# # 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: # moe,4002:udp:1:/dev/{serialPort}:115200 shortest=98 maxAge=0.002 NONE 1STOPBIT 8DATABITS host: moe 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 =EACaccelerometeraccelerometer:2.01 @ESPmoe !/var/log/esp/EAConly_2012-09-06_22.53.raw $/dev/null ^1970 [2012-09-06PDT22:53:04.67 ]2012-09-26PDT22:53:34.67 k8z;=,<@<;ak?ܠ>!L;.jd?0xν=i>w?r=cUx=〾@>88z<5 +; k?>E;.;d?=ͽli>w?k=9 dJwှCY>_8zO49;7dd?̽i>w?F=&fxQހَQ>ˆ8zA|'5;;덼<;ql?@>,;Ye?0~x˽&i>\w?mޱ=)/fwɀΏ]>ۭ8z<~39-;#߼l?z>ӌ;f^e?~ɽi>w?/ů=5\d&yw褀H* >8z7,nEv~;X4e?hl~aȽi>w?v|=k.b|xɒ>8z;<`$B;:ü+m?`>HΘ;e?A~FȽ.j>[w?=dDwug> #8zL0<4qwM3<lm?u>1;긾kf?~uƽj>w?=fw쑻.>J8zx'~;6n:m?A> ;/yOf?H~Ž(j>w?=gw٘>,q8z4$}]_;蜶kf?N~jĽj>'w?cȩ=.ejx%><8zBC<H鎼[^s;􂵾Bf?~½Sw?zW=/bwxyb>L8zBA'9wI<'¼;v;HYn?:к>;Flf?~9]k>w?=?cw s2>\8zӒe *;lg,g?x~\W1k>w? =ke8w>>l 8z0V,1<#e(ڜ;Ƽn?Ⓒ>~A;PIdg?o~2k>w?c=|48z /pg;g?l~#l>Ow?=v"hwlo툻n>[8zF w<&zH:o?A>h;Ig?n~+f=l>+w?=`f8wa L>8zn+!F9\;ٮph?%J~UTl>w?=e%!x~~f>8z¤;F]<o?>;㿭Fh?#~1n\vl>w?=Uhwfy>8z3ŋ;]o{h?H~yll>w?=Yg-x~{>8z#;s;9$p?`>; Kh?X>~dl>w?:=fqhwtw>8ztH8<EXTbp?>%;Fgh?.@~Q;/7m>Jw?o1=khxy?v>E8zGs<.;Ԩ+i?rN~zxgm>:w?Gܖ=MBfxȜm>l8z3+F;Xŧai?0~PXm>7w? i=gw[O=> 8zV0S*;񉦾Μi?}TFm>x?_=g8xFC(ᨻ>8zsKQ0q?J>yp;Yi?t}'wm>x?=e=w=㢻9>-8zf/w"<E%눼_ۜ;x j?}anm>x?g=vgw1 x8>= 8z80[d;bݢBj?} V[n>x?=һdwx<'S>M08z* H99<{ү #;wj?}d#Nn>_x?+J=Mfwt^W8z'<9μ[r?H> ;Jj?~Dvn>w?^z=gwj?ΝT>n~8z(2<$K߼hڇ;VRr?>~m;gXj?$~8n>w?=gGxlNޡ:>~8zC5!<ņZҼI;Cr?>;3# k?~D૽o>!w?+=Ni,xWaWѦ>8z7 ;E~9k?P~o>w?=Hi(wH %>8z_, <.du)i;,țqk?}~X !~o>{w?=16j+w&`(=>8zS7Y<|~q V Ҩ;k?l~p p>w?"=Rhj5w ȷ>A8zq,S*G;X)k?E~s|p>?w?=|@i>x{{ >d8z740<@2tiƼ9 ¯ټs?>; l?&~Q/p>aw?=hwyisz?>ޏ8zP(>-;!7l?)~^p>w?"=hXwk >8z(47<2 =;Oٕgl?~9~p>Mw?u=^hwt`͝>8z*<]xh.oE;ʺڕl? ~[բp> w?ً=jףwYU͐>8z{<;@ ˼;<0Lt?>;”l?}Gɡp>w?Ň=nxrS׫R>,8zc(1< ;tμ}t?—>;2bIl?}^p>x?u=ohiw!.2H >/S8zW+(<(>̼dń;4$m?}}ԟq>x?ì=MjYxhE#ɘ>?z8z(L;8Lm?~ž@]q>w?g=}jw ^Aq>O8z+\;rnzm?~őgq>w?=NjxVlGW>_8zP:<yP<+:u?X>:(;CAm?~.Oq>w?n6z=xjxPW;>o8z{w D2z; nm?}:ծq>x?Tq=|i~x8Q>8z 8 ;2;6M n?}ݙ r>x? |=l:xL=Z>=8zF 0<&gW<4μu?1>[;:n?j}*d2q>x?=%kwㄵ>d8z>><#nv <0ռu?>F;戾=bn?}xX8r>Dx?|=Thw0kۏ>8z(D7<F`RȀH<Ӽ!v?ƌ> ;pqn?o}x$vr>x?Tp=jx'2CE>8z3;~n?c}ǔVr>x?U#t=nlx%rfJ>8zԛD ;gLr;zv?N>[;rR n?<}RNr>mx?K|p=#uoJx+R>8z۝0ɶ; o?u}rs>x?ZQp=lw,7Ҷ>'8z5 <"%K)I) ;H傾6o?}Ms>x?ft=>kw*O~p>O8zV3"\<1e|;v?t>Z;ʯi_o?E~UQs>w?Vf=hw3Yf;'>v8zͮ3;g̬cӼ*w?lO>;%qo?#}Bޔs>x? k=ow.@߼WԆ> 8zUu<0U;ȞQw?+>8;=~o?}Ws>x?k=̳lw?22>08z34w<(\f ;|w?>; =|o?}^s>?x?Cc=m\x.ൺW>@8zD<ߡ^μ>;U?w?ὁ>=;yp?n}ˋ(s>x?U_=Èn7x »>P8z<4<\;ҷw?}>+;wU0p?Du}m+x??]=n.xE ؁>a98zY0< է;/uWp?oq}~t>x?+^=7l-w-džûj>q`8zh$i*#D;rp?*&}s> x?\=kr1x0`~>8zeP&<т*߫WGx?y>; Vp+p?u|s>x?+]=k@x%»{>8zA<An@px?|v>j;^mp?}<:t> x?{Y=VDjwd(Wy>8z=#s ;hXkp?|}qt>x?d X=\mw{sǻv>8ze ?4O;ie#q?|kTQt>Fx?K=k15xnFQmt>#8zb;rV1lD/<x?o>Ȣ;fIq?i|NVt>x?_V=owF)dq>J8zDp /;H#F;<y?:l>pF;%dsq?U}|_t>Ex?lQ==pw4#-in>q8zE7N;;a.q?|:|t>x?F=b@nOwh8zw ,;~;(_q? |myu>'x?JKQ=o}wLMi>8z;3 ;{\oq?|vw7u>x?-B=4o*xf>8zLO<4j ۼy?b>#;M0Zr?|tNu>x?F=ħn=w v3|[d>"8zJ.or,<y V; Ǽy?_>;qW$r?|rŝu>;x? 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