFO - id 128 offset 79
+root - INFO - id 256 offset 144
+root - INFO - id 512 offset 282
+root - INFO - id 768 offset 352
+root - INFO - id 1024 offset 422
+root - INFO - id 1536 offset 492
+root - INFO - Done: {'firmware_ver': 51.41, 'inst_make': 'TRDI', 'inst_type': 'ADCP', 'rotate_vars': ['vel'], 'has_imu': 0, 'inst_model': 'Workhorse', 'beam_angle': 20, 'carrier_freq': 600, 'beam_pattern': 'convex', 'orientation': 'down', 'n_beams': 4, 'n_cells': 17, 'pings_per_ensemble': 1, 'cell_size': 1.0, 'blank_dist': 0.88, 'profiling_mode': 1, 'min_corr_threshold': 64, 'n_code_reps': 5, 'min_prcnt_gd': 0, 'max_error_vel': 2.0, 'sec_between_ping_groups': 0.5, 'coord_sys': 'earth', 'use_pitchroll': 'yes', 'use_3beam': 'yes', 'bin_mapping': 'yes', 'heading_misalign_deg': 0.0, 'magnetic_var_deg': 0.0, 'sensors_src': '01111101', 'sensors_avail': '00111101', 'bin1_dist_m': 2.09, 'transmit_pulse_m': 1.18, 'water_ref_cells': [1, 5], 'false_target_threshold': 50, 'transmit_lag_m': 0.24, 'bandwidth': 0, 'power_level': 255, 'serialnum': 18655}
+root - INFO - self._BB False
+root - INFO - self.cfgBB: {}
+root - INFO - 17 ncells, not BB
+root - DEBUG -   pos 0mb/1mb
+
+root - INFO - pos 2
+root - INFO - cfgid0: [7f, 7f]
+root - INFO - Read Header
+root - INFO - n 0: 0 0000
+root - DEBUG -   pos: 22, pos_: 0, nbyte: 18, k: -1, byte_offset: -1
+root - DEBUG - Trying to Read 0
+root - INFO -   Reading code 0x0...
+root - INFO - Read Config
+root - INFO - Read Fixed
+root - INFO -     success!
+root - INFO - n 1: 128 0080
+root - DEBUG -   pos: 81, pos_: 0, nbyte: 59, k: -1, byte_offset: -1
+root - DEBUG - Trying to Read 128
+root - INFO -   Reading code 0x80...
+root - INFO - Read Var
+root - INFO -     success!
+root - INFO - n 2: 256 0100
+root - DEBUG -   pos: 146, pos_: 0, nbyte: 65, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 256
+root - INFO -   Reading code 0x100...
+root - INFO - Read Vel
+root - INFO -     success!
+root - INFO - n 3: 512 0200
+root - DEBUG -   pos: 284, pos_: 0, nbyte: 138, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 512
+root - INFO -   Reading code 0x200...
+root - INFO - Read Corr
+root - INFO -     success!
+root - INFO - n 4: 768 0300
+root - DEBUG -   pos: 354, pos_: 0, nbyte: 70, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 768
+root - INFO -   Reading code 0x300...
+root - INFO - Read Amp
+root - INFO -     success!
+root - INFO - n 5: 1024 0400
+root - DEBUG -   pos: 424, pos_: 0, nbyte: 70, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 1024
+root - INFO -   Reading code 0x400...
+root - INFO - Read PG
+root - INFO -     success!
+root - INFO - n 6: 1536 0600
+root - DEBUG -   pos: 494, pos_: 0, nbyte: 70, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 1536
+root - INFO -   Reading code 0x600...
+root - INFO - Read Bottom Track
+root - INFO -     success!
+root - DEBUG -   pos: 581, pos_: 0, nbyte: 85, k: 0, byte_offset: 577
+root - DEBUG -   pos 0mb/1mb
+
+root - INFO - pos 583
+root - INFO - cfgid0: [7f, 7f]
+root - INFO - Read Header
+root - INFO - n 0: 0 0000
+root - DEBUG -   pos: 603, pos_: 0, nbyte: 18, k: -1, byte_offset: -1
+root - DEBUG - Trying to Read 0
+root - INFO -   Reading code 0x0...
