# 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 MEAIrGAQ8%@ "@ @@@MTNIpŜGAѼ iyOAИFA0Mbp`;?`;Bӿ )@MEAIҵGA`f&%@p"@ @@@MTNIxѝGAѼ iyOAИFA@hMb`thMb`P? 1ӿ`,@MEAIGA7%@V"@!@@@MTNIff֞GAѼ iyOAИFAh+?MbP?@6?`&;ӿ .@MEAI`GA`f&%@V"@!@= @MTNI+ޟGAѼ iyOAИFAinMbP?th@,?bCӿ@]7@MEAI'1GAQ8%@p"@ @`t@MTNIޠGAѼ iyOAИFAc5n?tx?@|? ?>ӿ[F@MEAI^GAQ8%@"@!@@MTNIGAѼ iyOAИFA5th@|?@)H?5ӿ@S@MEAIVGA7%@V"@!@v>@MTNI33GAѼ iyOAИFA`Иtth@X?;ӿ$`@MEAIL7GA`I%@V"@- @@MTNIGAѼ iyOAИFA5Q?Mb`?@zt?`iܽ?5ӿ`j@MTNIyGAѼ iyOAИFAh@Mb`@ztO?j6ӿt@MEAI(ĥGA`f&%@"@ @@MTNIL7GAѼ iyOAИFA`*Mbp?MbPthஎ?4ӿz@MEAI/ĦGA7%@@- @@MTNIˡGAѼ iyOAИFA`)ϢMbPt?MbP@?A<ӿ@MEAIVݧGA7%@"@- @`{@MTNIˡGAѼ iyOAИFAМMbP?MbP@.ݾ?5ӿ}@MEAIףGA`I%@ "@!@`{@MTNIq=GAѼ iyOAИFAQКtx?txY`?,ӿv@MEAIHGAz%@"@ @v>@MTNIX9GAѼ iyOAИFA`@|?nMbP@q?0ӿi@MEAIRGA7%@A"@!@&@MTNIPGAѼ iyOAИFA5@zMb`@|N?`3ӿ_@MEAI GAQ8%@"@ @@ @MTNI33GAѼ iyOAИFA𛢿@z?MbpMb?@NK?:ӿ Y@MTNI{GAѼ iyOAИFA`j ?MbP?tx?`8B?`32ӿcP@MEAI{GA`f&%@"@- @@s@MTNIm#GAѼ iyOAИFA ϡ@z?Mb`?@zt??`9ӿH@MEAIm#GA7%@V"@!@= @MTNI/$GAѼ iyOAИFA~hMbP?Mb`?@?@=ӿ9B@MEAI/$GA7%@"@- @= @MTNIl'GAѼ iyOAИFA`jtx?@V?`5ӿA@MEAIGA7%@"@!@= @MTNIo+GAѼ iyOAИFA`)ϢMb`th?QV?@8ӿ>@MTNICGAѼ iyOAИFAc5Mb@zt?txp? 0:ӿ@B@MEAICGA7%@V"@- @`P@MTNIbHGAѼ iyOAИFA6`d;?@|?`t?&?@:9ӿ@I@MEAIbHGA`f&%@"@- @@s@MEAI9GA`f&%@A"@- @ k@MTNIRNGAѼ iyOAИFAtxMb`?Mb` `վ?Bӿ~S@MTNIQGAѼ iyOAИFA ԛtMbp?Mbp@?=ӿ d@MEAIQGA`f&%@"@- @v>@MTNIITGAѼ iyOAИFAtxMbMb ľ?;ӿ@be@MEAIITGA`f&%@V"@- @`{@