DAP4 Data Request Form dorado_2006.117.05_cal.nc4
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dataset: dorado_2006.117.05_cal.nc4
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Global Attributes
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    • netcdf_version: 4 (Type is String)
    • Conventions: CF-1.6 (Type is String)
    • date_created: 2025-12-19T07:37:27.829844+00:00Z (Type is String)
    • date_update: 2025-12-19T07:37:27.829844+00:00Z (Type is String)
    • date_modified: 2025-12-19T07:37:27.829844+00:00Z (Type is String)
    • featureType: trajectory (Type is String)
    • time_coverage_start: 2006-04-27T03:18:54.567158912 (Type is String)
    • time_coverage_end: 2006-04-27T18:05:28.663113856 (Type is String)
    • distribution_statement: Any use requires prior approval from MBARI (Type is String)
    • license: Any use requires prior approval from MBARI (Type is String)
    • useconst: Not intended for legal use. Data may contain inaccuracies. (Type is String)
    • history: Created by src/data/process_dorado.py -v --num_cores 1 --clobber --noinput on 2025-12-19T07:37:27.829844+00:00Z (Type is String)
    • title: Calibrated AUV sensor data from dorado mission 2006.117.05 (Type is 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/2006/2006117/2006.117.05. 33 underwater segments over 886.2 minutes nudged toward GPS fixes. (Type is String)
    • comment: MBARI Dorado-class AUV data produced from original data with execution of 'src/data/process_dorado.py -v --num_cores 1 --clobber --noinput'' at 2025-12-19T07:37:27.829844+00:00Z on host kraken.shore.mbari.org. Software available at 'https://github.com/mbari-org/auv-python' (Type is String)
Global Dimensions
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      [ /ctd1_time = 0..212708 ]
      [ /isus_time = 0..35810 ]
      [ /navigation_time = 0..265854 ]
      [ /depth_time = 0..568936 ]
      [ /hs2_time = 0..212662 ]
      [ /ctd2_time = 0..212707 ]
      [ /biolume_time = 0..53201 ]
      [ /time = 0..265697 ]
      [ /gps_time = 0..1757 ]
      [ /tailcone_time = 0..265954 ]
Variables
ctd2_time[ /ctd2_time= 0..212707] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:19:12.445934080 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
hs2_time[ /hs2_time= 0..212662] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:18:57.306971264 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
biolume_depth[ /biolume_time= 0..53201] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
navigation_latitude[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: latitude (Type is String)
    • standard_name: latitude (Type is String)
    • units: degrees_north (Type is String)
    • comment: latitude (converted from radians) from navigation.nc (Type is String)
isus_time[ /isus_time= 0..35810] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:20:21.711189248 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
gps_time[ /gps_time= 0..1757] (Type is Int64)
  • attributes
    • standard_name: time (Type is String)
    • units: nanoseconds since 2006-04-27 03:18:52.237318528 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
navigation_depth[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Depth from Nav (Type is String)
    • standard_name: depth (Type is String)
    • units: m (Type is String)
    • comment: mDepth from navigation.nc (Type is String)
hs2_depth[ /hs2_time= 0..212662] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Depth (Type is String)
    • units: m (Type is String)
    • comment: Variable depth_filtdepth from dorado_2006.117.05_cal.nc linearly interpolated to hs2_time and corrected for pitch using SensorOffset(x=0.1397, y=-0.2794) (Type is String)
depth_time[ /depth_time= 0..568936] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:18:54.567158912 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
ctd1_time[ /ctd1_time= 0..212708] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:19:12.425935488 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
navigation_longitude[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: longitude (Type is String)
    • standard_name: longitude (Type is String)
    • units: degrees_east (Type is String)
    • comment: longitude (converted from radians) from navigation.nc (Type is String)
biolume_time[ /biolume_time= 0..53201] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:18:52.507265792 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
navigation_time[ /navigation_time= 0..265854] (Type is Int64)
  • attributes
    • standard_name: time (Type is String)
    • units: nanoseconds since 2006-04-27 03:19:15.245742336 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