+root - INFO - Read Config
+root - INFO - Read Fixed
+root - INFO -     success!
+root - INFO - n 1: 128 0080
+root - DEBUG -   pos: 662, pos_: 0, nbyte: 59, k: -1, byte_offset: -1
+root - DEBUG - Trying to Read 128
+root - INFO -   Reading code 0x80...
+root - INFO - Read Var
+root - INFO -     success!
+root - INFO - n 2: 256 0100
+root - DEBUG -   pos: 727, pos_: 0, nbyte: 65, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 256
+root - INFO -   Reading code 0x100...
+root - INFO - Read Vel
+root - INFO -     success!
+root - INFO - n 3: 512 0200
+root - DEBUG -   pos: 865, pos_: 0, nbyte: 138, k: 0, byte_offset: -1
+root - DEBUG - Trying to Read 512
+root - INFO -   Reading code 0x200...
+root - INFO - Read Corr
+root - INFO -     success!
+root - INFO - n 4: 768 0300
+root - DEBUG -   pos: 935, pos_: 0, nbyte: 70, k: 0, byte_offset: -1
diff --git a/examples/data/dolfyn/control/RDI_withBT.nc b/examples/data/dolfyn/control/RDI_withBT.nc
diff --git a/examples/data/dolfyn/control/RiverPro_test01.nc b/examples/data/dolfyn/control/RiverPro_test01.nc
diff --git a/examples/data/dolfyn/control/Sig1000_BadTime01.nc b/examples/data/dolfyn/control/Sig1000_BadTime01.nc
diff --git a/examples/data/dolfyn/control/Sig1000_IMU.mat b/examples/data/dolfyn/control/Sig1000_IMU.mat
diff --git a/examples/data/dolfyn/control/Sig1000_IMU.nc b/examples/data/dolfyn/control/Sig1000_IMU.nc
diff --git a/examples/data/dolfyn/control/Sig1000_IMU_bin.nc b/examples/data/dolfyn/control/Sig1000_IMU_bin.nc
diff --git a/examples/data/dolfyn/control/Sig1000_IMU_ofilt.nc b/examples/data/dolfyn/control/Sig1000_IMU_ofilt.nc
diff --git a/examples/data/dolfyn/control/Sig1000_IMU_rotate_beam2inst.nc b/examples/data/dolfyn/control/Sig1000_IMU_rotate_beam2inst.nc
diff --git a/examples/data/dolfyn/control/Sig1000_IMU_rotate_inst2earth.nc b/examples/data/dolfyn/control/Sig1000_IMU_rotate_inst2earth.nc
diff --git a/examples/data/dolfyn/control/Sig1000_IMU_ud.nc b/examples/data/dolfyn/control/Sig1000_IMU_ud.nc
diff --git a/examples/data/dolfyn/control/Sig1000_dp_echo1.nc b/examples/data/dolfyn/control/Sig1000_dp_echo1.nc
diff --git a/examples/data/dolfyn/control/Sig1000_dp_echo2.nc b/examples/data/dolfyn/control/Sig1000_dp_echo2.nc
diff --git a/examples/data/dolfyn/control/Sig1000_online.nc b/examples/data/dolfyn/control/Sig1000_online.nc
diff --git a/examples/data/dolfyn/control/Sig1000_tidal.nc b/examples/data/dolfyn/control/Sig1000_tidal.nc
diff --git a/examples/data/dolfyn/control/Sig1000_tidal_bin.nc b/examples/data/dolfyn/control/Sig1000_tidal_bin.nc
diff --git a/examples/data/dolfyn/control/Sig1000_tidal_clean.nc b/examples/data/dolfyn/control/Sig1000_tidal_clean.nc
diff --git a/examples/data/dolfyn/control/Sig100_avg.nc b/examples/data/dolfyn/control/Sig100_avg.nc
