This document provides a description of some of the more commonly requested data fields logged by the JaiaBot. Below, you will find a series of tables providing key metadata about these fields.

Contents

Notes

Updates:

This file was generated and completed using data from JaiaBot Embedded Version 2.0.0. In the future, data fields and the path to reach them may change. This file will be kept up to date.

Timestamps:

Timestamps are logged in Unix Time - the amount of microseconds since 1 January, 1970 - and can be found in the parent group's **_utime_** field. Because values are measured, messages sent and received, and data logged at different times between sensors and boards, each group has its own "_utime_" field. For this reason, it's important to use the specific utime field which corresponds to the data field of interest.

Data Paths:

The Data Paths listed below include the path a user would follow to find the specific data field via the Jaia Data Visualizer (JDV), as well as in the raw HDF5 log file (e.g. via a custom script).

Example Scripts:

Internal data analysis scripts can be found in our public GitHub Repository. Anyone is able to access these by checking out the following branch, then navigating to jaiabot/scripts/log-analysis. In the coming months, these scripts will be merged into our main branch, but will remain in the same file location.

https://github.com/jaiarobotics/jaiabot/tree/task/developer-log-analysis-tools

Sensor Data

Many of the measurements taken by the JaiaBot's environmental sensors undergo some form of post-processing in order to be useful universally. The word **"raw"** in the title of a field denotes that this field records the measurement taken directly from the sensor, before any compensation has been applied.

If a data field does not have the word **"raw"** in its title, then either no compensation is needed for this field, or a compensation has already been applied to it.

**We are working to implement compensation models for all sensor data.**

Temperature Data

Measured via a **Blue Robotics Bar30***

*Stated Accuracy: ± 4 °C

https://bluerobotics.com/store/sensors-cameras/sensors/bar-depth-pressure-sensor/

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Temperature	°C	10 Hz	`jaiabot::pressure_temperature` ➜ `temperature`	`/jaiabot::pressure_temperature/jaiabot.protobuf.PressureTemperatureData/temperature`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::pressure_temperature` ➜ `_utime_`	`/jaiabot::pressure_temperature/jaiabot.protobuf.PressureTemperatureData/_utime_`

Pressure Data

Depth - The depth of the vehicle, adjusting for surface pressure

Pressure - The current pressure experienced by the vehicle, minus the pressure at the surface

Raw Pressure - The pressure reading as it comes from the Bar 30 pressure sensor

Measured via a **Blue Robotics Bar30***

*Stated Accuracy: ± 200 mbar

https://bluerobotics.com/store/sensors-cameras/sensors/bar-depth-pressure-sensor/

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Depth	m	10 Hz	`jaiabot::pressure_adjusted` ➜ `calculated_depth`	`/jaiabot::pressure_adjusted/jaiabot.protobuf.PressureAdjustedData/calculated_depth`
Pressure	mbar	10 Hz	`jaiabot::pressure_adjusted` ➜ `pressure_adjusted`	`/jaiabot::pressure_adjusted/jaiabot.protobuf.PressureAdjustedData/pressure_adjusted`
Raw Pressure	mbar	10 Hz	`jaiabot::pressure_adjusted` ➜ `pressure_raw`	`/jaiabot::pressure_adjusted/jaiabot.protobuf.PressureAdjustedData/pressure_raw`

Timestamp Paths

Unit	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::pressure_adjusted` ➜ `_utime_`	`/jaiabot::pressure_adjusted/jaiabot.protobuf.PressureAdjustedData/_utime_`

Salinity Data

Conductivity - Specific conductivity, the conductivity compensated to a 25 °C standard

