Attributes {
    time {
        String standard_name "time";
        String long_name "Time (UTC)";
        String units "seconds since 2020-09-22 16:35:52";
        String calendar "proleptic_gregorian";
    }
    depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String standard_name "depth";
        String units "m";
        String comment "mDepth from navigation.nc. mDepth from navigation.nc mean sampled at 1S intervals following 3 point median filter.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    latitude {
        Float64 _FillValue NaN;
        String long_name "Latitude";
        String standard_name "latitude";
        String units "degrees_north";
        String comment "Dead reckoned latitude nudged to GPS positions. Variable nudged_latitude from i2map_2020.266.01_cal.nc file linearly interpolated onto navigation time values. Variable navigation_latitude from i2map_2020.266.01_align.nc median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    longitude {
        Float64 _FillValue NaN;
        String long_name "Longitude";
        String standard_name "longitude";
        String units "degrees_east";
        String comment "Dead reckoned longitude nudged to GPS positions. Variable nudged_longitude from i2map_2020.266.01_cal.nc file linearly interpolated onto navigation time values. Variable navigation_longitude from i2map_2020.266.01_align.nc median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    profile_number {
        String long_name "Profile number";
    }
    navigation_roll {
        Float64 _FillValue NaN;
        String long_name "Vehicle roll";
        String standard_name "platform_roll_angle";
        String units "degree";
        String comment "mPhi from navigation.nc median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
        String coordinates "time depth latitude longitude";
    }
    navigation_pitch {
        Float64 _FillValue NaN;
        String long_name "Vehicle pitch";
        String standard_name "platform_pitch_angle";
        String units "degree";
        String comment "mTheta from navigation.nc median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
        String coordinates "time depth latitude longitude";
    }
    navigation_yaw {
        Float64 _FillValue NaN;
        String long_name "Vehicle yaw";
        String standard_name "platform_yaw_angle";
        String units "degree";
        String comment "mPsi from navigation.nc median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
        String coordinates "time depth latitude longitude";
    }
    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 median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_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 seabird25p.nc via calibration parms: {'t_coefs': 'G', 'c_coefs': 'G', 't_a': 0.0036812134, 't_b': 0.000604232699, 't_c': 1.6552789e-05, 't_d': 2.24436549e-06, 't_f0': 3304.265, 't_g': 0.00437061422, 't_h': 0.000644043914, 't_i': 2.27724819e-05, 't_j': 2.06440452e-06, 't_gf0': 1000.0, 'c_a': 1.220927e-06, 'c_b': 0.457213632, 'c_c': -4.12470337, 'c_d': -7.81556063e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'c_g': -3.92633498, 'c_h': 0.421106125, 'c_i': 5.65144845e-06, 'c_j': 1.88795766e-05, 'c_pcor': 9.57e-08, 'c_tcor': 3.25e-06, 'SOc': 0.4466, 'BOc': 0.0, 'Voff': -0.507, 'TCor': -0.0, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047} median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_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 seabird25p.nc via calibration parms: {'t_coefs': 'G', 'c_coefs': 'G', 't_a': 0.0036812134, 't_b': 0.000604232699, 't_c': 1.6552789e-05, 't_d': 2.24436549e-06, 't_f0': 3304.265, 't_g': 0.00437061422, 't_h': 0.000644043914, 't_i': 2.27724819e-05, 't_j': 2.06440452e-06, 't_gf0': 1000.0, 'c_a': 1.220927e-06, 'c_b': 0.457213632, 'c_c': -4.12470337, 'c_d': -7.81556063e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'c_g': -3.92633498, 'c_h': 0.421106125, 'c_i': 5.65144845e-06, 'c_j': 1.88795766e-05, 'c_pcor': 9.57e-08, 'c_tcor': 3.25e-06, 'SOc': 0.4466, 'BOc': 0.0, 'Voff': -0.507, 'TCor': -0.0, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047} median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_salinity {
        Float64 _FillValue NaN;
        String long_name "Salinity";
        String standard_name "sea_water_salinity";
        String units "";
        String comment "Derived from cond_frequency from seabird25p.nc via calibration parms: {'t_coefs': 'G', 'c_coefs': 'G', 't_a': 0.0036812134, 't_b': 0.000604232699, 't_c': 1.6552789e-05, 't_d': 2.24436549e-06, 't_f0': 3304.265, 't_g': 0.00437061422, 't_h': 0.000644043914, 't_i': 2.27724819e-05, 't_j': 2.06440452e-06, 't_gf0': 1000.0, 'c_a': 1.220927e-06, 'c_b': 0.457213632, 'c_c': -4.12470337, 'c_d': -7.81556063e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'c_g': -3.92633498, 'c_h': 0.421106125, 'c_i': 5.65144845e-06, 'c_j': 1.88795766e-05, 'c_pcor': 9.57e-08, 'c_tcor': 3.25e-06, 'SOc': 0.4466, 'BOc': 0.0, 'Voff': -0.507, 'TCor': -0.0, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047} median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_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. median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_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. median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_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. median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_dissolvedO2_port {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen port side sensor";