diff --git a/examples/data/dolfyn/control/Sig100_raw_avg.nc b/examples/data/dolfyn/control/Sig100_raw_avg.nc
diff --git a/examples/data/dolfyn/control/Sig500_Echo.dolfyn.log b/examples/data/dolfyn/control/Sig500_Echo.dolfyn.log
@@ -0,0 +1,30 @@
+root - INFO -       4464: A5, 10, 18, 188, 0, 1, 1
+
+root - INFO -       4662: A5, 10, 15, 524, 0, 1, 1
+
+root - INFO -       5196: A5, 10, 1C, 214, 0, 1, 1
+
+root - INFO -       5420: A5, 10, 18, 188, 1, 2, 2
+
+root - INFO -       5618: A5, 10, 15, 524, 1, 2, 2
+
+root - INFO -       6152: A5, 10, 1C, 214, 1, 2, 2
+
+root - INFO -       6376: A5, 10, 18, 188, 2, 3, 3
+
+root - INFO -       6574: A5, 10, 15, 524, 2, 3, 3
+
+root - INFO -       7108: A5, 10, 1C, 214, 2, 3, 3
+
+root - INFO -       7332: A5, 10, 18, 188, 3, 4, 4
+
+root - INFO -       7530: A5, 10, 15, 524, 3, 4, 4
+
+root - INFO -       8064: A5, 10, 1C, 214, 3, 4, 4
+
+root - INFO -       8288: A5, 10, 18, 188, 4, 5, 5
+
+root - INFO -       8486: A5, 10, 15, 524, 4, 5, 5
+
+root - INFO -       9020: A5, 10, 1C, 214, 4, 5, 5
+
diff --git a/examples/data/dolfyn/control/Sig500_Echo.mat b/examples/data/dolfyn/control/Sig500_Echo.mat
diff --git a/examples/data/dolfyn/control/Sig500_Echo.nc b/examples/data/dolfyn/control/Sig500_Echo.nc
diff --git a/examples/data/dolfyn/control/Sig500_Echo_clean.nc b/examples/data/dolfyn/control/Sig500_Echo_clean.nc
diff --git a/examples/data/dolfyn/control/Sig500_Echo_crop.nc b/examples/data/dolfyn/control/Sig500_Echo_crop.nc
diff --git a/examples/data/dolfyn/control/Sig500_Echo_earth2inst.nc b/examples/data/dolfyn/control/Sig500_Echo_earth2inst.nc
diff --git a/examples/data/dolfyn/control/Sig500_Echo_inst2beam.nc b/examples/data/dolfyn/control/Sig500_Echo_inst2beam.nc
diff --git a/examples/data/dolfyn/control/Sig500_dp_ice1.nc b/examples/data/dolfyn/control/Sig500_dp_ice1.nc
diff --git a/examples/data/dolfyn/control/Sig500_dp_ice2.nc b/examples/data/dolfyn/control/Sig500_dp_ice2.nc
diff --git a/examples/data/dolfyn/control/Sig500_last_ensemble_is_whole.nc b/examples/data/dolfyn/control/Sig500_last_ensemble_is_whole.nc
diff --git a/examples/data/dolfyn/control/Sig_SkippedPings01.nc b/examples/data/dolfyn/control/Sig_SkippedPings01.nc
diff --git a/examples/data/dolfyn/control/VelEchoBT01.mat b/examples/data/dolfyn/control/VelEchoBT01.mat
diff --git a/examples/data/dolfyn/control/VelEchoBT01.nc b/examples/data/dolfyn/control/VelEchoBT01.nc
diff --git a/examples/data/dolfyn/control/VelEchoBT01_rotate_beam2inst.nc b/examples/data/dolfyn/control/VelEchoBT01_rotate_beam2inst.nc
diff --git a/examples/data/dolfyn/control/dat_rdi_bt.mat b/examples/data/dolfyn/control/dat_rdi_bt.mat
diff --git a/examples/data/dolfyn/control/dat_vec.mat b/examples/data/dolfyn/control/dat_vec.mat
diff --git a/examples/data/dolfyn/control/dat_vm.mat b/examples/data/dolfyn/control/dat_vm.mat
