% The first 8 columns: time delta_T Sonar_Angle Sonar_Distance Magnetic_Yaw GyrZ c(forward command) w(turn command) uz(up-down command) % The others are less important: Pressure AccX_corrected Inertial_Yaw realtime2 realtime1 deltaT1 % The commands (c w uz) are not yet implemented % The magnetic yaw is relative to the north axis and should be corrected %time dT alpha dist Mag_Yaw GyrZ c(forward command) w(turn command) uz(up-down command) 0.000000 0.000000 -5.340708 1.906740 2.396921 -0.002834 0.000000 0.000000 0.000000 1.003604 3.103129 -0.002129 6749.000000 95.062000 0.000000 0.124841 0.124841 -5.026548 0.996705 2.398088 0.013017 0.000000 0.000000 0.000000 1.003598 3.103118 0.009673 6749.000000 95.174000 0.112000 0.249682 0.124841 -4.712389 0.650025 2.396490 0.004629 0.000000 0.000000 0.000000 1.003591 3.102691 0.018267 6749.000000 95.286000 0.112000 0.374523 0.124841 -4.398230 0.606690 2.397181 0.003668 0.000000 0.000000 0.000000 1.003593 3.102940 -0.001596 6749.000000 95.398000 0.112000 0.499365 0.124841 -4.084070 0.563355 2.398568 -0.003019 0.000000 0.000000 0.000000 1.003611 3.102593 -0.003694 6749.000000 95.510000 0.112000 0.624206 0.124841 -3.769911 0.606690 2.398262 -0.000798 0.000000 0.000000 0.000000 1.003626 3.101611 0.003973 6750.000000 95.622000 0.112000 0.686626 0.062420 -3.612832 0.650025 2.396960 -0.011076 0.000000 0.000000 0.000000 1.003621 3.101482 -0.002066 6750.000000 95.734000 0.112000 0.811467 0.124841 -3.298672 0.606690 2.398121 0.007536 0.000000 0.000000 0.000000 1.003608 3.101714 0.012118 6750.000000 95.845000 0.111000 0.936308 0.124841 -2.984513 0.476685 2.398253 -0.010527 0.000000 0.000000 0.000000 1.003595 3.101531 0.005457 6750.000000 95.958000 0.113000 1.061149 0.124841 -2.670354 0.476685 2.399594 0.005366 0.000000 0.000000 0.000000 1.003592 3.102069 -0.006525 6750.000000 96.069000 0.111000 1.185990 0.124841 -2.356194 0.476685 2.400606 -0.009141 0.000000 0.000000 0.000000 1.003592 3.101909 -0.009588 6750.000000 96.182000 0.113000 1.310831 0.124841 -2.042035 0.476685 2.399414 0.014950 0.000000 0.000000 0.000000 1.003600 3.101044 0.010909 6750.000000 96.293000 0.111000 1.435672 0.124841 -1.727876 0.650025 2.398684 0.014723 0.000000 0.000000 0.000000 1.003596 3.101372 0.001273 6750.000000 96.406000 0.113000 1.498093 0.062421 -1.570796 0.736695 2.398023 0.001131 0.000000 0.000000 0.000000 1.003603 3.101219 0.001990 6750.000000 96.517000 0.111000 1.622934 0.124841 -1.256637 1.516725 2.398835 0.005951 0.000000 0.000000 0.000000 1.003612 3.101581 0.005725 6751.000000 96.629000 0.112000 1.747775 0.124841 -0.942478 6.370245 2.399130 -0.004663 0.000000 0.000000 0.000000 1.003619 3.101969 -0.004577 6751.000000 96.741000 0.112000 1.872616 0.124841 -0.628319 0.476685 2.401733 0.011061 0.000000 0.000000 0.000000 1.003631 3.102252 0.006344 6751.000000 96.853000 0.112000 1.997457 0.124841 -0.314159 6.586920 2.403083 -0.013559 0.000000 0.000000 0.000000 1.003626 3.100590 0.009243 6751.000000 96.965000 0.112000 2.059877 0.062420 -0.157080 