Raw Conductivity - The conductivity as reported by the conductivity sensor

Salinity - Salinity compensated for temperature and pressure

Raw Salinity - The salinity as reported by the conductivity sensor

Measured via an Atlas Scientific OEM-EC and **Mini-Conductivity Probe K 1.0***

*Stated Accuracy: ± 2%

https://atlas-scientific.com/embedded-solutions/conductivity-oem-circuit/

https://atlas-scientific.com/probes/mini-e-c-probe-k-1-0/

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Conductivity	μS/cm	10 Hz	`jaiabot::salinity` ➔ `conductivity`	HYDRO/PAM:`/jaiabot::salinity/jaiabot.protobuf.SalinityData/conductivity` BIO:`/jaiabot::salinity/jaiabot.sensor.protobuf.AtlasScientificOEMEC/conductivity`
Raw Conductivity	μS/cm	10 Hz	`jaiabot::salinity` ➔ `conductivity_raw`	HYDRO/PAM:`/jaiabot::salinity/jaiabot.protobuf.SalinityData/conductivity_raw` BIO:`/jaiabot::salinity/jaiabot.sensor.protobuf.AtlasScientificOEMEC/conductivity_raw`
Salinity	ppt	10 Hz	`jaiabot::salinity` ➔ `salinity`	HYDRO/PAM:`/jaiabot::salinity/jaiabot.protobuf.SalinityData/salinity` BIO:`/jaiabot::salinity/jaiabot.sensor.protobuf.AtlasScientificOEMEC/salinity`
Raw Salinity	ppt	10 Hz	`jaiabot::salinity` ➔ `salinity_raw`	HYDRO/PAM:`/jaiabot::salinity/jaiabot.protobuf.SalinityData/salinity_raw` BIO:`/jaiabot::salinity/jaiabot.sensor.protobuf.AtlasScientificOEMEC/salinity_raw`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::salinity` ➔ `_utime_`	HYDRO/PAM:`/jaiabot::salinity/jaiabot.protobuf.SalinityData/_utime_` BIO:`/jaiabot::salinity/jaiabot.sensor.protobuf.AtlasScientificOEMEC/_utime_`

pH Data

pH - pH compensated to a 25 °C standard

Raw pH - The pH as reported by the pH sensor

Temperature - The temperature reported by the temperature sensor inside of the pH probe

Measured via an Atlas Scientific OEM pH and **Atlas Scientific Industrial pH Probe w/ Temp.***

*Stated Accuracy: ± 0.002

https://atlas-scientific.com/embedded-solutions/ph-oem-circuit/

https://atlas-scientific.com/probes/industrial-ph-probe/

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
pH	pH	10 Hz	`jaiabot::ph` ➔ `ph`	`/jaiabot::ph/jaiabot.sensor.protobuf.AtlasScientificOEMpH/ph`
Raw pH	pH	10 Hz	`jaiabot::ph` ➔ `ph_raw`	`/jaiabot::ph/jaiabot.sensor.protobuf.AtlasScientificOEMpH/ph_raw`
Temperature	°C	10 Hz	`jaiabot::ph` ➔ `temperature`	`/jaiabot::ph/jaiabot.sensor.protobuf.AtlasScientificOEMpH/temperature`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::ph` ➔ `_utime_`	`/jaiabot::ph/jaiabot.sensor.protobuf.AtlasScientificOEMpH/_utime_`

Dissolved Oxygen Data

Dissolved Oxygen Solubility - Dissolved oxygen solubility (mg/L) at current temperature (C), salinity (ppt), and pressure (mmhg)

Normalized Dissolved Oxygen Solubility - Dissolved oxygen solubility at 0 salinity (ppt), same temperature (C) and pressure (mmhg), scaled by observed saturation

Raw Dissolved Oxygen - The dissolved oxygen as reported by the dissolved oxygen sensor

Dissolved Oxygen Saturation - Measured DO / DO Solubility at current temperature (C), salinity (ppt), and pressure (mmhg)

Temperature - The temperature as reported by the dissolved oxygen sensor

Measured via an Atlas Scientific OEM DO and **Atlas Scientific Industrial DO Probe w/ Temp.***

*Stated Accuracy: ± 0.05 mg/L

https://atlas-scientific.com/embedded-solutions/do-oem-circuit/

https://atlas-scientific.com/probes/industrial-dissolved-oxygen-probe/

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Dissolved Oxygen Solubility	mg/L	10 Hz	`jaiabot::dissolved_oxygen` ➔ `do_solubility`	`/jaiabot::dissolved_oxygen/jaiabot.sensor.protobuf.AtlasScientificOEMDO/do_solubility`
Normalized Dissolved Oxygen Solubility	mg/L	10 Hz	`jaiabot::dissolved_oxygen` ➔ `do_normalized_solubility`	`/jaiabot::dissolved_oxygen/jaiabot.sensor.protobuf.AtlasScientificOEMDO/do_normalized_solubility`
Raw Dissolved Oxygen	mg/L	10 Hz	`jaiabot::dissolved_oxygen` ➔ `do_raw`	`/jaiabot::dissolved_oxygen/jaiabot.sensor.protobuf.AtlasScientificOEMDO/do_raw`
Dissolved Oxygen Saturation	%	10 Hz	`jaiabot::dissolved_oxygen` ➔ `do_saturation_percent`	`/jaiabot::dissolved_oxygen/jaiabot.sensor.protobuf.AtlasScientificOEMDO/do_saturation_percent`
Temperature	°C	10 Hz	`jaiabot::dissolved_oxygen` ➔ `temperature`	`/jaiabot::dissolved_oxygen/jaiabot.sensor.protobuf.AtlasScientificOEMDO/temperature`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::dissolved_oxygen` ➔ `_utime_`	`/jaiabot::dissolved_oxygen/jaiabot.sensor.protobuf.AtlasScientificOEMDO/_utime_`