diff --git a/examples/data/dolfyn/control/sentinelv_b5.nc b/examples/data/dolfyn/control/sentinelv_b5.nc
diff --git a/examples/data/dolfyn/control/vector_burst_mode01.nc b/examples/data/dolfyn/control/vector_burst_mode01.nc
diff --git a/examples/data/dolfyn/control/vector_data01.nc b/examples/data/dolfyn/control/vector_data01.nc
diff --git a/examples/data/dolfyn/control/vector_data01.repr.txt b/examples/data/dolfyn/control/vector_data01.repr.txt
@@ -0,0 +1,16 @@
+<ADV data object>:  Nortek Vector
+  . 3.09 seconds (started: Jun 12, 2012 12:00)
+  . inst-frame
+  . (100 pings @ 32.0Hz)
+  Variables:
+  - time ('time',)
+  - vel ('dir', 'time')
+  - orientmat ('earth', 'inst', 'time')
+  - heading ('time',)
+  - pitch ('time',)
+  - roll ('time',)
+  - temp ('time',)
+  - pressure ('time',)
+  - amp ('beam', 'time')
+  - corr ('beam', 'time')
+  ... and others (see `<obj>.variables`)
diff --git a/examples/data/dolfyn/control/vector_data01_GN.nc b/examples/data/dolfyn/control/vector_data01_GN.nc
diff --git a/examples/data/dolfyn/control/vector_data01_avg.nc b/examples/data/dolfyn/control/vector_data01_avg.nc
diff --git a/examples/data/dolfyn/control/vector_data01_bin.nc b/examples/data/dolfyn/control/vector_data01_bin.nc
diff --git a/examples/data/dolfyn/control/vector_data01_func.nc b/examples/data/dolfyn/control/vector_data01_func.nc
diff --git a/examples/data/dolfyn/control/vector_data01_rclean.nc b/examples/data/dolfyn/control/vector_data01_rclean.nc
diff --git a/examples/data/dolfyn/control/vector_data01_rotate_earth2principal.nc b/examples/data/dolfyn/control/vector_data01_rotate_earth2principal.nc
diff --git a/examples/data/dolfyn/control/vector_data01_rotate_inst2beam.nc b/examples/data/dolfyn/control/vector_data01_rotate_inst2beam.nc
diff --git a/examples/data/dolfyn/control/vector_data01_rotate_inst2earth.nc b/examples/data/dolfyn/control/vector_data01_rotate_inst2earth.nc
diff --git a/examples/data/dolfyn/control/vector_data01_sclean.nc b/examples/data/dolfyn/control/vector_data01_sclean.nc
diff --git a/examples/data/dolfyn/control/vector_data01_u.nc b/examples/data/dolfyn/control/vector_data01_u.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01-json.nc b/examples/data/dolfyn/control/vector_data_imu01-json.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01-json_mc.nc b/examples/data/dolfyn/control/vector_data_imu01-json_mc.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01.dolfyn.log b/examples/data/dolfyn/control/vector_data_imu01.dolfyn.log
@@ -0,0 +1,101 @@
+root - INFO - Position: 2, codes: (165, 5)
+root - INFO - Reading hardware configuration (0x05) ping #0 @ 2...
+root - INFO - Position: 50, codes: (165, 4)
+root - INFO - Reading header configuration (0x04) ping #0 @ 50...
+root - INFO - Position: 274, codes: (165, 0)
+root - INFO - Reading user configuration (0x00) ping #0 @ 274...
