Attributes {
    time {
        String standard_name "time";
        String long_name "Time(GMT)";
        String units "seconds since 2013-01-01 00:00:00";
    }
    ptime {
        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";
    }
    longitude {
        String long_name "LONGITUDE";
        String standard_name "longitude";
        String units "degree_east";
    }
    depth {
        String long_name "depth";
        String standard_name "depth";
        String comment "Value provided on bed2netcdf.py command line";
        String units "m";
    }
    PRESS {
        String long_name "External Instrument Pressure";
        String coordinates "ptime depth latitude longitude";
        String units "bar";
    }
    BED_DEPTH {
        String long_name "Depth of BED";
        String coordinates "ptime depth latitude longitude";
        String comment "Recorded pressure adjusted with bcal[BED09] = Polynomial(a=0.5421, b=23.221, c=-11.85). Depth computed using UNESCO formula. Tide removed using output from: mbotps -A2 -B2016/04/13/02/29 -E2016/04/14/14/48 -D1 -R-121.823313/36.796156 -Ombotps_out.txt";
        String units "m";
    }
    BED_DEPTH_LI {
        String long_name "Depth of BED - Linerarly Interpolated to IMU Samples";
        String coordinates "time depth latitude longitude";
        String comment "Recorded pressure adjusted with bcal[BED09] = Polynomial(a=0.5421, b=23.221, c=-11.85). Depth computed using UNESCO formula. Tide removed using output from: mbotps -A2 -B2016/04/13/02/29 -E2016/04/14/14/48 -D1 -R-121.823313/36.796156 -Ombotps_out.txt";
        String units "m";
    }
    XA {
        String long_name "Acceleration along X-axis";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    YA {
        String long_name "Acceleration along Y-axis";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    ZA {
        String long_name "Acceleration along X-axis";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    A {
        String long_name "Acceleration Magnitude";
        String coordinates "time depth latitude longitude";
        String units "g";
    }
    XR {
        String long_name "Rotation about X-axis";
        String coordinates "time depth latitude longitude";
        String units "degree";
        String standard_name "platform_pitch_angle";
    }
    YR {
        String long_name "Rotation about Y-axis";
        String coordinates "time depth latitude longitude";
        String units "degree";
        String standard_name "platform_yaw_angle";
    }
    ZR {
        String long_name "Rotation about Z-axis";
        String coordinates "time depth latitude longitude";
        String units "degree";
        String standard_name "platform_roll_angle";
    }
    AXIS_X {
        String long_name "X-component of axis in axis-angle form of quaternion measurement";
        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 axis in axis-angle form of quaternion measurement";
        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 axis in axis-angle form of quaternion measurement";
        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 axis in axis-angle form of quaternion measurement";
        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";
    }
    ANGLE_RATE {
        String long_name "Absolute rate of ANGLE change";
        String comment "Calculated with: np.absolute(np.concatenate(([0], np.diff(self.angle)))) * self.rateHz * 180.0 / np.pi";
        String coordinates "time depth latitude longitude";
        String units "degree/second";
    }
    ANGLE_COUNT {
        String long_name "Absolute complete rotation count from ANGLE data";
        String comment "Calculated with: np.cumsum(np.absolute(np.concatenate(([0], np.diff(self.angle))))) / 2. / np.pi";
        String coordinates "time depth latitude longitude";
        String units "";
    }
    ROT_X {
        String long_name "X-component of axis about which the BED is rotating from one time step to the next";
        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 axis about which the BED is rotating from one time step to the next";
        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 axis about which the BED is rotating from one time step to the next";
        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 "Instantaneous rotation rate around axis about which the BED is rotating";
        String comment "Computed with dq = Quaternion(*quat) * Quaternion(*last_quat).conjugated(); dq.get_angle_axis() and then angle / dt";
        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 coordinates "time depth latitude longitude";
        String units "";
    }
    P {
        String long_name "Pressure";
        String coordinates "time depth latitude longitude";
        String units "dbar";
    }
    TUMBLE_RATE {
        String long_name "Angular rate of change of BED's axis of rotation";
        String comment "Computed with: abs(last_vec.angle(vec)), where vec is the division of 2 successive quaternion measurements and last_vec is the previous 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";
    }
    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[BED09] = Polynomial(a=0.5421, b=23.221, c=-11.85). Depth computed using UNESCO formula. Tide removed using output from: mbotps -A2 -B2016/04/13/02/29 -E2016/04/14/14/48 -D1 -R-121.823313/36.796156 -Ombotps_out.txt Cubic spline interpolated to IMU samples.";
    }
    TIDE {
        String long_name "OSTP2 Tide model height";
        String coordinates "ptime depth latitude longitude";
        String comment "Computed with command: mbotps -A2 -B2016/04/13/02/29 -E2016/04/14/14/48 -D1 -R-121.823313/36.796156 -Ombotps_out.txt";
        String units "m";
    }
    NC_GLOBAL {
        Float64 seconds_offset 0.000000000000000;
        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.  Data read from input file(s) ['90100007.WAT.OUT'].";
        String netcdf_version "3.6";
        String Conventions "CF-1.6";
        String date_created "2019-08-13T14:30:37.363843Z";
        String date_update "2019-08-13T14:30:37.363843Z";
        String date_modified "2019-08-13T14:30:37.363843Z";
        String featureType "timeseries";
        String time_coverage_start "2016-04-13T02:22:28Z";
        String time_coverage_end "2016-04-14T14:50:28Z";
        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 --input 90100007.WAT.OUT --bed_name BED09 --lon -121.823313 --lat 36.796156 --depth 202 --title BED09 Watch Data --stride_imu 600\" on 2019-08-13T14:30:37.363843Z";
        String title "BED09 Watch Data";
    }
}