Fluorometer Data

Concentration - The concentration of a fluorophore reported by the fluorometer

Sensor Voltage - The raw voltage reported by the fluorometer, before a calibration coefficient or offset have been applied

*Measured via a **Turner Designs C Fluor***

http://docs.turnerdesigns.com/t2/doc/spec-guides/998-2125.pdf

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Concentration	Varies	10 Hz	`jaiabot::fluorometer` ➔ `concentration`	`/jaiabot::fluorometer/jaiabot.sensor.protobuf.TurnerCFluor/concentration`
Sensor Voltage	V	10 Hz	`jaiabot::fluorometer` ➔ `concentration_voltage`	`/jaiabot::fluorometer/jaiabot.sensor.protobuf.TurnerCFluor/concentration_voltage`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::fluorometer` ➔ `_utime_`	`/jaiabot::fluorometer/jaiabot.sensor.protobuf.TurnerCFluor/_utime_`

Vehicle Data

Location Data

Latitude/Longitude - Accuracy of ~3 m (radius)

Speed Over Ground - GPS speed of the JaiaBot

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Latitude	Decimal °	5 Hz	`goby::middleware::groups::gpsd::tpv` ➔ `location` ➔ `lat`	`/goby::middleware::groups::gpsd::tpv/goby.middleware.protobuf.gpsd.TimePositionVelocity/location/lat`
Longitude	Decimal °	5 Hz	`goby::middleware::groups::gpsd::tpv` ➔ `location` ➔ `lon`	`/goby::middleware::groups::gpsd::tpv/goby.middleware.protobuf.gpsd.TimePositionVelocity/location/lon`
Speed Over Ground	m/s	5 Hz	`goby::middleware::groups::gpsd::tpv` ➔ `speed`	`/goby::middleware::groups::gpsd::tpv/goby.middleware.protobuf.gpsd.TimePositionVelocity/speed`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`goby::middleware::groups::gpsd::tpv` ➔ `location` ➔ `_utime_`	`/goby::middleware::groups::gpsd::tpv/goby.middleware.protobuf.gpsd.TimePositionVelocity/_utime_`

IMU Data

Heading/Pitch/Roll - Three degrees of rotation the IMU reports

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Heading	Decimal °	10 Hz	`jaiabot::imu` ➔ `jaiabot.protobuf.IMUData` ➔ `euler_angles` ➔ `heading`	`/jaiabot::imu/jaiabot.protobuf.IMUData/euler_angles/heading`
Pitch	Decimal °	10 Hz	`jaiabot::imu` ➔ `jaiabot.protobuf.IMUData` ➔ `euler_angles` ➔ `pitch`	`/jaiabot::imu/jaiabot.protobuf.IMUData/euler_angles/pitch`
Roll	Decimal °	10 Hz	`jaiabot::imu` ➔ `jaiabot.protobuf.IMUData` ➔ `euler_angles` ➔ `roll`	`/jaiabot::imu/jaiabot.protobuf.IMUData/euler_angles/roll`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::imu` ➔ `jaiabot.protobuf.IMUData` ➔ `_utime_`	`/jaiabot::imu/jaiabot.protobuf.IMUData/_utime_`

Mission State

Mission State - The different states that the JaiaBot uses to complete the mission at hand

https://github.com/jaiarobotics/jaiabot/blob/2.y/src/doc/markdown/page041_hdf5.md

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Mission State	n/a	1 Hz	`jaiabot::mission_report` ➔ `state`	`/jaiabot::mission_report/jaiabot.protobuf.MissionReport/state`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::mission_report` ➔ `_utime_`	`/jaiabot::mission_report/jaiabot.protobuf.MissionReport/_utime_`

Task Packets

Task Packets are reported from the JaiaBot to the Hub whenever a dive or drift task are completed

Task packets contain data about the specific task, including its start and end point/time, and some key characteristics of the task.

