Attributes {
    navigation_time {
        String standard_name "time";
        String units "nanoseconds since 2009-06-03 22:16:28.638878720";
        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 2009-06-03 22:15:53.811264512";
        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 2009-06-03 22:16:28.638878720";
        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 2009-06-03 22:15:55.861124352";
        String calendar "proleptic_gregorian";
    }
    depth_filtdepth {
        Float64 _FillValue NaN;
        String long_name "Filtered Depth";
        String standard_name "depth";
        String units "m";
        String comment "Original 8.333 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 8.333 Hz pressure data filtered using Butterworth window with cutoff frequency of 1 Hz";
    }
    hs2_time {
        String units "nanoseconds since 2009-06-03 22:16:01.220756992";
        String calendar "proleptic_gregorian";
    }
    hs2_bbp420 {
        Float64 _FillValue NaN;
        String long_name "Particulate backscattering coefficient at 420 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_bbp700 {
        Float64 _FillValue NaN;
        String long_name "Particulate backscattering coefficient at 700 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_fl700 {
        Float64 _FillValue NaN;
        String long_name "Fluorescence at 700 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_2009.154.00_cal.nc linearly interpolated to hs2_time and corrected for pitch using SensorOffset(x=4.5, y=0.0)";
    }
    ctd1_time {
        String units "nanoseconds since 2009-06-03 22:16:46.627646464";
        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': 0.00368121772, 't_b': 0.000599511483, 't_c': 1.56858499e-05, 't_d': 1.84835998e-06, 't_f0': 2938.858, 'c_a': 0.000578374723, 'c_b': 1.52048584, 'c_c': -10.4826184, 'c_d': -8.442463e-05, 'c_m': 3.3, 'eps': -9.57e-08, 'SOc': 0.4367, 'BOc': 0.0, 'Voff': -0.5216, 'TCor': -0.0004, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    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': 0.00368121772, 't_b': 0.000599511483, 't_c': 1.56858499e-05, 't_d': 1.84835998e-06, 't_f0': 2938.858, 'c_a': 0.000578374723, 'c_b': 1.52048584, 'c_c': -10.4826184, 'c_d': -8.442463e-05, 'c_m': 3.3, 'eps': -9.57e-08, 'SOc': 0.4367, 'BOc': 0.0, 'Voff': -0.5216, 'TCor': -0.0004, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    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': 0.00368121772, 't_b': 0.000599511483, 't_c': 1.56858499e-05, 't_d': 1.84835998e-06, 't_f0': 2938.858, 'c_a': 0.000578374723, 'c_b': 1.52048584, 'c_c': -10.4826184, 'c_d': -8.442463e-05, 'c_m': 3.3, 'eps': -9.57e-08, 'SOc': 0.4367, 'BOc': 0.0, 'Voff': -0.5216, 'TCor': -0.0004, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    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': 0.00368121772, 't_b': 0.000599511483, 't_c': 1.56858499e-05, 't_d': 1.84835998e-06, 't_f0': 2938.858, 'c_a': 0.000578374723, 'c_b': 1.52048584, 'c_c': -10.4826184, 'c_d': -8.442463e-05, 'c_m': 3.3, 'eps': -9.57e-08, 'SOc': 0.4367, 'BOc': 0.0, 'Voff': -0.5216, 'TCor': -0.0004, 'PCor': 0.000135, 'ScaleFactor': 50.0, 'DarkCounts': 0.047}";
    }
    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_2009.154.00_cal.nc linearly interpolated to ctd1_time and corrected for pitch using SensorOffset(x=4.5, y=0.0)";
    }
    ctd2_time {
        String units "nanoseconds since 2009-06-03 22:16:22.029331456";
        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': 0.00368121774, 't_b': 0.000604160014, 't_c': 1.63311126e-05, 't_d': 2.05682654e-06, 't_f0': 3304.31, 'c_a': 2.96201222e-05, 'c_b': 1.61297129, 'c_c': -10.6451053, 'c_d': -8.29515681e-05, 'c_m': 4.5, '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': 0.00368121774, 't_b': 0.000604160014, 't_c': 1.63311126e-05, 't_d': 2.05682654e-06, 't_f0': 3304.31, 'c_a': 2.96201222e-05, 'c_b': 1.61297129, 'c_c': -10.6451053, 'c_d': -8.29515681e-05, 'c_m': 4.5, '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': 0.00368121774, 't_b': 0.000604160014, 't_c': 1.63311126e-05, 't_d': 2.05682654e-06, 't_f0': 3304.31, 'c_a': 2.96201222e-05, 'c_b': 1.61297129, 'c_c': -10.6451053, 'c_d': -8.29515681e-05, 'c_m': 4.5, '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_2009.154.00_cal.nc linearly interpolated to ctd2_time and corrected for pitch using SensorOffset(x=4.5, y=0.0)";
    }
    isus_time {
        String units "nanoseconds since 2009-06-03 22:17:17.535529216";
        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 2009-06-03 22:15:55.171137280";
        String calendar "proleptic_gregorian";
    }
    lopc_time {
        String units "milliseconds since 2009-06-03 22:16:05.361124352";
        String calendar "proleptic_gregorian";
    }
    lopc_countListSum {
        String long_name "Sum of Total Particle counts";
        String units "count";
        String coordinates "lopc_time lopc_depth lopc_latitude lopc_longitude";
        String comment "Sum of countListSum values by size class from lopc.nc";
    }
    lopc_transCount {
        Float32 _FillValue NaN;
        String long_name "Transparent particle count with ai < 0.40 with ai > 0.40";
        String units "count";
        String coordinates "lopc_time lopc_depth lopc_latitude lopc_longitude";
        String comment "transCount from lopc.nc";
    }
    lopc_nonTransCount {
        Float32 _FillValue NaN;
        String long_name "Non-Transparent particle count";
        String units "count";
        String coordinates "lopc_time lopc_depth lopc_latitude lopc_longitude";
        String comment "nonTransCount from lopc.nc";
    }
    lopc_LCcount {
        Float32 _FillValue NaN;
        String long_name "Large Copepod count with aiCrit = 0.60, esdMinCrit = 1100, esdMaxCrit = 1700";
        String units "count";
        String coordinates "lopc_time lopc_depth lopc_latitude lopc_longitude";
        String comment "LCcount from lopc.nc";
    }
    lopc_flowSpeed {
        Float32 _FillValue NaN;
        String long_name "Flow Speed";
        String units "m/s";
        String coordinates "lopc_time lopc_depth lopc_latitude lopc_longitude";
        String comment "flowSpeed from lopc.nc";
    }
    tailcone_time {
        String units "nanoseconds since 2009-06-03 22:16:00.440810496";
        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 "2025-06-26T15:01:50.080502+00:00Z";
        String date_update "2025-06-26T15:01:50.080502+00:00Z";
        String date_modified "2025-06-26T15:01:50.080502+00:00Z";
        String featureType "trajectory";
        String time_coverage_start "2009-06-03T22:15:55.861124352";
        String time_coverage_end "2009-06-04T14:57:46.503263232";
        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 2025-06-26T15:01:50.080502+00:00Z";
        String title "Calibrated AUV sensor data from dorado mission 2009.154.00";
        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/2009/2009154/2009.154.00. These data have been processed from the original lopc.bin file produced by the LOPC instrument.  The data in this file are to be considered as simple time series data only and are as close to the original data as possible.  Further processing is required to turn the data into a time series of profiles.";
        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 2025-06-26T15:01:50.080502+00:00Z on host eae60d30a712. Software available at 'https://github.com/mbari-org/auv-python'";
    }
}