# binary trn.data # Contains TRN input records # structured as follows: # # TRN motion update input # integer trn.recordID %d ,trn.recordID ,UNKNOWN # double trn.ptTime %14.4f ,Nav data timestamp ,epoch seconds # double trn.ptX %8.8e ,trn.ptX ,UNKNOWN # double trn.ptY %8.8e ,trn.ptY ,UNKNOWN # double trn.ptZ %8.8e ,trn.ptZ ,UNKNOWN # double trn.ptVx %8.8e ,trn.ptVx ,UNKNOWN # double trn.ptVy %8.8e ,trn.ptVy ,UNKNOWN # double trn.ptVz %8.8e ,trn.ptVz ,UNKNOWN # double trn.ptPhi %8.8e ,trn.ptPhi ,UNKNOWN # double trn.ptTheta %8.8e ,trn.ptTheta ,UNKNOWN # double trn.ptPsi %8.8e ,trn.ptPsi ,UNKNOWN # short trn.ptDvlValid %d ,trn.ptDvlValid ,UNKNOWN # short trn.ptGpsValid %d ,trn.ptGpsValid ,UNKNOWN # short trn.ptBottomLock %d ,trn.ptBottomLock ,UNKNOWN # # TRN measurement update input # integer trn.recordID %d ,trn.recordID ,UNKNOWN # double trn.mtTime %14.4f ,Measurement data timestamp ,epoch seconds # integer trn.mtDataType %d ,trn.mtDataType ,UNKNOWN # double trn.mtX %8.8e ,trn.mtX ,UNKNOWN # double trn.mtY %8.8e ,trn.mtY ,UNKNOWN # double trn.mtZ %8.8e ,trn.mtZ ,UNKNOWN # integer trn.mtPingNumber %d ,trn.mtPingNumber ,UNKNOWN # integer trn.mtNumMeas %d ,trn.mtNumMeas ,UNKNOWN # followed by an array of beam entries, e.g.: # short trn.mtBeamNum_00 %d ,trn.mtBeamNum_00 ,UNKNOWN # short trn.mtStatus_00 %d ,trn.mtStatus_00 ,UNKNOWN # double trn.mtRange_00 %8.8e ,trn.mtRange_00 ,UNKNOWN # double trn.mtCrosstrack_00 %8.8e ,trn.mtCrosstrack_00 ,UNKNOWN # double trn.mtAlongtrack_00 %8.8e ,trn.mtAlongtrack_00 ,UNKNOWN # double trn.mtAltitudes_00 %8.8e ,trn.mtAltitudes_00 ,UNKNOWN # # Record IDs are 32-bit (4 byte) printable ASCII sequences: # 'MTNI' : motion update input # 'MEAI' : measurement update input # 'MTNO' : motion update output (not implemented) # 'MEAO' : measurement update (not implemented) # Record order is not guaranteed. # begin MTNIZdAWNAxhw#"A!* @"?@`j???Hǿw@MEAIZdA W@ΟU@ S@Y@MTNIB`ANA&@ur#"AS@G?E?"? y?Jǿ@G@MEAIB`AIX@ ^U@`U@IX@MSEOB`AzNA9#"Af!@NA&@ur#"AS@y?Jǿ@G@ 1ݽ@ >t2@xԍ^@?x@<@@n2+փ 7@?U.Ɍ?v9vN:@:MEAIЊAE>X@`6S@@S@nW@MTNI/ݼANA6M!N9#"A $@Mb?@^?n?? FuĿA@MSEO/ݼA&NA…ϣ#"A矬Ȯ2@NA6M!N9#"A $@?FuĿA@/??zD@]L)2q+M7@e?Ǧ99P:MTNIA:NA.6#"A%@?5?n?`-¿ ?`¿R@MSEOA-ؠNA,mK#"Aw`q 3@:NA.6#"A%@ ?_¿.R@(\D@dɐ1"7@ ?`99`:MEAI= A`V@S@`6S@ W@MTNIA`b:>`9:MEAI-A@V@`PS@R@@TW@MTNIjA5NA$X,#"A)'@`d;?&Mb??h˿`@MSEOjAqcNA#"A֠'4@5NA$X,#"A)'@?h˿_@96佽t@;I`7@ϩ?9p9A:MEAIˡA 1PW@nS@ʙR@@W@MTNIAĶmNA˽o^*#"A@ѐ(@`;??rh?w?HAο@?@MSEOA"NA#"A 5@ĶmNA˽o^*#"A@ѐ(@w?Q HAο~??@_FJr@XnilZ=,P9}7@WfFр?!I:@u: 0:MTNI7AzQkONA/i%#"A@**@ ??5?ZĿ@?`̿ @MSEO7A7~"ANAv핏#"AtO6@zQkONA/i%#"A@**@@?`̿@Jr@ɪmX=x|7@(A>l?{ : Y:)?:MEAIA@sV@tR@ ZQ@TW@MTNI+A0NAVr #"AW+@E? `? 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