# 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 MTNI`AND?)OAp "A@Mb@Mb@Mb@Ni?`%@@MTNIAND?)OAp "AtOMb@Mb@Mb@`?3Ҕ?`@MTNIAND?)OAp "AMb@Mb@Mb@? =@ @MTNI|AND?)OAp "A 豿Mb@Mb@Mb@@֢?z@\@MTNI AND?)OAp "A 5Mb@Mb@Mb@`?f@MTNIAND?)OAp "AMb@Mb@Mb@qw?`8@MTNImAND?)OAp "A`0Mb@Mb@Mb@0? >{? B@MTNI{AND?)OAp "AϲMb@Mb@Mb@@? | #%@MTNIAND?)OAp "A6jMb@Mb@Mb@54?W?@MTNI~AND?)OAp "A6Mb@Mb@Mb@ s?@@y@MTNIVAND?)OAp "AOMb@Mb@Mb@'? >@MTNI|AND?)OAp "A@NMb@Mb@Mb@ l?܍?@d@MTNI!AND?)OAp "AMb@Mb@Mb@?gn?`B@MTNIj$AND?)OAp "AUMb@Mb@Mb@k?W?Q@MTNI (AND?)OAp "AK5Mb@Mb@Mb@?{ 9@MTNIh-AND?)OAp "AfMb@Mb@Mb@`B? kĿ5x@MTNI.AND?)OAp "A iMb@Mb@Mb@@\?`a@MTNI1AND?)OAp "A@Mb@Mb@Mb@ B?E?@]@MTNIB`5AND?)OAp "A Mb@Mb@Mb@ ?<@MTNI+7AND?)OAp "AfMb@Mb@Mb@ ? *@MTNI:AND?)OAp "AMb@Mb@Mb@l ?@@MTNI@MTNIwAND?)OAp "AWMb@Mb@Mb@@?fzͿ@g@MTNI1|AND?)OAp "AʂMb@Mb@Mb@?`?`R@MTNI~AND?)OAp "A@XMb@Mb@Mb@_?@5@MTNI9AND?)OAp "AtOMb@Mb@Mb@`?@?z@MTNIAND?)OAp "A@?Mb@Mb@Mb@ ?5J@MTNI/AND?)OAp "A7Mb@Mb@Mb@?)n@MTNIRAND?)OAp "A5Mb@Mb@Mb@m??e@MTNIʑAND?)OAp "A贿Mb@Mb@Mb@`4?*@MTNIAND?)OAp "Ad5Mb@Mb@Mb@ ?'@MTNIzAND?)OAp "A`PMb@Mb@Mb@?D@MTNIףAND?)OAp "AϲMb@Mb@Mb@F?`[]}@MTNIJ AND?)OAp "A Mb@Mb@Mb@@}?Q?N@MTNIVAND?)OAp "A@5Mb@Mb@Mb@ ?tX7@MTNIAAND?)OAp "AଵMb@Mb@Mb@y?k@H @MTNI AND?)OAp "A@Mb@Mb@Mb@"?fT@MTNI}? AND?)OAp "AMb@Mb@Mb@}? ?tN@MTNIH A$OOAue "AOMb@Mb@Mb@?תЛ@MTNIˡ A$OOAue "A@KiMb@Mb@Mb@1G? yƀ@MTNI A$OOAue "A5Mb@Mb@Mb@\?RD?@MTNIˡ A$OOAue "AMMb@Mb@Mb@ l?Ȗ`Tn@MTNIL7A$OOAue "A@Mb@Mb@Mb@ ϣ?|з@MTNIA$OOAue "AMb@Mb@Mb@?a? @MTNIA$OOAue "A鵿Mb@Mb@Mb@ }ؿ?@ @MTNIA$OOAue "A@uMb@Mb@Mb@۶?L@MTNIA$OOAue "A <Mb@Mb@Mb@t?q (S@MTNI A$OOAue "AiMb@Mb@Mb@E? {?p@MTNIA$OOAue "AMb@Mb@Mb@?0ޓ@MTNIAA$OOAue "AЯMb@Mb@Mb@S?`n?ࣃ@MTNIA$OOAue "AMb@Mb@Mb@@{>?;?|@MTNI#A$OOAue "A@Mb@Mb@Mb@?;䟿@MTNIL7A$OOAue "AiMb@Mb@Mb@`~?~gSw@MTNIVA$OOAue "AMb@Mb@Mb@@t?௰U @MTNI A$OOAue "A`"PMb@Mb@Mb@@?e@<@MTNIA$OOAue "A9Mb@Mb@Mb@?,G@MTNIA$OOAue "A`Mb@Mb@Mb@`??`@MTNI)\A$OOAue "A`chMb@Mb@Mb@@? C`WG@MTNIA$OOAue "A`jMb@Mb@Mb@?MƧ@MTNI A$OOAue "A`8Mb@Mb@Mb@ "%? ֢?@