Attributes {
    navigation_time {
        String standard_name "time";
        String units "nanoseconds since 2019-07-15 19:25:04.472580352";
        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 2019-07-15 19:24:24.355328512";
        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 2019-07-15 19:25:04.472580352";
        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 2019-07-15 19:24:29.284990720";
        String calendar "proleptic_gregorian";
    }
    depth_filtdepth {
        Float64 _FillValue NaN;
        String long_name "Filtered Depth";
        String standard_name "depth";
        String units "m";
        String comment "Original 10.000 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 10.000 Hz pressure data filtered using Butterworth window with cutoff frequency of 1 Hz";
    }
    hs2_time {
        String units "nanoseconds since 2019-07-15 19:24:30.524905984";
        String calendar "proleptic_gregorian";
    }
    hs2_bbp420 {
        Float64 _FillValue NaN;
        String long_name "Particulate backscattering coefficient 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_bbp700 {
        Float64 _FillValue NaN;
        String long_name "Particulate backscattering coefficient 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_2019.196.04_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 2019-07-15 19:24:52.883374336";
        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': 0.00368121215, 't_b': 0.000599500858, 't_c': 1.56179333e-05, 't_d': 1.77553133e-06, 't_f0': 2938.743, 'c_a': 2.90709058e-08, 'c_b': 0.441308756, 'c_c': -3.90438606, 'c_d': 6.41065478e-05, 'c_m': 6.4, 'eps': -9.57e-08, 'SOc': 0.4794, 'BOc': 0.0, 'Voff': -0.54, 'TCor': -0.0002, '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': 0.00368121215, 't_b': 0.000599500858, 't_c': 1.56179333e-05, 't_d': 1.77553133e-06, 't_f0': 2938.743, 'c_a': 2.90709058e-08, 'c_b': 0.441308756, 'c_c': -3.90438606, 'c_d': 6.41065478e-05, 'c_m': 6.4, 'eps': -9.57e-08, 'SOc': 0.4794, 'BOc': 0.0, 'Voff': -0.54, 'TCor': -0.0002, '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': 0.00368121215, 't_b': 0.000599500858, 't_c': 1.56179333e-05, 't_d': 1.77553133e-06, 't_f0': 2938.743, 'c_a': 2.90709058e-08, 'c_b': 0.441308756, 'c_c': -3.90438606, 'c_d': 6.41065478e-05, 'c_m': 6.4, 'eps': -9.57e-08, 'SOc': 0.4794, 'BOc': 0.0, 'Voff': -0.54, 'TCor': -0.0002, '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 "Derived from dissolvedO2 from ctd1.nc using calibration coefficients {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121215, 't_b': 0.000599500858, 't_c': 1.56179333e-05, 't_d': 1.77553133e-06, 't_f0': 2938.743, 'c_a': 2.90709058e-08, 'c_b': 0.441308756, 'c_c': -3.90438606, 'c_d': 6.41065478e-05, 'c_m': 6.4, 'eps': -9.57e-08, 'SOc': 0.4794, 'BOc': 0.0, 'Voff': -0.54, 'TCor': -0.0002, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    ctd1_oxygen_umolkg {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "umol/kg";
        String comment "Computed from oxygen_mll with 'np.multiply(o2_mll * 1.4276, (1.0e6 / (dens * 32)))'";
    }
    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_2019.196.04_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 2019-07-15 19:24:52.563396096";
        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': 0.00368121248, 't_b': 0.000600689633, 't_c': 1.55118703e-05, 't_d': 2.15235955e-06, 't_f0': 6367.803, 'c_a': 2.13698751e-05, 'c_b': 1.50326079, 'c_c': -10.3525637, 'c_d': 8.48985882e-05, 'c_m': 4.6, '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': 0.00368121248, 't_b': 0.000600689633, 't_c': 1.55118703e-05, 't_d': 2.15235955e-06, 't_f0': 6367.803, 'c_a': 2.13698751e-05, 'c_b': 1.50326079, 'c_c': -10.3525637, 'c_d': 8.48985882e-05, 'c_m': 4.6, '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': 0.00368121248, 't_b': 0.000600689633, 't_c': 1.55118703e-05, 't_d': 2.15235955e-06, 't_f0': 6367.803, 'c_a': 2.13698751e-05, 'c_b': 1.50326079, 'c_c': -10.3525637, 'c_d': 8.48985882e-05, 'c_m': 4.6, '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_2019.196.04_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 2019-07-15 19:25:25.431144448";
        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";
    }
    isus_quality {
        Float64 _FillValue NaN;
        String long_name "Fit Residuals from ISUS";
        String units "";
        String coordinates "isus_time isus_depth isus_latitude isus_longitude";
        String comment "isusQuality from isuslog.nc";
    }
    biolume_depth {
        Float64 _FillValue NaN;
    }
    biolume_flow {
        Float64 _FillValue NaN;
        String long_name "Bioluminesence pump flow rate";
        String units "mL/s";
        String coordinates "biolume_time biolume_depth";
        String comment "flow from biolume.nc";
    }
    biolume_time {
        String units "nanoseconds since 2019-07-15 19:24:23.645342720";
        String calendar "proleptic_gregorian";
    }
    biolume_avg_biolume {
        Float64 _FillValue NaN;
        String long_name "Bioluminesence Average of 60Hz data";
        String units "photons s^-1";
        String coordinates "biolume_time biolume_depth";
        String comment "avg_biolume from biolume.nc with plumbing lag correction of 0.5 seconds";
    }
    biolume_time60hz {
        String units "nanoseconds since 2019-07-15 19:24:23.645342720";
        String calendar "proleptic_gregorian";
    }
    biolume_raw {
        Float64 _FillValue NaN;
        String long_name "Raw 60 hz biolume data";
        String coordinates "biolume_time60hz biolume_depth60hz";
        String comment "raw values from biolume.nc with plumbing lag correction of 0.5 seconds";
    }
    tailcone_time {
        String units "nanoseconds since 2019-07-15 19:24:29.924946944";
        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 "2025-06-27T01:11:05.709297+00:00Z";
        String date_update "2025-06-27T01:11:05.709297+00:00Z";
        String date_modified "2025-06-27T01:11:05.709297+00:00Z";
        String featureType "trajectory";
        String time_coverage_start "2019-07-15T19:24:29.284990720";
        String time_coverage_end "2019-07-16T18:51:27.385447168";
        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 --start_year 2015 --end_year 2025 --num_cores 1 -v --noinput --clobber on 2025-06-27T01:11:05.709297+00:00Z";
        String title "Calibrated AUV sensor data from dorado mission 2019.196.04";
        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/2019/2019196/2019.196.04";
        String comment "MBARI Dorado-class AUV data produced from original data with execution of 'src/data/process_dorado.py --start_year 2015 --end_year 2025 --num_cores 1 -v --noinput --clobber'' at 2025-06-27T01:11:05.709297+00:00Z on host 355841a7028c. Software available at 'https://github.com/mbari-org/auv-python'";
    }
}