Task Packet fields contain an API reference number (integer) which may change depending on the version of embedded software that the JaiaBot is running on when the log is created. Below, this reference number is denoted with 'X'. A regex pattern should be used to future-proof any custom scripts.

Data Paths

Data Field	Unit	JDV Path	HDF5 Log Path
Bot ID	Integer	`jaiabot::task_packet;X` ➔ `bot_id`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/bot_id`
Start Time	Microseconds	`jaiabot::task_packet;X` ➔ `start_time`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/start_time`
End Time	Microseconds	`jaiabot::task_packet;X` ➔ `end_time`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/end_time`
Type	Integer	`jaiabot::task_packet;X` ➔ `type`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/type`
Bottom Dive	Boolean	`jaiabot::task_packet;X` ➔ `dive` ➔ `bottom_dive`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/dive/bottom_dive`
Bottom Type	Boolean	`jaiabot::task_packet;X` ➔ `dive` ➔ `bottom_type`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/dive/bottom_type`
Depth Achieved	m	`jaiabot::task_packet;X` ➔ `dive` ➔ `depth_achieved`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/dive/depth_achieved`
Dive Rate	m/s	`jaiabot::task_packet;X` ➔ `dive` ➔ `dive_rate`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/dive/dive_rate`
Dive Start Location	Lat/Lon	`jaiabot::task_packet;X` ➔ `dive` ➔ `start_location`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/dive/start_location`
Drift Duration	Seconds	`jaiabot::task_packet;X` ➔ `drift` ➔ `drift_duration`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/drift/drift_duration`
Drift Start Location	Lat/Lon	`jaiabot::task_packet;X` ➔ `drift` ➔ `start_location`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/drift/start_location`
Drift End Location	Lat/Lon	`jaiabot::task_packet;X` ➔ `drift` ➔ `end_location`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/drift/end_location`
Estimated Drift	m	`jaiabot::task_packet;X` ➔ `drift` ➔ `estimated_drift`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/drift/estimated_drift`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::task_packet;X` ➔ `_utime_`	`/jaiabot::task_packet;X/jaiabot.protobuf.TaskPacket/_utime_`

Bot Status

Bot Status messages contain key information about the JaiaBot and its sensors throughout the mission. The information is pulled from other sources and automatically downsamples to 1 Hz.

Bot Status fields contain an API reference number (integer) which may change depending on the version of embedded software that the JaiaBot is running on when the log is created. Below, this reference number is denoted with 'X'. A regex pattern should be used to future-proof any custom scripts.

Data Paths

Data Field	Unit	Frequency	JDV Path	HDF5 Log Path
Battery Charge	%	1 Hz	`jaiabot::bot_status;X` ➔ `battery_percent`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/battery_percent`
Bot ID	Integer	1 Hz	`jaiabot::bot_status;X` ➔ `battery_percent`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/bot_id`
Depth	m	1 Hz	`jaiabot::bot_status;X` ➔ `depth`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/depth`
Latitude	Decimal °	1 Hz	`jaiabot::bot_status;X` ➔ `location` ➔ `lat`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/location/lat`
Longitude	Decimal °	1 Hz	`jaiabot::bot_status;X` ➔ `location` ➔ `lon`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/location/lon`
Mission State	n/a	1 Hz	`jaiabot::bot_status;X` ➔ `mission_state`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/mission_state`
Salinity	ppt	1 Hz	`jaiabot::bot_status;X` ➔ `salinity`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/salinity`
Speed Over Ground	m/s	1 Hz	`jaiabot::bot_status;X` ➔ `speed` ➔ `over_ground`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/speed/over_ground`
Temperature	°C	1 Hz	`jaiabot::bot_status;X` ➔ `temperature`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/temperature`

Timestamp Paths

Units	JDV Path	HDF5 Log Path
Microseconds	`jaiabot::bot_status;X` ➔ `_utime_`	`/jaiabot::bot_status;X/jaiabot.protobuf.BotStatus/_utime_`

<strong>Contents</strong>

<strong>Notes</strong>

<strong>Updates:</strong>

<strong>Timestamps:</strong>

<strong>Data Paths:</strong>

<strong>Example Scripts:</strong>

<strong>Sensor Data</strong>

<strong>Temperature Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Pressure Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Salinity Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>pH Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Dissolved Oxygen Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Fluorometer Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Vehicle Data</strong>

<strong>Location Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>IMU Data</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Mission State</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Task Packets</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>

<strong>Bot Status</strong>

<strong>Data Paths</strong>

<strong>Timestamp Paths</strong>