Attributes {
    navigation_time {
        String standard_name "time";
        String units "nanoseconds since 2006-08-08 20:58:55.058672896";
        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 2006-08-08 20:58:32.120244224";
        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 2006-08-08 20:58:55.058672896";
        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 2006-08-08 20:58:35.270028544";
        String calendar "proleptic_gregorian";
    }
    depth_filtdepth {
        Float64 _FillValue NaN;
        String long_name "Filtered Depth";
        String standard_name "depth";
        String units "m";
        String comment "Original 11.111 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 11.111 Hz pressure data filtered using Butterworth window with cutoff frequency of 1 Hz";
    }
    hs2_time {
        String units "nanoseconds since 2006-08-08 20:58:40.229688832";
        String calendar "proleptic_gregorian";
    }
    hs2_bbp470 {
        Float64 _FillValue NaN;
        String long_name "Particulate backscattering coefficient at 470 nm";
        String coordinates "hs2_time hs2_depth hs2_latitude hs2_longitude";
        String units "m-1";
        String comment "Computed by hs2_calc_bb() from data in hydroscatlog.nc";
    }
    hs2_bbp676 {
        Float64 _FillValue NaN;
        String long_name "Particulate backscattering coefficient at 676 nm";
        String coordinates "hs2_time hs2_depth hs2_latitude hs2_longitude";
        String units "m-1";
        String comment "Computed by hs2_calc_bb() from data in hydroscatlog.nc";
    }
    hs2_fl676 {
        Float64 _FillValue NaN;
        String long_name "Fluorescence at 676 nm";
        String coordinates "hs2_time hs2_depth hs2_latitude hs2_longitude";
        String comment "Computed by hs2_calc_bb() from data in hydroscatlog.nc";
    }
    hs2_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from dorado_2006.220.00_cal.nc linearly interpolated to hs2_time and corrected for pitch using SensorOffset(x=0.1397, y=-0.2794)";
    }
    ctd1_time {
        String units "nanoseconds since 2006-08-08 20:59:01.288246272";
        String calendar "proleptic_gregorian";
    }
    ctd1_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 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}";
    }
    ctd1_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 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}";
    }
    ctd1_salinity {
        Float64 _FillValue NaN;
        String long_name "Salinity";
        String standard_name "sea_water_salinity";
        String units "";
        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}";
    }
    ctd1_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.";
    }
    ctd1_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.";
    }
    ctd1_dissolvedO2 {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen sensor";
        String units "Volts";
        String comment "Analog Voltage Channel 6 - to be converted to umol/kg";
    }
    ctd1_oxygen_mll {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "ml/l";
        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}";
    }
    ctd1_oxygen_umolkg {
        Float64 _FillValue NaN;
        String long_name "Dissolved Oxygen";
        String units "umol/kg";
        String comment "Computed from oxygen_mll with 'np.multiply(o2_mll * 1.4276, (1.0e6 / (dens * 32)))'";
    }
    ctd1_flow1 {
        Float64 _FillValue NaN;
        String long_name "Flow sensor on ctd1";
        String units "Volts";
        String comment "flow1 from ctdDriver.nc";
    }
    ctd1_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from dorado_2006.220.00_cal.nc linearly interpolated to ctd1_time and corrected for pitch using SensorOffset(x=1.003, y=0.0001)";
    }
    ctd2_time {
        String units "nanoseconds since 2006-08-08 20:59:01.698217984";
        String calendar "proleptic_gregorian";
    }
    ctd2_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 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}";
    }
    ctd2_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 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}";
    }
    ctd2_salinity {
        Float64 _FillValue NaN;
        String long_name "Salinity";
        String standard_name "sea_water_salinity";
        String units "";
        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}";
    }
    ctd2_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.";
    }
    ctd2_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.";
    }
    ctd2_flow2 {
        Float64 _FillValue NaN;
        String long_name "Flow sensor on ctd1";
        String units "Volts";
        String comment "flow2 from ctdDriver2.nc";
    }
    ctd2_depth {
        Float64 _FillValue NaN;
        String long_name "Depth";
        String units "m";
        String comment "Variable depth_filtdepth from dorado_2006.220.00_cal.nc linearly interpolated to ctd2_time and corrected for pitch using SensorOffset(x=1.003, y=0.0001)";
    }
    isus_time {
        String units "nanoseconds since 2006-08-08 20:59:35.475904256";
        String calendar "proleptic_gregorian";
    }
    isus_nitrate {
        Float64 _FillValue NaN;
        String long_name "Nitrate";
        String units "micromoles/liter";
        String coordinates "isus_time isus_depth isus_latitude isus_longitude";
        String comment "isusNitrate from isuslog.nc";
    }
    isus_temp {
        Float64 _FillValue NaN;
        String long_name "Temperature from ISUS";
        String units "Celsius";
        String coordinates "isus_time isus_depth isus_latitude isus_longitude";
        String comment "isusTemp from isuslog.nc";
    }
    isus_quality {
        Float64 _FillValue NaN;
        String long_name "Fit Residuals from ISUS";
        String units "";
        String coordinates "isus_time isus_depth isus_latitude isus_longitude";
        String comment "isusQuality from isuslog.nc";
    }
    biolume_depth {
        Float64 _FillValue NaN;
    }
    biolume_flow {
        Float64 _FillValue NaN;
        String long_name "Bioluminesence pump flow rate";
        String units "mL/s";
        String coordinates "biolume_time biolume_depth";
        String comment "flow from biolume.nc";
    }
    biolume_time {
        String units "nanoseconds since 2006-08-08 20:58:34.740030464";
        String calendar "proleptic_gregorian";
    }
    tailcone_time {
        String units "nanoseconds since 2006-08-08 20:58:33.510149120";
        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 "2025-06-26T11:38:13.484242+00:00Z";
        String date_update "2025-06-26T11:38:13.484242+00:00Z";
        String date_modified "2025-06-26T11:38:13.484242+00:00Z";
        String featureType "trajectory";
        String time_coverage_start "2006-08-08T20:58:35.270028544";
        String time_coverage_end "2006-08-09T16:35:53.600971520";
        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_dorado.py --start_year 2005 --end_year 2014 --num_cores 1 -v --noinput --clobber on 2025-06-26T11:38:13.484242+00:00Z";
        String title "Calibrated AUV sensor data from dorado mission 2006.220.00";
        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/AUVCTD/missionlogs/2006/2006220/2006.220.00";
        String comment "MBARI Dorado-class AUV data produced from original data with execution of 'src/data/process_dorado.py --start_year 2005 --end_year 2014 --num_cores 1 -v --noinput --clobber'' at 2025-06-26T11:38:13.484242+00:00Z on host eae60d30a712. Software available at 'https://github.com/mbari-org/auv-python'";
    }
}