# 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 MEAIGAr@X@`f6R@V@U@MTNIZdAL#cYNA;tQl&"Ai?Sӿ`tw?-U?MTNIAr*NAjn&"A 㜻?K X9??Tޝ '?MEAIOA`DX@R@ W@Q8U@MTNIAZNA!ua7q&"A8|???`ff޿?辠2?MEAI A*X@PR@`V@ VS@MTNIMAZNA!ua7q&"A貿??5Mb?@()??MEAI;߿AY@ dQ@U@`W@MTNIA2]˴NAdž9q&"A鵿`ɿ @?!?@&?MEAIX9A7X@+R@@V@xS@MTNIAfNAk}s&"A t?@ȶ@5^ҿC?@h?s&?MEAI$A*X@tQ@rV@@^U@MTNIA<lNA⾢s&"A6@5^ʿrhѿ@z?`v?`_@u?MEAIA+7[@ dQ@vVV@@V@MTNI"AbvδNAg)v&"A@h`X?v`?9踿+?MEAI A H[@@7Q@`V@gV@MTNIffANA@ x&"AbMb?xƿ& j?@??MTNI+A;/ɡNAgaz&"A0`X?Ը?jܿ ?`y௢?MEAIA@\@ JQ@QW@`W@MTNImAԴNAXm}&"A@?rh?@? G?@~?MEAIGAn\@@ Q@`W@pV@MTNI}?A"6NAE#&"A%Mb?`-?+?Z?v?MTNIRAhNArH&"A`-?$?h?(? l? ?MEAIshA H[@Q@QW@@pS@MTNI5^ A3Ri NA\8.&"A`Vi ??+?`$K?Z ?MEAIAP^@r0Q@ज़W@pV@MTNIj A3Ri NA\8.&"Ahh?`???Ω@j?MTNI+Aˡ=NA#i&"A@M? ?`M?`za@$?MEAIZA@2[@Q@`f&X@ ZNA*ȕ&"Av?Q?|??@?MTNI*A͂~xNAY+@&"AM"ӿx޿ Gٿ3?(zF?MEAI*AX@׳Q@@U@lU@MEAI9(A[@R@`V@gV@MTNI @ABNA4͕&"A`贿@7?t?&1?? Ҧ??MEAI33+ A@ W@TS@ U@MTNIZD A6! NAi|&"A@E?)\?V?S?`?@KR?MEAIj, A)\@tQ@gV@@^U@MTNIVF A+ܵNAF5&"A 6@b?@5^???H?`W?MEAI71 AY@Q@=T@n"V@MTNI%I AinNA?&"A``-¿`I|?%R?#ƱW?MEAIM2 A)Z@Q@|V@@`U@MTNI!J AqNAb&"A `t?@?Eƿ?`𮚿`?MEAI4 AȖZ@PR@RV@V@MTNIP A2NA'-ag&"A^?5? 1?t? *? s?MEAI8A Y@Q@@V@"S@MTNI-jA+NA*O&"A@eP` rؿ ؿ a?x¿?MEAIo;A/X@R@ W@+R@MTNIX9lAѥNA!n2ئ&"A`l? \¿" h?`q`?MEAI";A`f&X@+R@V@S@MTNI)\oA0NA'I&"A`Q??E @j?@f??MEAI+A*X@jR@*X@R@MTNIosA(&zNA,&"A@ϲ? Zd? ?Kߴ?]W?MEAI{.A`DX@`9R@ВX@ XR@MTNI7yAB NA&"Aoip=ʿCܿQ?5?`d?MEAI+.A@bH[@ 6R@;X@`S@MTNI33{A9ݶNAVQ&"A rh?Eÿ+׿`u&?V?MEAI1AAx[@`f6R@X@MTNIlA