# 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 MTNIl Aaq+NA>'"Aт@O??)\? 0?C(? ?MEAI A ^\@ AU@@ RY@@V@MTNIZd A(NA3x'"AŜthʿQ@?_>)?MEAI A^@ NU@@X@ VW@MTNIT A6-NAH_v'"A 5)\?@5^?&1? ?ɀ?y?MTNIV AvBNA+'"A^rh?A`ſ@z? ?@)?MEAI AZZ@@bV@`dW@@bV@MTNI A{NAwZ'"A 1?MbOǿ ?B?\?MEAIZdA[@rU@W@W@MTNIjAW2NAw= '"A =Ы `̿@O?@?`5?MTNIAvkNA)5#'"AG"ʡſ@?V?@ ? z?MEAI'1A\@Q8U@X@W@MTNIA'*6NAܪ%'"AE?Mbп?sp?!Գ?MEAI}?A[@ U@@X@V@MTNI/AQNA@ij%'"A@i`-?`-?M??!¿ڙ?MEAI-ACc[@MV@W@tV@MTNIANA*'"Aa(?xƿnਪ?`X`?MEAIlA`k[@VV@@bX@VV@MTNIxANA*'"A1ϳMb?rh?jܿ@?`xk?MEAI{A\@ NU@@X@@X@MTNI+A&NANq}*'"A '@ ?= `??ׄ?5?MEAIAW@)W@@ZW@@`V@MTNIA̎NAT/@,'"Av?Mb@`尿'G?l?MEAIOA [@ MV@lW@U@MTNId;AKNAhL,'"A "|Ͽ )?`?MEAIbAW@EX@`fW@V@MTNI\ANAxi,'"A϶A`?x?O׿x?@=g?MTNIFA]NAyZ/'"A`~?+?Mb?S?%?