The ROSETTA-Ice Deep ICE (DICE) Radar dataset and Shallow Ice Radar (SIR) dataset contain ice thickness measurements of the Ross Ice Shelf in Antarctica using the IcePod. The ROSETTA-Ice project flew three campaigns for three consecutive years during November and December with the IcePod. A total of 43 flights were flown. The data set contains PNT measurements acquired from a Global Navigation Satellite System (GNSS) Inertial Navigation Systems (INS) system aboard the IcePod. Radar echograms capturing ice thickness and ice structure data. Table 1. Campaign, Project Year, and Description ------------------------------------------------ Campaign (Year): Description RS01 (2015): The first ROSETTA-Ice campaign was flown during November and December of 2015. RS02 (2016): The second ROSETTA-Ice campaign was flown during November and December of 2016. RS03 (2017): The third ROSETTA-Ice campaign was flown during November and December of 2017. AN02 (2015): The second IcePod Antarctic campaign was flown during November and December of 2015. AN03 (2016): The third IcePod Antarctic campaign was flown during November and December of 2016. AN04 (2017): The fourth IcePod Antarctic campaign was flown during November and December 2017. Table 2. IcePod Deep ICE (DICE) Radar System & INS Receiver Type ----------------------------------------------------------------- The DICE is a pulsed-chirp depth-sounding radar system that is on board the IcePod. It was built and modified at the Lamont-Doherty Earth Observatory. The DICE has a 60 MHz bandwidth with a power output of 1200W and a 188MHz center frequency. The DICE pulsed-chirp data can be processed in four different radar pulse/channel configurations: 1usCh1, 3usCh1, 1usCh2, 3usCh2. Preferred configuration is 3usCh1. The PNT system that is on board the IcePod and used for both DICE and SIR data processing is a NovAtel OEM/SPAN with SPAN LN200 IMU (POD-INS/SPAN). DICE is processed as .mat files in two levels: level1 - compressed (unfocused) geolocated data as 1 minute files level2 - sar processed data as 1 minute files level2a - sar processed data averaged into 5 minute "decimated" batched files Table 2.1 DICE Pulse Compressed (level1) Files ----------------------------------------------- File Name Structure: [Campaign] _ [Line Number] _ [YYYYMMDD] _ [hhmmss] _ [Pulse&ChannelFrequency] _ [ProcessingLevel] _ [Sensor Type] . mat Campaign ROSETTA-Ice Campaign Number Line Number ROSETTA-Ice Line Grid Identification Number YYYYMMDD UTC Date of Survey / Data Collection (Year, Month, Date) hhmmss UTC Time of Survey / Data Collection (hours, minutes, seconds) Pulse&ChannelFrequency DICE Radar Pulse Speed (3us) & Channel Frequency (Ch1) ProcessingLevel Radar Processing Level Identifier Sensor Type IcePod Sensor Type Variable Name: Description: FlightNo ROSETTA-Ice Flight Number pulseCompressedTime Time used for pulse compression on data numexcessFrames Number of excess frames echotimeutc Along-track UTC Time of Echogram numAvg Number used to average radar to get this product radecho Data variable of echogram txOn Is the sensor transmitting signal/powered on? True or False filesinbatch Array of raw data file names which were batched to create this file echotype Pulse/Channel Configuration of this file twtt Two-Way Travel Time from Aircraft through Ice Campaign IcePod Antarctica Campaign Number (AN01, AN02, AN03, etc.) surfPickedTime __ surfIndRad Index Variable containing location of surface reflectors within radecho variable planeHeight Along-track Aircraft Elevation (meters) geoLocatedTime __ prodLevel Data Product Level lat WGS84 Geographic Latitude Coordinates (level1a: Latitude) lon WGS84 Geographic Longitude