Attributes {
    time {
        String standard_name "time";
        String long_name "Time(GMT)";
        String units "seconds since 2013-01-01 00:00:00";
    }
    latitude {
        String long_name "LATITUDE";
        String standard_name "latitude";
        String units "degree_north";
        String comment "Latitude linearly intepolated onto thalweg data from file ../MontereyCanyonBeds_1m+5m_profile.ssv using formula np.interp(np.linspace(0,1,len(self.s2013)), np.linspace(0,1,len(self.traj_lat)), self.traj_lat)";
    }
    longitude {
        String long_name "LONGITUDE";
        String standard_name "longitude";
        String units "degree_east";
        String comment "Longitude linearly intepolated onto thalweg data from file ../MontereyCanyonBeds_1m+5m_profile.ssv using formula np.interp(np.linspace(0,1,len(self.s2013)), np.linspace(0,1,len(self.traj_lon)), self.traj_lon)";
    }
    depth {
        String long_name "DEPTH";
        String standard_name "depth";
        String units "m";
        String comment "Recorded pressure adjusted with bcal[BED05] = Polynomial(a=0.55, b=23.2, c=-12.09). Depth computed using UNESCO formula. Tide removed using output from: mbotps -A2 -B2016/01/15/15/01 -E2016/01/15/15/02 -D1 -R-121.890284808/36.7964235928 -Ombotps_out.txt Linearly interpolated to IMU samples.";
    }
    XA {
        String long_name "Acceleration along X-axis";
        String comment "Recorded by instrument";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    YA {
        String long_name "Acceleration along Y-axis";
        String comment "Recorded by instrument";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    ZA {
        String long_name "Acceleration along X-axis";
        String comment "Recorded by instrument";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    A {
        String long_name "Acceleration Magnitude";
        String comment "Computed with: np.sqrt(self.ax**2 + self.ay**2 + self.az**2)";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    XR {
        String long_name "Rotation about X-axis";
        String standard_name "platform_pitch_angle";
        String comment "Converted from recorded Quaternion with Python euclid package Quaternion.get_euler() method";
        String coordinates "time depth latitude longitude";
        String units "degree";
    }
    YR {
        String long_name "Rotation about Y-axis";
        String standard_name "platform_yaw_angle";
        String comment "Converted from recorded Quaternion with Python euclid package Quaternion.get_euler() method";
        String coordinates "time depth latitude longitude";
        String units "degree";
    }
    ZR {
        String long_name "Rotation about Z-axis";
        String standard_name "platform_roll_angle";
        String comment "Converted from recorded Quaternion with Python euclid package Quaternion.get_euler() method";
        String coordinates "time depth latitude longitude";
        String units "degree";
    }
    AXIS_X {
        String long_name "X-component of rotation vector";
        String comment "Converted from recorded Quaternion measurement with Python euclid package Quaternion.get_angle_axis() method";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    AXIS_Y {
        String long_name "Y-component of rotation vector";
        String comment "Converted from recorded Quaternion measurement with Python euclid package Quaternion.get_angle_axis() method";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    AXIS_Z {
        String long_name "Z-component of rotation vector";
        String comment "Converted from recorded Quaternion measurement with Python euclid package Quaternion.get_angle_axis() method";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    ANGLE {
        String long_name "Angle rotated about rotation vector";
        String comment "Converted from recorded Quaternion measurement with Python euclid package Quaternion.get_angle_axis() method";
        String coordinates "time depth latitude longitude";
        String units "radian";
    }
    ROT_X {
        String long_name "X-component of platform rotation vector";
        String comment "Computed with dq = Quaternion(*quat) * Quaternion(*last_quat).conjugated(); dq.get_angle_axis()";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    ROT_Y {
        String long_name "Y-component of platform rotation vector";
