Attributes {
    navigation_time {
        String standard_name "time";
        String units "nanoseconds since 2010-06-30 15:14:01.115462656";
        String calendar "proleptic_gregorian";
    }
    navigation_roll {
        Float64 _FillValue NaN;
        String long_name "Vehicle roll";
        String standard_name "platform_roll_angle";
        String units "degree";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        String comment "mPhi from navigation.nc";
    }
    navigation_pitch {
        Float64 _FillValue NaN;
        String long_name "Vehicle pitch";
        String standard_name "platform_pitch_angle";
        String units "degree";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        String comment "mTheta from navigation.nc";
    }
    navigation_yaw {
        Float64 _FillValue NaN;
        String long_name "Vehicle yaw";
        String standard_name "platform_yaw_angle";
        String units "degree";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        String comment "mPsi from navigation.nc";
    }
    navigation_posx {
        Float64 _FillValue NaN;
        String long_name "Relative lateral easting";
        String units "m";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        String comment "mPos_x (minus first position) from navigation.nc";
    }
    navigation_posy {
        Float64 _FillValue NaN;
        String long_name "Relative lateral northing";
        String units "m";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        String comment "mPos_y (minus first position) from navigation.nc";
    }
    navigation_depth {
        Float64 _FillValue NaN;
        String long_name "Depth from Nav";
        String standard_name "depth";
        String units "m";
        String comment "mDepth from navigation.nc";
    }
    navigation_mWaterSpeed {
        Float64 _FillValue NaN;
        String long_name "Current speed based upon DVL data";
        String standard_name "platform_speed_wrt_sea_water";
        String units "m/s";
        String comment "mWaterSpeed from navigation.nc";
    }
    navigation_latitude {
        Float64 _FillValue NaN;
        String long_name "latitude";
        String standard_name "latitude";
        String units "degrees_north";
        String comment "latitude (converted from radians) from navigation.nc";
    }
    navigation_longitude {
        Float64 _FillValue NaN;
        String long_name "longitude";
        String standard_name "longitude";
        String units "degrees_east";
        String comment "longitude (converted from radians) from navigation.nc";
    }
    gps_time {
        String standard_name "time";
        String units "nanoseconds since 2010-06-30 15:13:12.478794496";
        String calendar "proleptic_gregorian";
    }
    gps_latitude {
        Float64 _FillValue NaN;
        String long_name "GPS Latitude";
        String standard_name "latitude";
        String units "degrees_north";
        String comment "latitude from gps.nc";
    }
    gps_longitude {
        Float64 _FillValue NaN;
        String long_name "GPS Longitude";
        String standard_name "longitude";
        String units "degrees_east";
        String comment "longitude from gps.nc";
    }
    time {
        String units "nanoseconds since 2010-06-30 15:14:01.115462656";
        String calendar "proleptic_gregorian";
    }
    nudged_latitude {
        Float64 _FillValue NaN;
        String long_name "Nudged Latitude";
        String standard_name "latitude";
        String units "degrees_north";
        String comment "Dead reckoned latitude nudged to GPS positions";
    }
    nudged_longitude {
        Float64 _FillValue NaN;
        String long_name "Nudged Longitude";
        String standard_name "longitude";
        String units "degrees_east";
        String comment "Dead reckoned longitude nudged to GPS positions";
    }
    depth_time {
        String units "nanoseconds since 2010-06-30 15:13:16.528517120";
        String calendar "proleptic_gregorian";
    }
    depth_filtdepth {
        Float64 _FillValue NaN;
        String long_name "Filtered Depth";
        String standard_name "depth";
        String units "m";
        String comment "Original 8.333 Hz depth data filtered using Butterworth window with cutoff frequency of 1 Hz";
    }
    depth_filtpres {
        Float64 _FillValue NaN;
        String long_name "Filtered Pressure";
        String standard_name "sea_water_pressure";
        String units "dbar";
        String comment "Original 8.333 Hz pressure data filtered using Butterworth window with cutoff frequency of 1 Hz";
    }
    hs2_time {
        String units "nanoseconds since 2010-06-30 15:13:23.028071936";
        String calendar "proleptic_gregorian";
    }
    hs2_bb420 {
        Float64 _FillValue NaN;
        String long_name "Backscatter at 420 nm";
        String coordinates "hs2_time hs2_depth hs2_latitude hs2_longitude";
        String units "m-1";
        String comment "Computed by hs2_calc_bb() from data in hydroscatlog.nc";
