Attributes {
    time {
        String standard_name "time";
        String long_name "Time (UTC)";
        String units "seconds since 2023-09-14 16:42:19";
        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_2023.257.01_cal.nc file linearly interpolated onto navigation time values. Variable navigation_latitude from i2map_2023.257.01_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_2023.257.01_cal.nc file linearly interpolated onto navigation time values. Variable navigation_longitude from i2map_2023.257.01_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': 0.00485945135, '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} 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': 0.00485945135, '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} 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': 0.00485945135, '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} 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': 0.58626, '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' 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': 0.43332, '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' 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 "2025-10-21T18:23:09Z";
        String date_update "2025-10-21T18:23:09Z";
        String date_modified "2025-10-21T18:23:09Z";
        String featureType "trajectory";
        String time_coverage_start "2023-09-14T16:42:19.000000000";
        String time_coverage_end "2023-09-15T15:29:41.000000000";
        String time_coverage_duration "0 days 22:47:22";
        Float64 geospatial_vertical_min -0.4052287751013171;
        Float64 geospatial_vertical_max 1001.669039955672;
        Float64 geospatial_lat_min 36.68553128990767;
        Float64 geospatial_lat_max 36.70227261748818;
        Float64 geospatial_lon_min -122.0803080179983;
        Float64 geospatial_lon_max -121.9973836143856;
        String license "Any use requires prior approval from MBARI";
        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 2025-10-21T18:23:15Z";
        String source "MBARI Dorado-class AUV data produced from original log files 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 2025-10-21T18:23:15Z on host a6fbce5c76fd 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 2025-10-21T18:23:15Z using MBARI's auv-python software. Original log files copied from /Volumes/M3/master/i2MAP/2023/09/20230914/2023.257.01.  Processing log file: http://dods.mbari.org/opendap/data/auvctd/surveys/2023/netcdf/i2map_2023.257.01_processing.log";
        String title "Calibrated, aligned, and resampled AUV sensor data from i2map mission 2023.257.01, original data in /mbari/M3/master/i2MAP/: 2023/09/20230914/2023.257.01";
        String comment "Variable depth pitch corrected using SensorOffset(x=4.04, y=0.0)";
    }
}