        String comment "Computed with dq = Quaternion(*quat) * Quaternion(*last_quat).conjugated(); dq.get_angle_axis()";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    ROT_Z {
        String long_name "Z-component of platform rotation vector";
        String comment "Computed with dq = Quaternion(*quat) * Quaternion(*last_quat).conjugated(); dq.get_angle_axis()";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    ROT_RATE {
        String long_name "Absolute rotation rate about rotation vector";
        String comment "Computed from angle output from Quaternion.get_euler() and the angle difference from one time step to the next";
        String coordinates "time depth latitude longitude";
        String units "degree/second";
    }
    ROT_COUNT {
        String long_name "Rotation Count - Cumulative Sum of ROT_RATE * dt / 360 deg";
        String comment "Computed with: np.cumsum(np.absolute(self.diffrot)) / 2. / np.pi";
        String coordinates "time depth latitude longitude";
    }
    P {
        String long_name "Pressure";
        String comment "Recorded pressure linearly interpolated to IMU samples with np.interp(self.s2013, self.ps2013, self.pr)";
        String coordinates "time depth latitude longitude";
        String units "dbar";
    }
    P_ADJUSTED {
        String long_name "Adjusted Pressure";
        String coordinates "time depth latitude longitude";
        String units "dbar";
        String comment "Recorded pressure adjusted with bcal[BED05] = Polynomial(a=0.55, b=23.2, c=-12.09)";
    }
    BED_DEPTH_LI {
        String long_name "Depth of BED - Linearly Interpolated to IMU samples";
        String units "m";
        String coordinates "time depth latitude longitude";
        String comment "Recorded pressure adjusted with bcal[BED05] = Polynomial(a=0.55, b=23.2, c=-12.09). Depth computed using UNESCO formula. Tide removed using output from: mbotps -A2 -B2016/01/15/15/01 -E2016/01/15/15/02 -D1 -R-121.890284808/36.7964235928 -Ombotps_out.txt";
    }
    P_SPLINE {
        Float64 _FillValue 1.000000000000000e+20;
        String long_name "Pressure";
        String comment "Recorded pressure cubic spline interpolated to IMU samples with spline_func = scipy.interpolate.interp1d(self.ps2013, self.pr, kind='cubic'); p_mask = ma.masked_less(ma.masked_greater(self.s2013, np.max(self.ps2013)), np.min(self.ps2013)); inside_spline = spline_func(ma.compressed(p_mask)); p_spline = spline_func(self.s2013); p_spline[ma.clump_unmasked(p_mask)] = inside_spline";
        String coordinates "time depth latitude longitude";
        String units "dbar";
    }
    P_SPLINE_RATE {
        Float64 _FillValue 1.000000000000000e+20;
        String long_name "Rate of change of spline fit of pressure";
        String comment "Pressure rate of change interpolated to IMU samples with p_spline_rate[ma.clump_unmasked(p_mask)] = np.append([0], np.diff(inside_spline)) * self.rateHz";
        String coordinates "time depth latitude longitude";
        String units "dbar/s";
    }
    BED_DEPTH_CSI {
        Float64 _FillValue 1.000000000000000e+20;
        String long_name "Depth of BED - Cubic Spline Interpolated to IMU Samples";
        String units "m";
        String coordinates "time depth latitude longitude";
        String comment "Recorded pressure adjusted with bcal[BED05] = Polynomial(a=0.55, b=23.2, c=-12.09). Depth computed using UNESCO formula. Tide removed using output from: mbotps -A2 -B2016/01/15/15/01 -E2016/01/15/15/02 -D1 -R-121.890284808/36.7964235928 -Ombotps_out.txt Cubic spline interpolated to IMU samples.";
    }
    P_RATE {
        String long_name "Rate of change of pressure";
        String comment "Pressure rate of change interpolated to IMU samples with np.append([0], np.diff(np.interp(self.s2013, self.ps2013, self.pr))) * self.rateHz";
        String coordinates "time depth latitude longitude";
        String units "dbar/s";
    }
    ROT_DIST {
        String long_name "Implied distance traveled assuming pure rolling motion";
        String comment "Computed with: ROT_COUNT * 1.47 m";
        String coordinates "time depth latitude longitude";
        String units "m";
    }
    IMPLIED_VELOCITY {
        String long_name "Implied BED velocity assuming pure rolling motion";
        String comment "Computed with: ROT_RATE * 1.47 / 360.0";
        String coordinates "time depth latitude longitude";
        String units "m/s";
    }
    DIST_TOPO {
        String long_name "Distance over topography along thalweg";
        String units "m";