+root - INFO - Position: 786, codes: (165, 18)
+root - INFO - Position: 828, codes: (165, 7)
+root - INFO - Position: 1738, codes: (165, 17)
+root - INFO - Position: 1766, codes: (165, 16)
+root - INFO - Position: 1790, codes: (165, 113)
+root - INFO - Position: 1876, codes: (165, 16)
+root - INFO - Position: 1900, codes: (165, 113)
+root - INFO - Position: 1986, codes: (165, 16)
+root - INFO - Position: 2010, codes: (165, 113)
+root - INFO - Position: 2096, codes: (165, 16)
+root - INFO - Position: 2120, codes: (165, 113)
+root - INFO - Position: 2206, codes: (165, 16)
+root - INFO - Position: 2230, codes: (165, 113)
+root - INFO - Position: 2316, codes: (165, 16)
+root - INFO - Position: 2340, codes: (165, 113)
+root - INFO - Position: 2426, codes: (165, 16)
+root - INFO - Position: 2450, codes: (165, 113)
+root - INFO - Position: 2536, codes: (165, 16)
+root - INFO - Position: 2560, codes: (165, 113)
+root - INFO - Position: 2646, codes: (165, 16)
+root - INFO - Position: 2670, codes: (165, 113)
+root - INFO - Position: 2756, codes: (165, 16)
+root - INFO - Position: 2780, codes: (165, 113)
+root - INFO - Position: 2866, codes: (165, 17)
+root - INFO - Position: 2894, codes: (165, 16)
+root - INFO - Position: 2918, codes: (165, 113)
+root - INFO - Position: 3004, codes: (165, 16)
+root - INFO - Position: 3028, codes: (165, 113)
+root - INFO - Position: 3114, codes: (165, 16)
+root - INFO - Position: 3138, codes: (165, 113)
+root - INFO - Position: 3224, codes: (165, 16)
+root - INFO - Position: 3248, codes: (165, 113)
+root - INFO - Position: 3334, codes: (165, 16)
+root - INFO - Position: 3358, codes: (165, 113)
+root - INFO - Position: 3444, codes: (165, 16)
+root - INFO - Position: 3468, codes: (165, 113)
+root - INFO - Position: 3554, codes: (165, 16)
+root - INFO - Position: 3578, codes: (165, 113)
+root - INFO - Position: 3664, codes: (165, 16)
+root - INFO - Position: 3688, codes: (165, 113)
+root - INFO - Position: 3774, codes: (165, 16)
+root - INFO - Position: 3798, codes: (165, 113)
+root - INFO - Position: 3884, codes: (165, 16)
+root - INFO - Position: 3908, codes: (165, 113)
+root - INFO - Position: 3994, codes: (165, 16)
+root - INFO - Position: 4018, codes: (165, 113)
+root - INFO - Position: 4104, codes: (165, 16)
+root - INFO - Position: 4128, codes: (165, 113)
+root - INFO - Position: 4214, codes: (165, 16)
+root - INFO - Position: 4238, codes: (165, 113)
+root - INFO - Position: 4324, codes: (165, 16)
+root - INFO - Position: 4348, codes: (165, 113)
+root - INFO - Position: 4434, codes: (165, 16)
+root - INFO - Position: 4458, codes: (165, 113)
+root - INFO - Position: 4544, codes: (165, 16)
+root - INFO - Position: 4568, codes: (165, 113)
+root - INFO - Position: 4654, codes: (165, 16)
+root - INFO - Position: 4678, codes: (165, 113)
+root - INFO - Position: 4764, codes: (165, 16)
+root - INFO - Position: 4788, codes: (165, 113)
+root - INFO - Position: 4874, codes: (165, 16)
+root - INFO - Position: 4898, codes: (165, 113)
+root - INFO - Position: 4984, codes: (165, 16)
+root - INFO - Position: 5008, codes: (165, 113)
+root - INFO - Position: 5094, codes: (165, 16)
+root - INFO - Position: 5118, codes: (165, 113)
+root - INFO - Position: 5204, codes: (165, 16)
+root - INFO - Position: 5228, codes: (165, 113)
+root - INFO - Position: 5314, codes: (165, 16)
+root - INFO - Position: 5338, codes: (165, 113)
