Attributes {
    navigation_time {
        String standard_name "time";
        String units "nanoseconds since 2023-04-20 16:18:20.594920704";
        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 2023-04-20 16:17:40.817645568";
        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 2023-04-20 16:18:20.594920704";
        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 2023-04-20 16:17:55.406646016";
        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";
    }
    seabird25p_time {
        String units "nanoseconds since 2023-04-20 16:18:27.384455424";
        String calendar "proleptic_gregorian";
    }
    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': 0.00485945135, 't_h': 0.00067968862, 't_i': 2.73089135e-05, 't_j': 2.13505939e-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': -4.13366177, 'c_h': 0.459695177, 'c_i': -0.000732154262, 'c_j': 6.84557314e-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}";
    }
    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': 0.00485945135, 't_h': 0.00067968862, 't_i': 2.73089135e-05, 't_j': 2.13505939e-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': -4.13366177, 'c_h': 0.459695177, 'c_i': -0.000732154262, 'c_j': 6.84557314e-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}";
    }
    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': 0.00485945135, 't_h': 0.00067968862, 't_i': 2.73089135e-05, 't_j': 2.13505939e-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': -4.13366177, 'c_h': 0.459695177, 'c_i': -0.000732154262, 'c_j': 6.84557314e-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}";
    }
    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.";
    }
    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.";
    }
    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.";
    }
    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";
    }
    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': 0.58626, 'offset': -0.517, 'A': -0.0038384, 'B': 0.00019113, 'C': -3.1968e-06, 'D0': 2.5826, 'D1': 0.000192634, 'D2': -0.0464803, 'E': 0.036, 'Tau20': 1.65, 'H1': -0.033, 'H2': 5000.0, 'H3': 1450.0} from cal_file = '/Volumes/DMO/MDUC_CORE_CTD_200103/Calibration Files/SBE-43/2510/2025_Jan/Oxygen_SBE43_2510.xml'";
    }
    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)))'";
    }
    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";
    }
    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': 0.43332, 'offset': -0.5106, 'A': -0.0037655, 'B': 0.00018802, 'C': -3.038e-06, 'D0': 2.5826, 'D1': 0.000192634, 'D2': -0.0464803, 'E': 0.036, 'Tau20': 1.54, 'H1': -0.033, 'H2': 5000.0, 'H3': 1450.0} from cal_file = '/Volumes/DMO/MDUC_CORE_CTD_200103/Calibration Files/SBE-43/3968/2020_Jul/SBE43_3968.xml'";
    }
    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)))'";
    }
    seabird25p_beam_transmittance {
        Float64 _FillValue NaN;
        String long_name "Beam Transmittance";
        String units "%";
        String comment "Calibrated Beam Transmittance from seabird25p.nc's transmissometer variable";
    }
    seabird25p_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from i2map_2023.110.00_cal.nc linearly interpolated to seabird25p_time and corrected for pitch using SensorOffset(x=4.04, y=0.0)";
    }
    seabird25p_par {
        Float64 _FillValue NaN;
        String long_name "Photosynthetically Available Radiation";
        String units "Volts";
        String comment "PAR from seabird25p.nc's par variable";
    }
    tailcone_time {
        String units "nanoseconds since 2023-04-20 16:17:51.156937216";
        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 "2025-10-21T18:08:16.355845+00:00Z";
        String date_update "2025-10-21T18:08:16.355845+00:00Z";
        String date_modified "2025-10-21T18:08:16.355845+00:00Z";
        String featureType "trajectory";
        String time_coverage_start "2023-04-20T16:17:55.406646016";
        String time_coverage_end "2023-04-21T15:38:23.070356736";
        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_i2map.py -v --noinput --start_year 2023 --end_year 2023 --start_yd 1 --end_yd 365 --num_cores 1 --clobber on 2025-10-21T18:08:16.355845+00:00Z";
        String title "Calibrated AUV sensor data from i2map mission 2023.110.00";
        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/M3/master/i2MAP/2023/04/20230420/2023.110.00";
        String comment "MBARI Dorado-class AUV data produced from original data with execution of '/src/data/process_i2map.py -v --noinput --start_year 2023 --end_year 2023 --start_yd 1 --end_yd 365 --num_cores 1 --clobber'' at 2025-10-21T18:08:16.355845+00:00Z on host a6fbce5c76fd. Software available at 'https://github.com/mbari-org/auv-python'";
    }
}