        String comment "dist_topo linearly intepolated onto thalweg data from file ../MontereyCanyonBeds_1m+5m_profile.ssv using formula np.interp(np.linspace(0,1,len(self.s2013)), np.linspace(0,1,len(self.traj_dist_topo)), self.traj_dist_topo)";
        String coordinates "time depth latitude longitude";
    }
    TUMBLE_RATE {
        String long_name "Angle change of axis (vec) in axis-angle representation of BED rotation";
        String comment "Computed with: abs(last_vec.angle(vec))";
        String coordinates "time depth latitude longitude";
        String units "degree/second";
    }
    TUMBLE_COUNT {
        String long_name "Tumble Count - Cumulative Sum of TUMBLE_RATE * dt / 360 deg";
        String comment "Computed with: np.cumsum(np.absolute(self.difftumble)) / 2. / np.pi";
        String coordinates "time depth latitude longitude";
    }
    TUMBLE_DIST {
        String long_name "Implied distance traveled assuming tumbling translates to horizontal motion";
        String comment "Computed with: TUMBLE_COUNT * 1.47 m";
        String coordinates "time depth latitude longitude";
        String units "m";
    }
    ROT_PLUS_TUMBLE_DIST {
        String long_name "Implied distance traveled assuming pure rolling motion";
        String comment "Computed with: ROT_DIST + TUMBLE_DIST";
        String coordinates "time depth latitude longitude";
        String units "m";
    }
    TIDE {
        String long_name "OSTP2 Tide model height";
        String coordinates "time depth latitude longitude";
        String comment "Computed with command: mbotps -A2 -B2016/01/15/15/01 -E2016/01/15/15/02 -D1 -R-121.890284808/36.7964235928 -Ombotps_out.txt";
        String units "m";
    }
    NC_GLOBAL {
        Float64 seconds_offset 25200.00000000000;
        Float64 seconds_slope 0.000000000000000;
        Float64 bar_offset 0.000000000000000;
        Float64 bar_slope 0.000000000000000;
        Float64 yaw_offset 0.000000000000000;
        String summary "Benthic Event Detector data from an in situ instrument designed to capture turbidity currents. Time adjusted with --seconds_offset 25200.0 Positions extracted from thalweg file ../MontereyCanyonBeds_1m+5m_profile.ssv between depths 433.476744778 and 436.12066775. Data read from input file(s) ['50200057.E00.OUT'].";
        String netcdf_version "3.6";
        String Conventions "CF-1.6";
        String date_created "2019-08-12T23:01:53.554320Z";
        String date_update "2019-08-12T23:01:53.554320Z";
        String date_modified "2019-08-12T23:01:53.554320Z";
        String featureType "trajectory";
        Float64 geospatial_lat_min 36.79464717021277;
        Float64 geospatial_lat_max 36.79751508510638;
        Float64 geospatial_lon_min -121.8983550000000;
        Float64 geospatial_lon_max -121.8865990000000;
        String geospatial_lat_units "degree_north";
        String geospatial_lon_units "degree_east";
        Float64 geospatial_vertical_min 432.8744732376311;
        Float64 geospatial_vertical_max 437.3842318077398;
        String geospatial_vertical_units "m";
        String geospatial_vertical_positive "down";
        String comment "BED devices measure 3 axes of acceleration and rotation about those 3 axes at 50 Hz. They also measure pressure at 1 Hz during an event. Those data are represented in this file as variables XA, YA, ZA, XR, YR, ZR, and P. Additional variables are computed by the bed2netcdf.py program; see the long_name and comment attributes for explanations. Source code for the calucations are in the bed2netcdf.py, BEDS.py, and util.py files on the subversion source code control server at MBARI: http://kahuna.shore.mbari.org/viewvc/svn/BEDs/trunk/BEDs/Visualization/py/.";
        String time_coverage_start "2016-01-15T22:01:49Z";
        String time_coverage_end "2016-01-15T22:02:36.000011Z";
        String distribution_statement "Any use requires prior approval from the MBARI BEDS PI: Dr. Charles Paull";
        String license "Any use requires prior approval from the MBARI BEDS PI: Dr. Charles Paull";
        String useconst "Not intended for legal use. Data may contain inaccuracies.";
        String history "Created by \"../bed2netcdf.py -i 50200057.E00.OUT -t ../MontereyCanyonBeds_1m+5m_profile.ssv --bed_name BED05 --seconds_offset 25200 --title BED05 Event Trajectory on 15 January 2016 during the Coordinated Canyon Experiment\" on 2019-08-12T23:01:53.554320Z";
        String title "BED05 Event Trajectory on 15 January 2016 during the Coordinated Canyon Experiment";
    }
}