5.546880 2.403218 0.008532 0.000000 0.000000 0.000000 1.003607 3.100038 0.044724 6751.000000 97.077000 0.112000 2.184718 0.124841 -6.126106 4.550175 2.390247 0.022574 0.000000 0.000000 0.000000 1.003582 3.100034 0.020378 6751.000000 97.189000 0.112000 2.309560 0.124841 -5.811946 4.116825 2.392094 0.017256 0.000000 0.000000 0.000000 1.003558 3.100179 0.059077 6751.000000 97.301000 0.112000 2.434401 0.124841 -5.497787 2.123415 2.403576 0.008068 0.000000 0.000000 0.000000 1.003540 3.100554 0.051433 6751.000000 97.413000 0.112000 2.559242 0.124841 -5.183628 1.083375 2.409585 0.019410 0.000000 0.000000 0.000000 1.003494 3.102503 0.042767 6751.000000 97.525000 0.112000 2.621662 0.062421 -5.026548 0.823365 2.407931 0.005350 0.000000 0.000000 0.000000 1.003443 3.102998 0.060768 6752.000000 97.637000 0.112000 2.746503 0.124841 -4.712389 0.650025 2.396125 0.014111 0.000000 0.000000 0.000000 1.003428 3.103971 0.068136 6752.000000 97.749000 0.112000 2.871344 0.124841 -4.398230 0.563355 2.408939 0.044477 0.000000 0.000000 0.000000 1.003385 3.106045 0.106233 6752.000000 97.861000 0.112000 2.996186 0.124841 -4.084070 0.520020 2.412011 0.015112 0.000000 0.000000 0.000000 1.003358 3.108927 0.057345 6752.000000 97.973000 0.112000 3.121026 0.124841 -3.769911 0.606690 2.399110 0.025122 0.000000 0.000000 0.000000 1.003300 3.109995 0.055577 6752.000000 98.085000 0.112000 3.183447 0.062420 -3.612832 0.606690 2.407677 0.021341 0.000000 0.000000 0.000000 1.003266 3.114094 0.032523 6752.000000 98.197000 0.112000 3.308288 0.124841 -3.298672 0.346680 2.407472 0.019574 0.000000 0.000000 0.000000 1.003238 3.120276 -0.018785 6752.000000 98.309000 0.112000 3.433129 0.124841 -2.984513 0.476685 2.433659 0.029054 0.000000 0.000000 0.000000 1.003230 3.125656 0.017226 6752.000000 98.421000 0.112000 3.557970 0.124841 -2.670354 0.476685 2.439688 0.043428 0.000000 0.000000 0.000000 1.003250 3.129167 -0.019615 6752.000000 98.533000 0.112000 3.682811 0.124841 -2.356194 0.476685 2.423471 0.035084 0.000000 0.000000 0.000000 1.003263 3.131086 -0.024177 6753.000000 98.645000 0.112000 3.807652 0.124841 -2.042035 0.563355 2.402438 0.026278 0.000000 0.000000 0.000000 1.003279 3.133415 -0.014371 6753.000000 98.757000 0.112000 3.870073 0.062420 -1.884956 0.650025 2.413400 0.012760 0.000000 0.000000 0.000000 1.003307 3.133698 -0.056008 6753.000000 98.869000 0.112000 3.994914 0.124841 -1.570796 0.910035 2.410680 -0.014018 0.000000 0.000000 0.000000 1.003246 3.131715 -0.028724 6753.000000 98.981000 0.112000 4.119755 0.124841 -1.256637 1.646730 2.424496 -0.018312 0.000000 0.000000 0.000000 1.003239 3.129403 -0.058291 6753.000000 99.093000 0.112000 4.244596 0.124841 -0.942478 7.410285 2.429272 -0.024110 0.000000 0.000000 0.000000 1.003320 3.126429 -0.027439 6753.000000 99.205000 0.112000 4.307016 0.062421 -0.785398 0.563355 2.430056 -0.022006 0.000000 0.000000 0.000000 1.003439 3.120568 -0.045081 6753.000000 99.317000 0.112000 4.431857 0.124841 -0.471239 7.756965 2.411769 -0.060936 0.000000 0.000000 0.000000 