Coordinates (level1a: Longitude) hell Aircraft Elevation (leve1a: Elevation) [PNT Information] pitch Aircraft Pitch [PNT Information] roll Aircraft Roll [PNT information] heading Aircraft Heading [PNT information] Table 2.2 DICE Sar Processed 1-Minute (level2) Files ----------------------------------------------------- File Name Structure: [Campaign] _ [Line Number] _ [YYYYMMDD] _ [hhmmss] _ [Pulse&ChannelFrequency] _ [ProcessingLevel] _ [Sensor Type] . mat Campaign ROSETTA-Ice Campaign Number Line Number ROSETTA-Ice Line Grid Identification Number YYYYMMDD UTC Date of Survey / Data Collection (Year, Month, Date) hhmmss UTC Time of Survey / Data Collection (hours, minutes, seconds) Pulse&ChannelFrequency DICE Radar Pulse Speed (3us) & Channel Frequency (Ch1) ProcessingLevel Radar Processing Level Identifier Sensor Type IcePod Sensor Type Variable Name: Description: fs __ tSamp __ cAir Constant variable used for processing: velocity of light through Air dy_air __ cIce Constant variable used for processing: velocity of light through Ice dy_ice __ nIce __ Lat WGS84 Geographic Latitude Coordinates (level1a: Latitude) Lon WGS84 Geographic Longitude Coordinates (level1a: Longitude) FlightElev Aircraft Elevation (meters) SurfInds Index variable containing location of surface reflectors within echogram data variable PlaneHeight Aircraft Elevation (meters) echoTimeUTC Along-track echo time in UTC ApertureSize __ sarMigratedTime __ CG __ twttTx Two-Way Travel Time of signal VertScale Vertical Scale Variable prodLevel Product Level Identifier of this data product dx __ sarSurf Which Surface Reflector selected for SAR processing TxInd Index variable of signal Table 2.3 DICE Sar Processed 5-Minute "Decimated" (level2a) Files ----------------------------------------------------------------- File Name Structure: [Campaign] _ [Line Number] _ [YYYYMMDD] _ [hhmmss] _ [Pulse&ChannelFrequency] _ [ProcessingLevel] _ [Sensor Type] _ [FileNum] . mat Campaign ROSETTA-Ice Campaign Number Line Number ROSETTA-Ice Line Grid Identification Number YYYYMMDD UTC Date of Survey / Data Collection (Year, Month, Date) hhmmss UTC Time of Survey / Data Collection (hours, minutes, seconds) Pulse&ChannelFrequency DICE Radar Pulse Speed (3us) & Channel Frequency (Ch1) ProcessingLevel Radar Processing Level Identifier Sensor Type IcePod Sensor Type FileNum File Frame Identification Number. Data is processed in 30km(5minute) frames, each with an identification number. Variable Name: Description: numAvg Number of Averages applied to the data to this point FlightNo ROSETTA-Ice Flight Number bedPickDecimatedTime __ echotype Pulse/Channel Type of current data file Time Two-Way Travel Time Depth of radargram prodLevel Product Level of this file Data Echogram Data Variable UTC_time Alongtrack time of the echogram in UTC time (level1: echotimeutc) Latitude WGS84 Geographic Latitude Coordinates (level1: lat) Longitude WGS84 Geographic Longitude Coordinates (level1: lon) Elevation Elevation of the Aircraft (level1: hell) layerInd Index Variable containing layer location within Data variable Surface Along-track two-way time Surface reflector within radargram Surf_Elev Along-track Elevation of Surface reflector within radargram (meters, with respect to the ellipsoid) Campaign IcePod Antarctica Campagin Number (ANO1, AN02, ANO3, etc.) Table 3. IcePod Shallow Ice Radar (SIR) System & INS Receiver Type ------------------------------------------------------------------ The SIR is a Frequency Modulated Continuous Wave (LFMCW) Radar system that is on board the IcePod. It was built and modified at the Lamont-Doherty Earth Observatory. The SIR has a 600 MHz bandwidth with a power output of ~1W and a 2 