time[ /time= 0..265697] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:19:15.245742336 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
tailcone_time[ /tailcone_time= 0..265954] (Type is Int64)
  • attributes
    • units: nanoseconds since 2006-04-27 03:18:53.297245952 (Type is String)
    • calendar: proleptic_gregorian (Type is String)
ctd1_conductivity_onboard[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Conductivity computed onboard the vehicle (Type is String)
    • units: Siemens/meter (Type is String)
    • comment: Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment. (Type is String)
hs2_bbp470[ /hs2_time= 0..212662] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Particulate backscattering coefficient at 470 nm (Type is String)
    • coordinates: hs2_time hs2_depth hs2_latitude hs2_longitude (Type is String)
    • units: m-1 (Type is String)
    • comment: Computed by hs2_calc_bb() from data in hydroscatlog.nc (Type is String)
ctd1_oxygen_umolkg[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Dissolved Oxygen (Type is String)
    • units: umol/kg (Type is String)
    • standard_name: moles_of_oxygen_per_unit_mass_in_sea_water (Type is String)
    • comment: Computed from oxygen_mll with 'np.multiply(o2_mll * 1.4276, (1.0e6 / (dens * 32)))' (Type is String)
gps_latitude[ /gps_time= 0..1757] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: GPS Latitude (Type is String)
    • standard_name: latitude (Type is String)
    • units: degrees_north (Type is String)
    • comment: latitude from gps.nc (Type is String)
isus_nitrate[ /isus_time= 0..35810] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Nitrate (Type is String)
    • units: micromoles/liter (Type is String)
    • coordinates: isus_time isus_depth isus_latitude isus_longitude (Type is String)
    • comment: isusNitrate from isuslog.nc (Type is String)
navigation_posx[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Relative lateral easting (Type is String)
    • units: m (Type is String)
    • coordinates: navigation_time navigation_depth navigation_latitude navigation_longitude (Type is String)
    • comment: mPos_x (minus first position) from navigation.nc (Type is String)
depth_filtpres[ /depth_time= 0..568936] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Filtered Pressure (Type is String)
    • standard_name: sea_water_pressure (Type is String)
    • units: dbar (Type is String)
    • comment: Original 11.111 Hz pressure data filtered using Butterworth window with cutoff frequency of 1 Hz (Type is String)
biolume_flow[ /biolume_time= 0..53201] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Bioluminescence pump flow rate (Type is String)
    • units: mL/s (Type is String)
    • coordinates: biolume_time biolume_depth (Type is String)
    • comment: flow from biolume.nc (Type is String)
isus_temp[ /isus_time= 0..35810] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Temperature from ISUS (Type is String)
    • units: Celsius (Type is String)
    • coordinates: isus_time isus_depth isus_latitude isus_longitude (Type is String)
    • comment: isusTemp from isuslog.nc (Type is String)
ctd1_salinity[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Salinity (Type is String)
    • standard_name: sea_water_salinity (Type is String)
    • units: (Type is String)
    • comment: Derived from cond_frequency from ctdDriver.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121364, 't_b': 0.000598324954, 't_c': 1.54076312e-05, 't_d': 2.23144701e-06, 't_f0': 5901.504, 'c_a': 7.62577245e-07, 'c_b': 0.438250226, 'c_c': -4.07511518, 'c_d': -7.81847944e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'SOc': 0.4636, 'BOc': 0.0, 'Voff': -0.4815, 'TCor': -0.0008, 'PCor': 0.000135} (Type is String)
navigation_yaw[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Vehicle yaw (Type is String)
    • standard_name: platform_yaw_angle (Type is String)
    • units: degree (Type is String)
    • coordinates: navigation_time navigation_depth navigation_latitude navigation_longitude (Type is String)
    • comment: mPsi from navigation.nc (Type is String)
hs2_bbp676[ /hs2_time= 0..212662] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Particulate backscattering coefficient at 676 nm (Type is String)
    • coordinates: hs2_time hs2_depth hs2_latitude hs2_longitude (Type is String)
    • units: m-1 (Type is String)
    • comment: Computed by hs2_calc_bb() from data in hydroscatlog.nc (Type is String)
ctd1_flow1[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Flow sensor on ctd1 (Type is String)
    • units: Volts (Type is String)