1.003592 3.113263 -0.039065 6753.000000 99.429000 0.112000 4.556698 0.124841 -0.157080 5.373540 2.393812 -0.044967 0.000000 0.000000 0.000000 1.003728 3.104838 -0.063629 6753.000000 99.541000 0.112000 4.681539 0.124841 -6.126106 4.463505 2.354192 -0.070515 0.000000 0.000000 0.000000 1.003931 3.095175 -0.041107 6754.000000 99.669000 0.128000 4.806381 0.124841 -5.811946 3.986820 2.377416 -0.101773 0.000000 0.000000 0.000000 1.004128 3.083786 -0.089855 6754.000000 99.781000 0.112000 4.868801 0.062420 -5.654867 3.986820 2.374708 -0.131380 0.000000 0.000000 0.000000 1.004373 3.070245 -0.073940 6754.000000 99.893000 0.112000 4.993642 0.124841 -5.340708 1.516725 2.368863 -0.098826 0.000000 0.000000 0.000000 1.004556 3.062028 -0.049611 6754.000000 100.005000 0.112000 5.118483 0.124841 -5.026548 1.126710 2.339457 -0.108430 0.000000 0.000000 0.000000 1.004825 3.048690 -0.025667 6754.000000 100.117000 0.112000 5.243324 0.124841 -4.712389 0.910035 2.297571 -0.109642 0.000000 0.000000 0.000000 1.004993 3.033922 -0.073754 6754.000000 100.229000 0.112000 5.368165 0.124841 -4.398230 0.780030 2.290738 -0.114323 0.000000 0.000000 0.000000 1.005238 3.020975 -0.041534 6754.000000 100.340000 0.111000 5.430586 0.062421 -4.241150 0.736695 2.309631 -0.102384 0.000000 0.000000 0.000000 1.005523 3.013063 -0.049674 6754.000000 100.452000 0.112000 5.555427 0.124841 -3.926991 0.780030 2.296379 -0.114300 0.000000 0.000000 0.000000 1.005767 2.996036 -0.078027 6754.000000 100.564000 0.112000 5.680268 0.124841 -3.612832 0.823365 2.279604 -0.067035 0.000000 0.000000 0.000000 1.005951 2.989180 -0.027051 6755.000000 100.677000 0.113000 5.805109 0.124841 -3.298672 0.953370 2.251736 -0.080208 0.000000 0.000000 0.000000 1.006225 2.980386 -0.047326 6755.000000 100.788000 0.111000 5.929950 0.124841 -2.984513 0.910035 2.244774 -0.069144 0.000000 0.000000 0.000000 1.006372 2.973007 -0.028378 6755.000000 100.900000 0.112000 6.054791 0.124841 -2.670354 0.780030 2.263131 -0.048893 0.000000 0.000000 0.000000 1.006566 2.968197 -0.075472 6755.000000 101.012000 0.112000 6.117212 0.062421 -2.513274 0.780030 2.256958 -0.033208 0.000000 0.000000 0.000000 1.006749 2.964822 -0.039038 6755.000000 101.124000 0.112000 6.242053 0.124841 -2.199115 0.823365 2.241329 -0.032152 0.000000 0.000000 0.000000 1.006876 2.962248 -0.045502 6755.000000 101.236000 0.112000 6.366893 0.124841 -1.884956 0.910035 2.233058 -0.013412 0.000000 0.000000 0.000000 1.006987 2.961315 -0.027914 6755.000000 101.348000 0.112000 6.491735 0.124841 -1.570796 1.126710 2.237612 -0.023277 0.000000 0.000000 0.000000 1.007090 2.960581 -0.061198 6755.000000 101.460000 0.112000 6.554155 0.062420 -1.413717 1.386720 2.224706 -0.008939 0.000000 0.000000 0.000000 1.007206 2.961572 -0.040053 6755.000000 101.572000 0.112000 6.678996 0.124841 -1.099557 8.190315 2.218527 0.011582 0.000000 0.000000 0.000000 1.007296 2.962819 -0.074547 6756.000000 101.684000 0.112000 6.803837 0.124841 -0.785398 8.103645 2.229285 0.006435 0.000000 0.000000 0.000000 