    }
    hs2_bb700 {
        Float64 _FillValue NaN;
        String long_name "Backscatter at 700 nm";
        String coordinates "hs2_time hs2_depth hs2_latitude hs2_longitude";
        String units "m-1";
        String comment "Computed by hs2_calc_bb() from data in hydroscatlog.nc";
    }
    hs2_fl700 {
        Float64 _FillValue NaN;
        String long_name "Fluorescence at 700 nm";
        String coordinates "hs2_time hs2_depth hs2_latitude hs2_longitude";
        String comment "Computed by hs2_calc_bb() from data in hydroscatlog.nc";
    }
    hs2_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from dorado_2010.181.00_cal.nc linearly interpolated to hs2_time and corrected for pitch using SensorOffset(x=4.5, y=0.0)";
    }
    ctd1_time {
        String units "nanoseconds since 2010-06-30 15:13:53.765966080";
        String calendar "proleptic_gregorian";
    }
    ctd1_temperature {
        Float64 _FillValue NaN;
        String long_name "Temperature";
        String standard_name "sea_water_temperature";
        String units "degree_Celsius";
        String comment "Derived from temp_frequency from ctdDriver.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121445, 't_b': 0.000606702124, 't_c': 1.67512568e-05, 't_d': 2.2250254e-06, 't_f0': 3181.351, 'c_a': 3.26832366e-16, 'c_b': 1.56857356, 'c_c': -10.6604461, 'c_d': -1.55935958e-05, 'c_m': 16.7, 'eps': -9.57e-08, 'SOc': 0.3265, 'BOc': 0.0, 'Voff': -0.6587, 'TCor': 0.0008, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    ctd1_conductivity {
        Float64 _FillValue NaN;
        String long_name "Conductivity";
        String standard_name "sea_water_conductivity";
        String units "Siemens/meter";
        String comment "Derived from cond_frequency from ctdDriver.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121445, 't_b': 0.000606702124, 't_c': 1.67512568e-05, 't_d': 2.2250254e-06, 't_f0': 3181.351, 'c_a': 3.26832366e-16, 'c_b': 1.56857356, 'c_c': -10.6604461, 'c_d': -1.55935958e-05, 'c_m': 16.7, 'eps': -9.57e-08, 'SOc': 0.3265, 'BOc': 0.0, 'Voff': -0.6587, 'TCor': 0.0008, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    ctd1_salinity {
        Float64 _FillValue NaN;
        String long_name "Salinity";
        String standard_name "sea_water_salinity";
        String units "";
        String comment "Derived from cond_frequency from ctdDriver.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121445, 't_b': 0.000606702124, 't_c': 1.67512568e-05, 't_d': 2.2250254e-06, 't_f0': 3181.351, 'c_a': 3.26832366e-16, 'c_b': 1.56857356, 'c_c': -10.6604461, 'c_d': -1.55935958e-05, 'c_m': 16.7, 'eps': -9.57e-08, 'SOc': 0.3265, 'BOc': 0.0, 'Voff': -0.6587, 'TCor': 0.0008, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    ctd1_temperature_onboard {
        Float64 _FillValue NaN;
        String long_name "Temperature computed onboard the vehicle";
        String units "degree_Celsius";
        String comment "Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment.";
    }
    ctd1_conductivity_onboard {
        Float64 _FillValue NaN;
        String long_name "Conductivity computed onboard the vehicle";
        String units "Siemens/meter";
        String comment "Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment.";
    }
    ctd1_salinity_onboard {
        Float64 _FillValue NaN;
        String long_name "Salinity computed onboard the vehicle";
        String units "";
        String comment "Salinity computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment.";
    }
    ctd1_dissolvedO2 {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen sensor";
        String units "Volts";
        String comment "Analog Voltage Channel 6 - to be converted to umol/kg";
    }
    ctd1_oxygen_mll {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "ml/l";
        String comment "...";
    }
    ctd1_oxygen_umolkg {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "umol/kg";
        String comment "...";
    }
    ctd1_flow1 {
        Float64 _FillValue NaN;
        String long_name "Flow sensor on ctd1";
        String units "Volts";
        String comment "flow1 from ctdDriver.nc";
    }
    ctd1_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from dorado_2010.181.00_cal.nc linearly interpolated to ctd1_time and corrected for pitch using SensorOffset(x=4.5, y=0.0)";
    }
    ctd2_time {
        String units "nanoseconds since 2010-06-30 15:13:53.545981184";
        String calendar "proleptic_gregorian";
    }
    ctd2_temperature {
        Float64 _FillValue NaN;
        String long_name "Temperature";
        String standard_name "sea_water_temperature";
        String units "degree_Celsius";
        String comment "Derived from temp_frequency from ctdDriver2.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121421, 't_b': 0.000598332687, 't_c': 1.54689912e-05, 't_d': 2.30403505e-06, 't_f0': 5901.203, 'c_a': 2.8319312e-06, 'c_b': 0.46812757, 'c_c': -4.12412283, 'c_d': -7.74861695e-05, 'c_m': 4.8, 'eps': -9.57e-08, 'SOc': 0.0, 'BOc': 0.0, 'Voff': 0.0, 'TCor': 0.0, 'PCor': 0.0}";
