Attributes {
    navigation_time {
        String units "nanoseconds since 2023-12-18 17:01:50.686619136";
        String calendar "proleptic_gregorian";
    }
    navigation_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String standard_name "depth";
        String units "m";
        String comment "mDepth from navigation.nc";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    navigation_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_2023.352.01_cal.nc file linearly interpolated onto navigation time values.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    navigation_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_2023.352.01_cal.nc file linearly interpolated onto navigation time values.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    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";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    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";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    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";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    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";
        String coordinates "navigation_time navigation_depth navigation_latitude navigation_longitude";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    seabird25p_time {
        String units "nanoseconds since 2023-12-18 17:02:30.923862784";
        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}";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    seabird25p_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from i2map_2023.352.01_cal.nc linearly interpolated to seabird25p_time and corrected for pitch using SensorOffset(x=4.04, y=0.0)";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    seabird25p_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_2023.352.01_cal.nc file linearly interpolated onto seabird25p time values.";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    seabird25p_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_2023.352.01_cal.nc file linearly interpolated onto seabird25p time values.";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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}";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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}";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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.";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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.";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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.";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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'";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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)))'";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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'";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    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)))'";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    seabird25p_beam_transmittance {
        Float64 _FillValue NaN;
        String long_name "Beam Transmittance";
        String units "%";
        String comment "Calibrated Beam Transmittance from seabird25p.nc's transmissometer variable";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    seabird25p_par {
        Float64 _FillValue NaN;
        String long_name "Photosynthetically Available Radiation";
        String units "Volts";
        String comment "PAR from seabird25p.nc's par variable";
        String coordinates "seabird25p_time seabird25p_depth seabird25p_latitude seabird25p_longitude";
        Float64 instrument_sample_rate_hz 7.890000000000000;
    }
    tailcone_time {
        String units "nanoseconds since 2023-12-18 17:01:20.928657408";
        String calendar "proleptic_gregorian";
    }
    tailcone_propRpm {
        String long_name "Vehicle propeller speed";
        String units "rad/s";
        String comment "propRpm from tailCone.nc (convert to RPM by multiplying by 9.549297)";
        String coordinates "tailcone_time tailcone_depth tailcone_latitude tailcone_longitude";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    tailcone_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    tailcone_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_2023.352.01_cal.nc file linearly interpolated onto tailcone time values.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    tailcone_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_2023.352.01_cal.nc file linearly interpolated onto tailcone time values.";
        Float64 instrument_sample_rate_hz 5.000000000000000;
    }
    NC_GLOBAL {
        String netcdf_version "4";
        String Conventions "CF-1.6";
        String date_created "2025-10-21T18:39:51.402371+00:00Z";
        String date_update "2025-10-21T18:39:51.402371+00:00Z";
        String date_modified "2025-10-21T18:39:51.402371+00:00Z";
        String featureType "trajectory";
        String time_coverage_start "2023-12-18 17:01:20.928657408+00:00";
        String time_coverage_end "2023-12-19 16:15:42.247464704+00:00";
        String time_coverage_duration "0 days 23:14:21.318807296";
        Float64 geospatial_vertical_min -0.9028117479608544;
        Float64 geospatial_vertical_max 1001.436037604103;
        Float64 geospatial_lat_min 36.69390536774090;
        Float64 geospatial_lat_max 36.73413233333334;
        Float64 geospatial_lon_min -122.0792057211040;
        Float64 geospatial_lon_max -121.9786010651879;
        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 2025-10-21T18:39:51.402371+00:00Z";
        String title "Calibrated and aligned AUV sensor data from i2map mission 2023.352.01";
        String source "MBARI Dorado-class AUV data produced from calibrated 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 2025-10-21T18:39:51.402371+00:00Z 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 at original sampling intervals. The data have been calibrated and the coordinate variables aligned using MBARI's auv-python software. Original log files copied from /Volumes/M3/master/i2MAP/2023/12/20231218/2023.352.01";
        String comment "MBARI Dorado-class AUV data produced from calibrated 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 2025-10-21T18:39:51.402371+00:00Z on host a6fbce5c76fd. Software available at 'https://github.com/mbari-org/auv-python'";
    }
}