1.007412 2.964381 -0.081196 6756.000000 101.796000 0.112000 6.928678 0.124841 -0.471239 5.373540 2.246588 0.019617 0.000000 0.000000 0.000000 1.007601 2.967247 -0.083683 6756.000000 101.908000 0.112000 7.053519 0.124841 -0.157080 5.503545 2.255995 0.029883 0.000000 0.000000 0.000000 1.007745 2.971068 -0.067089 6756.000000 102.060000 0.152000 7.178360 0.124841 -6.126106 4.680180 2.217425 0.003603 0.000000 0.000000 0.000000 1.007987 2.976238 -0.119023 6756.000000 102.219000 0.159000 7.365622 0.187262 -5.654867 3.726810 2.190794 0.016913 0.000000 0.000000 0.000000 1.008235 2.979947 -0.042250 6756.000000 102.468000 0.249000 7.615304 0.249682 -5.026548 1.733400 2.248545 0.055914 0.000000 0.000000 0.000000 1.008648 2.987374 -0.062225 6757.000000 102.617000 0.149000 7.740145 0.124841 -4.712389 1.430055 2.230956 0.011892 0.000000 0.000000 0.000000 1.008894 2.992748 -0.055893 6757.000000 102.715000 0.098000 7.864986 0.124841 -4.398230 1.170045 2.201194 0.039791 0.000000 0.000000 0.000000 1.009039 2.996332 -0.050306 6757.000000 102.811000 0.096000 7.927407 0.062421 -4.241150 1.170045 2.213216 0.030450 0.000000 0.000000 0.000000 1.009198 3.001486 -0.047409 6757.000000 102.916000 0.105000 8.052248 0.124841 -3.926991 1.083375 2.214346 0.043907 0.000000 0.000000 0.000000 1.009383 3.006099 -0.061990 6757.000000 103.028000 0.112000 8.177089 0.124841 -3.612832 1.170045 2.239516 0.037640 0.000000 0.000000 0.000000 1.009534 3.012799 -0.059742 6757.000000 103.140000 0.112000 8.301930 0.124841 -3.298672 0.390015 2.222934 0.044567 0.000000 0.000000 0.000000 1.009725 3.019106 -0.080375 6757.000000 103.299000 0.159000 8.426771 0.124841 -2.984513 1.256715 2.246757 0.067250 0.000000 0.000000 0.000000 1.009964 3.028458 -0.044068 6757.000000 103.459000 0.160000 8.614033 0.187262 -2.513274 1.126710 2.234875 0.032469 0.000000 0.000000 0.000000 1.010207 3.037722 -0.041819 6758.000000 103.700000 0.241000 8.801294 0.187262 -2.042035 1.170045 2.225184 0.049424 0.000000 0.000000 0.000000 1.010652 3.051013 -0.070754 6758.000000 103.856000 0.156000 8.988556 0.187262 -1.570796 1.646730 2.263357 0.046957 0.000000 0.000000 0.000000 1.010960 3.060073 -0.093142 6758.000000 104.015000 0.159000 9.175817 0.187262 -1.099557 7.843635 2.267727 0.057871 0.000000 0.000000 0.000000 1.011191 3.068457 -0.078510 6758.000000 104.260000 0.245000 9.363079 0.187261 -0.628319 8.060310 2.220179 0.040336 0.000000 0.000000 0.000000 1.011664 3.076508 -0.067770 6758.000000 104.412000 0.152000 9.550340 0.187262 -0.157080 5.113530 2.204790 0.028699 0.000000 0.000000 0.000000 1.011988 3.080509 -0.058309 6758.000000 104.511000 0.099000 9.675181 0.124841 -6.126106 3.856815 2.232459 0.021208 0.000000 0.000000 0.000000 1.012210 3.081739 -0.055496 6759.000000 104.611000 0.100000 9.737602 0.062421 -5.969026 3.596805 2.226618 -0.001682 0.000000 0.000000 0.000000 1.012483 3.081704 -0.056395 6759.000000 104.724000 0.113000 9.862443 0.124841 -5.654867 3.336795 2.234489 -0.000164 0.000000 0.000000 0.000000 1.012642 3.079465 -0.054294 