    • comment: flow1 from ctdDriver.nc (Type is String)
ctd2_conductivity_onboard[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Conductivity computed onboard the vehicle (Type is String)
    • units: Siemens/meter (Type is String)
    • comment: Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment. (Type is String)
ctd1_dissolvedO2[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Dissolved Oxygen sensor (Type is String)
    • units: Volts (Type is String)
    • comment: Analog Voltage Channel 6 - to be converted to umol/kg (Type is String)
navigation_posy[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Relative lateral northing (Type is String)
    • units: m (Type is String)
    • coordinates: navigation_time navigation_depth navigation_latitude navigation_longitude (Type is String)
    • comment: mPos_y (minus first position) from navigation.nc (Type is String)
isus_quality[ /isus_time= 0..35810] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Fit Residuals from ISUS (Type is String)
    • units: (Type is String)
    • coordinates: isus_time isus_depth isus_latitude isus_longitude (Type is String)
    • comment: isusQuality from isuslog.nc (Type is String)
navigation_roll[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Vehicle roll (Type is String)
    • standard_name: platform_roll_angle (Type is String)
    • units: degree (Type is String)
    • coordinates: navigation_time navigation_depth navigation_latitude navigation_longitude (Type is String)
    • comment: mPhi from navigation.nc (Type is String)
ctd2_temperature[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Temperature (Type is String)
    • standard_name: sea_water_temperature (Type is String)
    • units: degree_Celsius (Type is String)
    • comment: Derived from temp_frequency from ctdDriver2.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121361, 't_b': 0.000599618927, 't_c': 1.51539742e-05, 't_d': 2.40057105e-06, 't_f0': 6271.867, 'c_a': 1.1904585e-07, 'c_b': 0.478813058, 'c_c': -4.23729887, 'c_d': -7.1717972e-05, 'c_m': 5.9, 'eps': -9.57e-08, 'SOc': 0.0, 'BOc': 0.0, 'Voff': 0.0, 'TCor': 0.0, 'PCor': 0.0} (Type is String)
ctd2_temperature_onboard[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Temperature computed onboard the vehicle (Type is String)
    • units: degree_Celsius (Type is String)
    • comment: Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment. (Type is String)
ctd1_depth[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Depth (Type is String)
    • units: m (Type is String)
    • comment: Variable depth_filtdepth from dorado_2006.117.05_cal.nc linearly interpolated to ctd1_time and corrected for pitch using SensorOffset(x=1.003, y=0.0001) (Type is String)
ctd2_conductivity[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Conductivity (Type is String)
    • standard_name: sea_water_conductivity (Type is String)
    • units: Siemens/meter (Type is String)
    • comment: Derived from cond_frequency from ctdDriver2.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121361, 't_b': 0.000599618927, 't_c': 1.51539742e-05, 't_d': 2.40057105e-06, 't_f0': 6271.867, 'c_a': 1.1904585e-07, 'c_b': 0.478813058, 'c_c': -4.23729887, 'c_d': -7.1717972e-05, 'c_m': 5.9, 'eps': -9.57e-08, 'SOc': 0.0, 'BOc': 0.0, 'Voff': 0.0, 'TCor': 0.0, 'PCor': 0.0} (Type is String)
ctd1_temperature_onboard[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Temperature computed onboard the vehicle (Type is String)
    • units: degree_Celsius (Type is String)
    • comment: Temperature computed onboard the vehicle from calibration parameters installed on the vehicle at the time of deployment. (Type is String)
ctd2_depth[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Depth (Type is String)
    • units: m (Type is String)
    • comment: Variable depth_filtdepth from dorado_2006.117.05_cal.nc linearly interpolated to ctd2_time and corrected for pitch using SensorOffset(x=1.003, y=0.0001) (Type is String)
ctd2_flow2[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Flow sensor on ctd1 (Type is String)
    • units: Volts (Type is String)
    • comment: flow2 from ctdDriver2.nc (Type is String)
nudged_longitude[ /time= 0..265697] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Nudged Longitude (Type is String)
    • standard_name: longitude (Type is String)
    • units: degrees_east (Type is String)
    • comment: Dead reckoned longitude nudged to GPS positions (Type is String)
nudged_latitude[ /time= 0..265697] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Nudged Latitude (Type is String)
    • standard_name: latitude (Type is String)
    • units: degrees_north (Type is String)