    }
    ctd2_conductivity {
        Float64 _FillValue NaN;
        String long_name "Conductivity";
        String standard_name "sea_water_conductivity";
        String units "Siemens/meter";
        String comment "Derived from cond_frequency from ctdDriver2.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121421, 't_b': 0.000598332687, 't_c': 1.54689912e-05, 't_d': 2.30403505e-06, 't_f0': 5901.203, 'c_a': 2.8319312e-06, 'c_b': 0.46812757, 'c_c': -4.12412283, 'c_d': -7.74861695e-05, 'c_m': 4.8, 'eps': -9.57e-08, 'SOc': 0.0, 'BOc': 0.0, 'Voff': 0.0, 'TCor': 0.0, 'PCor': 0.0}";
    }
    ctd2_salinity {
        Float64 _FillValue NaN;
        String long_name "Salinity";
        String standard_name "sea_water_salinity";
        String units "";
        String comment "Derived from cond_frequency from ctdDriver2.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121421, 't_b': 0.000598332687, 't_c': 1.54689912e-05, 't_d': 2.30403505e-06, 't_f0': 5901.203, 'c_a': 2.8319312e-06, 'c_b': 0.46812757, 'c_c': -4.12412283, 'c_d': -7.74861695e-05, 'c_m': 4.8, 'eps': -9.57e-08, 'SOc': 0.0, 'BOc': 0.0, 'Voff': 0.0, 'TCor': 0.0, 'PCor': 0.0}";
    }
    ctd2_temperature_onboard {
        Float64 _FillValue NaN;
        String long_name "Temperature computed onboard the vehicle";
        String units "degree_Celsius";
        String comment "Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment.";
    }
    ctd2_conductivity_onboard {
        Float64 _FillValue NaN;
        String long_name "Conductivity computed onboard the vehicle";
        String units "Siemens/meter";
        String comment "Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment.";
    }
    ctd2_salinity_onboard {
        Float64 _FillValue NaN;
        String long_name "Salinity computed onboard the vehicle";
        String units "";
        String comment "Salinity computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment.";
    }
    ctd2_flow2 {
        Float64 _FillValue NaN;
        String long_name "Flow sensor on ctd1";
        String units "Volts";
        String comment "flow2 from ctdDriver2.nc";
    }
    ctd2_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from dorado_2010.181.00_cal.nc linearly interpolated to ctd2_time and corrected for pitch using SensorOffset(x=4.5, y=0.0)";
    }
    isus_time {
        String units "nanoseconds since 2010-06-30 15:14:13.484615424";
        String calendar "proleptic_gregorian";
    }
    isus_nitrate {
        Float64 _FillValue NaN;
        String long_name "Nitrate";
        String units "micromoles/liter";
        String coordinates "isus_time isus_depth isus_latitude isus_longitude";
        String comment "isusNitrate from isuslog.nc";
    }
    isus_temp {
        Float64 _FillValue NaN;
        String long_name "Temperature from ISUS";
        String units "Celsius";
        String coordinates "isus_time isus_depth isus_latitude isus_longitude";
        String comment "isusTemp from isuslog.nc";
    }
    tailcone_time {
        String units "nanoseconds since 2010-06-30 15:13:14.838632704";
        String calendar "proleptic_gregorian";
    }
    tailcone_propRpm {
        String long_name "Vehicle propeller speed";
        String units "rad/s";
        String coordinates "tailcone_time tailcone_depth tailcone_latitude tailcone_longitude";
        String comment "propRpm from tailCone.nc (convert to RPM by multiplying by 9.549297)";
    }
    NC_GLOBAL {
        String netcdf_version "4";
        String Conventions "CF-1.6";
        String date_created "2023-07-07T21:58:21.256431Z";
        String date_update "2023-07-07T21:58:21.256431Z";
        String date_modified "2023-07-07T21:58:21.256431Z";
        String featureType "trajectory";
        String time_coverage_start "2010-06-30T15:13:16.528517120";
        String time_coverage_end "2010-06-30T15:13:35.497217536";
        String distribution_statement "Any use requires prior approval from MBARI";
        String license "Any use requires prior approval from MBARI";
        String useconst "Not intended for legal use. Data may contain inaccuracies.";
        String history "Created by src/data/process_dorado.py -v --num_cores 12 on 2023-07-07T21:58:21.256431Z";
        String title "Calibrated AUV sensor data from dorado mission 2010.181.00";
        String summary "Observational oceanographic data obtained from an Autonomous Underwater Vehicle mission with measurements at original sampling intervals. The data have been calibrated by MBARI's auv-python software. Original log files copied from /Volumes/AUVCTD/missionlogs/2010/2010181/2010.181.00";
        String comment "MBARI Dorado-class AUV data produced from original data with execution of 'src/data/process_dorado.py -v --num_cores 12'' at 2023-07-07T21:58:21.256431Z on host 8b7b108d46cf. Software available at 'https://github.com/mbari-org/auv-python'";
    }
}