        String units "Volts";
        String comment "Analog Voltage Channel 3 - to be converted to umol/kg median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_oxygen_mll_port {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "ml/l";
        String comment "Derived from dissolvedO2_port from seabird25p.nc and eq 1 calibration coefficients {'Soc': 0.42595, 'offset': -0.5339, 'A': -0.0041113, 'B': 0.00020802, 'C': -3.0027e-06, 'D0': 2.5826, 'D1': 0.000192634, 'D2': -0.0464803, 'E': 0.036, 'Tau20': 1.09, 'H1': -0.033, 'H2': 5000.0, 'H3': 1450.0} from cal_file = '/Volumes/DMO/MDUC_CORE_CTD_200103/Calibration Files/SBE-43/2935/2022_Apr/Oxygen_SBE43_2935.xml' median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_oxygen_umolkg_port {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "umol/kg";
        String comment "Computed from oxygen_mll_port with 'np.multiply(o2_mll * 1.4276, (1.0e6 / (dens * 32)))' median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_dissolvedO2_stbd {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen stbd side sensor";
        String units "Volts";
        String comment "Analog Voltage Channel 5 - to be converted to umol/kg median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_oxygen_mll_stbd {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "ml/l";
        String comment "Derived from dissolvedO2_stbd from seabird25p.nc and eq 1 calibration coefficients {'Soc': 0.44664, 'offset': -0.507, 'A': -0.0030812, 'B': 7.8442e-05, 'C': -9.0601e-07, 'D0': 2.5826, 'D1': 0.000192634, 'D2': -0.0464803, 'E': 0.036, 'Tau20': 1.44, 'H1': -0.033, 'H2': 5000.0, 'H3': 1450.0} from cal_file = '/Volumes/DMO/MDUC_CORE_CTD_200103/Calibration Files/SBE-43/3488/2016_dec/43-3488.xml' median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_oxygen_umolkg_stbd {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "umol/kg";
        String comment "Computed from oxygen_mll_stbd with 'np.multiply(o2_mll * 1.4276, (1.0e6 / (dens * 32)))' median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_beam_transmittance {
        Float64 _FillValue NaN;
        String long_name "Beam Transmittance";
        String units "%";
        String comment "Calibrated Beam Transmittance from seabird25p.nc's transmissometer variable median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    seabird25p_par {
        Float64 _FillValue NaN;
        String long_name "Photosynthetically Available Radiation";
        String units "Volts";
        String comment "PAR from seabird25p.nc's par variable median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 7.990000000000000;
        String coordinates "time depth latitude longitude";
    }
    tailcone_propRpm {
        Float64 _FillValue NaN;
        String long_name "Vehicle propeller speed";
        String units "rad/s";
        String comment "propRpm from tailCone.nc (convert to RPM by multiplying by 9.549297) median filtered with 3 samples and resampled with .mean() aggregator to 1S intervals.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
        String coordinates "time depth latitude longitude";
    }
    NC_GLOBAL {
        String netcdf_version "4";
        String Conventions "CF-1.6";
        String date_created "2025-10-21T00:31:02Z";
        String date_update "2025-10-21T00:31:02Z";
        String date_modified "2025-10-21T00:31:02Z";
        String featureType "trajectory";
        String time_coverage_start "2020-09-22T16:35:52.000000000";
        String time_coverage_end "2020-09-23T16:05:53.000000000";
        String time_coverage_duration "0 days 23:30:01";
        Float64 geospatial_vertical_min -0.7065154962866096;
        Float64 geospatial_vertical_max 701.8381492227783;
        Float64 geospatial_lat_min 36.68702313402866;
        Float64 geospatial_lat_max 36.72674377766614;
        Float64 geospatial_lon_min -122.1919759336505;
        Float64 geospatial_lon_max -122.1769373676367;
        String license "Any use requires prior approval from MBARI";
        String history "Created by /src/data/process_i2map.py -v --noinput --start_year 2020 --end_year 2020 --start_yd 1 --end_yd 365 --num_cores 1 --clobber on 2025-10-21T00:31:06Z";
        String source "MBARI Dorado-class AUV data produced from original log files with execution of '/src/data/process_i2map.py -v --noinput --start_year 2020 --end_year 2020 --start_yd 1 --end_yd 365 --num_cores 1 --clobber' at 2025-10-21T00:31:06Z on host 9ec966412b78 using git commit 0620a5fb4ce4e316a856ffc6c98fde365d0ce9eb from software at 'https://github.com/mbari-org/auv-python'";
        String summary "Observational oceanographic data obtained from an Autonomous Underwater Vehicle mission with measurements sampled at 1S intervals. Data processed at 2025-10-21T00:31:06Z using MBARI's auv-python software. Original log files copied from /Volumes/M3/master/i2MAP/2020/09/20200922/2020.266.01.  Processing log file: http://dods.mbari.org/opendap/data/auvctd/surveys/2020/netcdf/i2map_2020.266.01_processing.log";
        String title "Calibrated, aligned, and resampled AUV sensor data from i2map mission 2020.266.01, original data in /mbari/M3/master/i2MAP/: 2020/09/20200922/2020.266.01";
        String comment "Variable depth pitch corrected using SensorOffset(x=4.04, y=0.0)";
    }
}