GHz center frequency at a 1ms chirp. The PNT system that is on board the IcePod and used for SIR data processing is a NovAtel OEM/SPAN with SPAN LN200 IMU (POD-INS/SPAN). This yields the position of the aircraft to less than 10cm, Pitch, Roll, and Yaw at a sample rate of 10Hz. SIR is processed as .mat files in two levels: level1 - fft filtered, motion compensated, and geolocated data as 1-minute files level1a - level1 data averaged into 5-minute "decimated" batched files Table 3.1 SIR FFT Filtered 1-Minute (level1) Files --------------------------------------------------- File Name Structure: [Campaign] _ [Line Number] _ [YYYYMMDD] _ [hhmmss] _ [ProcessingLevel] _ [Sensor Type] . mat Campaign ROSETTA-Ice Campaign Number Line Number ROSETTA-Ice Line Grid Identification Number YYYYMMDD UTC Date of Survey / Data Collection (Year, Month, Date) hhmmss UTC Time of Survey / Data Collection (hours, minutes, seconds) ProcessingLevel Radar Processing Level Identifier Sensor Type IcePod Sensor Type Variable Name: Description: numCohAvg Number of times data has been Coherently (?) Averaged to create this product NFFTr __ InRange __ tsamp __ tau __ FlightNo ROSETTA-Ice Flight Number fftandMotionCompTime __ numexcessFrames Number of excess frames echotimeutc Along-track UTC time of echogram numfftAvg Number of FFT Averages performed on this product radecho Radar echogram variable sirPwrOut Output power of SIR signal filesinbatch Names of raw data files batched to create this product txOn Is the sensor transmitting signal/powered on? True or False lat WGS84 Geographic Latitude Coordinates (level1a: Latitude) lon WGS84 Geographic Longitude Coordinates (level1a: Longitude) hell Aircraft Elevation (leve1a: Elevation) [PNT Information] pitch Aircraft Pitch [PNT Information] roll Aircraft Roll [PNT information] heading Aircraft Heading [PNT information] Campaign IcePod Antarctica Campaign Number (AN01, AN02, AN03, etc) twtt Two-Way Travel Time from aircraft to radar extent (depth) fbins __ fs __ Range Extent of radar visibility prodLevel Product Level of this file layerInd Index Variable containing the location of reflectors within the echogram variable Table 3.2 SIR FFT Filtered 5-Minute "Decimated" (level1a) Files --------------------------------------------------------------- File Name Structure: [Campaign] _ [Line Number] _ [YYYYMMDD] _ [hhmmss] _ [ProcessingLevel] _ [Sensor Type] _ [FileNum] . mat Campaign ROSETTA-Ice Campaign Number Line Number ROSETTA-Ice Line Grid Identification Number YYYYMMDD UTC Date of Survey / Data Collection (Year, Month, Date) hhmmss UTC Time of Survey / Data Collection (hours, minutes, seconds) ProcessingLevel Radar Processing Level Identifier Sensor Type IcePod Sensor Type FileNum File Frame Identification Number. Data is processed in 30km(5minute) frames, each with an identification number. Variable Name: Description: Campaign IcePod Antarctica Campaign Number (AN01, ANO2, ANO3, etc) FlightNo ROSETTA-Ice Flight Number Time Two-way travel time from aircraft to radar extent (depth) layerInd Index Variable containing the location of reflectors within the echogram variable prodLevel Product Level of this file Data Radar echogram variable UTC_time Alongtrack time of the echogram in UTC time (level1: echotimeutc) Latitude WGS84 Geographic Latitude Coordinates (level1: lat) Longitude WGS84 Geographic Longitude Coordinates (level1: lon) Elevation Elevation of the Aircraft (level1: hell) Surface Two-way travel time along-track of Surface reflector within the echogram Surf_Elev Along-track Elevation of Surface reflector within radargram (meters, with respect to the ellipsoid) numAvg Number of Averages performed on data to this point