#
# MBARI ESP raw log verison 1.0
#
#  log configuration for ESP drifter lab test with only EAC on ESP via UDP
#    -- 8/30/13 brent@mbari.org
#

2 seconds/flush

raw file:  /var/log/esp/EAConly_%F_%H.%M.raw   #unique name for raw log
data file: /dev/null                #suppress structured log

#start:  7/4/11 23:15               #start time for structured log
#end:  7/9 19:59:49                 #end time for all logging

20 days    #log for twice the expected mission duration
30 secs


sensor:  accelerometer
instance:  EAC   #ESP accelerometer attached via UDP to espbrent
# assumes host is running mbari ser2net with config line:
#  4002:udp:1:/dev/{serialPort}:115200 shortest=98 maxAge=0.002 NONE 1STOPBIT 8DATABITS
    host:  espmoe
    port:  4002/udp
    mode:  fast
    10hz  #170 divisor already programmed
    
    acceleration: Accel_x
      offset:  0
      min:  -5
      max:  5
      format:  "%.3f"  #units are g's
	  
    acceleration: Accel_y
      offset:  1
      min:  -5
      max:  5
      format:  "%.3f"  #units are g's
	  
    acceleration: Accel_z
      offset:  2
      min:  -5
      max:  5
      format:  "%.3f"  #units are g's
	  
    angular_rate: AngRate_x
      offset:  3
      min:  -5.25
      max:  5.25
      format:  "%.2f"  #radians/second
	  
    angular_rate: AngRate_y
      offset:  4
      min:  -5.25
      max:  5.25
      format:  "%.2f"
	  
    angular_rate: AngRate_z
      offset:  5
      min:  -5.25
      max:  5.25
     format:  "%.2f"

    orientation_matrix: M11
      offset:  9
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M12
      offset:  10
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M13
      offset:  11
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M21
      offset:  12
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M22
      offset:  13
      min:  -2
      max:  2
      format:  "%.4f"
       
    orientation_matrix: M23
      offset:  14
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M31
      offset:  15
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M32
      offset:  16
      min:  -2
      max:  2
      format:  "%.4f"
	
    orientation_matrix: M33
      offset:  17
      min:  -2
      max:  2
      format:  "%.4f"

	
    acceleration: enu_accel_x
      offset:  18
      min:  -5
      max:  5
      format:  "%.3f"  #units are g's
	  
    acceleration: enu_accel_y
      offset:  19
      min:  -5
      max:  5
      format:  "%.3f"  #units are g's

    acceleration: enu_accel_z
      offset:  20
      min:  -5
      max:  5
      format:  "%.3f"  #units are g's
	
    euler_angle: Roll
      offset:  21
      min:  -3.2
      max:  3.2
      format:  "%.3f"  #radians
	  
    euler_angle: Pitch
      offset:  22
      min:  -3.2
      max:  3.2
      format:  "%.3f"  #radians
	  
    euler_angle : Raw
      offset:  23
      min:  -3.2
      max:  3.2
      format:  "%.3f"  #radians
         
: EAC  #ESP accelerometer end

=EAC accelerometer accelerometer:2.01 € 
@ESPmoe
!/var/log/esp/EAConly_2012-09-06_22.52.raw
$/dev/null
^1970
[2012-09-06PDT22:52:27.86
]2012-09-26PDT22:52:57.85