6759.000000 104.835000 0.111000 9.987284 0.124841 -5.340708 3.336795 2.205202 -0.028208 0.000000 0.000000 0.000000 1.012842 3.076381 -0.064038 6759.000000 104.948000 0.113000 10.112125 0.124841 -5.026548 2.773440 2.169428 -0.037010 0.000000 0.000000 0.000000 1.013133 3.072135 -0.069749 6759.000000 105.059000 0.111000 10.174545 0.062420 -4.869469 1.690065 2.140611 -0.043954 0.000000 0.000000 0.000000 1.013276 3.067039 -0.049379 6759.000000 105.172000 0.113000 10.299387 0.124841 -4.555309 1.386720 2.177538 -0.040240 0.000000 0.000000 0.000000 1.013524 3.059546 -0.042643 6759.000000 105.283000 0.111000 10.424228 0.124841 -4.241150 1.603395 2.182878 -0.068153 0.000000 0.000000 0.000000 1.013713 3.055438 -0.061388 6759.000000 105.395000 0.112000 10.549069 0.124841 -3.926991 1.560060 2.174817 -0.057839 0.000000 0.000000 0.000000 1.013939 3.047647 -0.037137 6759.000000 105.507000 0.112000 10.673910 0.124841 -3.612832 1.603395 2.126183 -0.096541 0.000000 0.000000 0.000000 1.014264 3.039856 -0.046698 6760.000000 105.619000 0.112000 10.736330 0.062421 -3.455752 1.690065 2.109165 -0.059128 0.000000 0.000000 0.000000 1.014397 3.031835 -0.019139 6760.000000 105.731000 0.112000 10.861171 0.124841 -3.141593 1.993410 2.091950 -0.078871 0.000000 0.000000 0.000000 1.014619 3.023385 -0.028930 6760.000000 105.843000 0.112000 10.986013 0.124841 -2.827433 1.690065 2.114076 -0.069383 0.000000 0.000000 0.000000 1.014768 3.019088 -0.036747 6760.000000 105.955000 0.112000 11.110853 0.124841 -2.513274 1.473390 2.110336 -0.110711 0.000000 0.000000 0.000000 1.014961 3.009378 -0.025024 6760.000000 106.067000 0.112000 11.173274 0.062421 -2.356194 1.473390 2.110821 -0.105574 0.000000 0.000000 0.000000 1.015135 2.999714 -0.041812 6760.000000 106.179000 0.112000 11.298115 0.124841 -2.042035 1.560060 2.087202 -0.113242 0.000000 0.000000 0.000000 1.015355 2.989032 -0.023195 6760.000000 106.291000 0.112000 11.422956 0.124841 -1.727876 1.820070 2.060592 -0.093529 0.000000 0.000000 0.000000 1.015484 2.983047 -0.020021 6760.000000 106.403000 0.112000 11.547797 0.124841 -1.413717 2.426760 2.039926 -0.098764 0.000000 0.000000 0.000000 1.015628 2.971097 -0.007703 6760.000000 106.515000 0.112000 11.672638 0.124841 -1.099557 7.540290 2.023330 -0.128755 0.000000 0.000000 0.000000 1.015800 2.952366 -0.023599 6761.000000 106.627000 0.112000 11.735059 0.062420 -0.942478 7.366950 2.062269 -0.118406 0.000000 0.000000 0.000000 1.015944 2.935339 -0.022669 6761.000000 106.739000 0.112000 11.859900 0.124841 -0.628319 7.366950 2.049748 -0.111849 0.000000 0.000000 0.000000 1.016069 2.916451 -0.002539 6761.000000 106.851000 0.112000 11.984741 0.124841 -0.314159 7.886970 2.040527 -0.100629 0.000000 0.000000 0.000000 1.016174 2.903458 -0.005475 6761.000000 106.963000 0.112000 12.109582 0.124841 -0.000000 4.723515 1.983663 -0.098517 0.000000 0.000000 0.000000 1.016335 2.889519 -0.022817 6761.000000 107.075000 0.112000 12.234423 0.124841 -5.969026 3.553470 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