+root - INFO - Position: 5424, codes: (165, 16)
+root - INFO - Position: 5448, codes: (165, 113)
+root - INFO - Position: 5534, codes: (165, 16)
+root - INFO - Position: 5558, codes: (165, 113)
+root - INFO - Position: 5644, codes: (165, 16)
+root - INFO - Position: 5668, codes: (165, 113)
+root - INFO - Position: 5754, codes: (165, 16)
+root - INFO - Position: 5778, codes: (165, 113)
+root - INFO - Position: 5864, codes: (165, 16)
+root - INFO - Position: 5888, codes: (165, 113)
+root - INFO - Position: 5974, codes: (165, 16)
+root - INFO - Position: 5998, codes: (165, 113)
+root - INFO - Position: 6084, codes: (165, 16)
+root - INFO - Position: 6108, codes: (165, 113)
+root - INFO - Position: 6194, codes: (165, 16)
+root - INFO - Position: 6218, codes: (165, 113)
+root - INFO - Position: 6304, codes: (165, 16)
+root - INFO - Position: 6328, codes: (165, 113)
+root - INFO - Position: 6414, codes: (165, 16)
+root - INFO - Position: 6438, codes: (165, 17)
+root - INFO - Position: 6466, codes: (165, 113)
+root - INFO - Position: 6552, codes: (165, 16)
+root - INFO - Position: 6576, codes: (165, 113)
+root - INFO - Position: 6662, codes: (165, 16)
+root - INFO - Position: 6686, codes: (165, 113)
diff --git a/examples/data/dolfyn/control/vector_data_imu01.nc b/examples/data/dolfyn/control/vector_data_imu01.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_GN.nc b/examples/data/dolfyn/control/vector_data_imu01_GN.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_head_pitch_roll.nc b/examples/data/dolfyn/control/vector_data_imu01_head_pitch_roll.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_mc.nc b/examples/data/dolfyn/control/vector_data_imu01_mc.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_mcDeclin10.nc b/examples/data/dolfyn/control/vector_data_imu01_mcDeclin10.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_mcsp.nc b/examples/data/dolfyn/control/vector_data_imu01_mcsp.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_rotate_earth2principal.nc b/examples/data/dolfyn/control/vector_data_imu01_rotate_earth2principal.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_rotate_inst2beam.nc b/examples/data/dolfyn/control/vector_data_imu01_rotate_inst2beam.nc
diff --git a/examples/data/dolfyn/control/vector_data_imu01_rotate_inst2earth.nc b/examples/data/dolfyn/control/vector_data_imu01_rotate_inst2earth.nc
diff --git a/examples/data/dolfyn/control/vector_duty_cycle.nc b/examples/data/dolfyn/control/vector_duty_cycle.nc
diff --git a/examples/data/dolfyn/control/vmdas01_wh.nc b/examples/data/dolfyn/control/vmdas01_wh.nc
diff --git a/examples/data/dolfyn/control/vmdas02_os.nc b/examples/data/dolfyn/control/vmdas02_os.nc
diff --git a/examples/data/dolfyn/control/winriver01.nc b/examples/data/dolfyn/control/winriver01.nc
diff --git a/examples/data/dolfyn/control/winriver02.nc b/examples/data/dolfyn/control/winriver02.nc
diff --git a/examples/data/dolfyn/control/winriver02_rotate_ship2earth.nc b/examples/data/dolfyn/control/winriver02_rotate_ship2earth.nc
diff --git a/examples/data/dolfyn/control/winriver02_transect.nc b/examples/data/dolfyn/control/winriver02_transect.nc
diff --git a/examples/data/dolfyn/sentinelv_b5.pd0 b/examples/data/dolfyn/sentinelv_b5.pd0
diff --git a/examples/data/dolfyn/vector_burst_mode01.VEC b/examples/data/dolfyn/vector_burst_mode01.VEC