    • comment: Dead reckoned latitude nudged to GPS positions (Type is String)
navigation_mWaterSpeed[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Current speed based upon DVL data (Type is String)
    • standard_name: platform_speed_wrt_sea_water (Type is String)
    • units: m/s (Type is String)
    • comment: mWaterSpeed from navigation.nc (Type is String)
navigation_pitch[ /navigation_time= 0..265854] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Vehicle pitch (Type is String)
    • standard_name: platform_pitch_angle (Type is String)
    • units: degree (Type is String)
    • coordinates: navigation_time navigation_depth navigation_latitude navigation_longitude (Type is String)
    • comment: mTheta from navigation.nc (Type is String)
gps_longitude[ /gps_time= 0..1757] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: GPS Longitude (Type is String)
    • standard_name: longitude (Type is String)
    • units: degrees_east (Type is String)
    • comment: longitude from gps.nc (Type is String)
ctd1_temperature[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Temperature (Type is String)
    • standard_name: sea_water_temperature (Type is String)
    • units: degree_Celsius (Type is String)
    • comment: Derived from temp_frequency from ctdDriver.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121364, 't_b': 0.000598324954, 't_c': 1.54076312e-05, 't_d': 2.23144701e-06, 't_f0': 5901.504, 'c_a': 7.62577245e-07, 'c_b': 0.438250226, 'c_c': -4.07511518, 'c_d': -7.81847944e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'SOc': 0.4636, 'BOc': 0.0, 'Voff': -0.4815, 'TCor': -0.0008, 'PCor': 0.000135} (Type is String)
ctd1_oxygen_mll[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Dissolved Oxygen (Type is String)
    • units: ml/l (Type is String)
    • standard_name: volume_fraction_of_oxygen_in_sea_water (Type is String)
    • comment: Derived from dissolvedO2 from ctd1.nc using calibration coefficients {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121364, 't_b': 0.000598324954, 't_c': 1.54076312e-05, 't_d': 2.23144701e-06, 't_f0': 5901.504, 'c_a': 7.62577245e-07, 'c_b': 0.438250226, 'c_c': -4.07511518, 'c_d': -7.81847944e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'SOc': 0.4636, 'BOc': 0.0, 'Voff': -0.4815, 'TCor': -0.0008, 'PCor': 0.000135} (Type is String)
ctd1_conductivity[ /ctd1_time= 0..212708] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Conductivity (Type is String)
    • standard_name: sea_water_conductivity (Type is String)
    • units: Siemens/meter (Type is String)
    • comment: Derived from cond_frequency from ctdDriver.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121364, 't_b': 0.000598324954, 't_c': 1.54076312e-05, 't_d': 2.23144701e-06, 't_f0': 5901.504, 'c_a': 7.62577245e-07, 'c_b': 0.438250226, 'c_c': -4.07511518, 'c_d': -7.81847944e-05, 'c_m': 5.2, 'eps': -9.57e-08, 'SOc': 0.4636, 'BOc': 0.0, 'Voff': -0.4815, 'TCor': -0.0008, 'PCor': 0.000135} (Type is String)
ctd2_salinity[ /ctd2_time= 0..212707] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Salinity (Type is String)
    • standard_name: sea_water_salinity (Type is String)
    • units: (Type is String)
    • comment: Derived from cond_frequency from ctdDriver2.nc via calibration parms: {'t_coefs': 'A', 'c_coefs': 'A', 't_a': 0.00368121361, 't_b': 0.000599618927, 't_c': 1.51539742e-05, 't_d': 2.40057105e-06, 't_f0': 6271.867, 'c_a': 1.1904585e-07, 'c_b': 0.478813058, 'c_c': -4.23729887, 'c_d': -7.1717972e-05, 'c_m': 5.9, 'eps': -9.57e-08, 'SOc': 0.0, 'BOc': 0.0, 'Voff': 0.0, 'TCor': 0.0, 'PCor': 0.0} (Type is String)
tailcone_propRpm[ /tailcone_time= 0..265954] (Type is Int32)
  • attributes
    • long_name: Vehicle propeller speed (Type is String)
    • units: rad/s (Type is String)
    • coordinates: tailcone_time tailcone_depth tailcone_latitude tailcone_longitude (Type is String)
    • comment: propRpm from tailCone.nc (convert to RPM by multiplying by 9.549297) (Type is String)
depth_filtdepth[ /depth_time= 0..568936] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Filtered Depth (Type is String)
    • standard_name: depth (Type is String)
    • units: m (Type is String)
    • comment: Original 11.111 Hz depth data filtered using Butterworth window with cutoff frequency of 1 Hz (Type is String)
hs2_fl676[ /hs2_time= 0..212662] (Type is Float64)
  • attributes
    • _FillValue: NaN (Type is Float64)
    • long_name: Fluorescence at 676 nm (Type is String)
    • coordinates: hs2_time hs2_depth hs2_latitude hs2_longitude (Type is String)
    • comment: Computed by hs2_calc_bb() from data in hydroscatlog.nc (Type is String)
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