Data description
The BDS saves the sensor data in a row-column format. Each row represents one time step, and each of the 27 columns corresponds to a different variable. The data are logged to the file at 100 Hz (the magnetometer is 20 Hz). The following table provides an overview of the sensor data structure, and the physical units are given in brackets.
The calibration status for each of the three sensor types (accelerometer, rate gyro and magnetometer) is given on a scale from 0 (no calibration) to 3 (perfect calibration). The user can improve the calibration status by rotating the sensor slowly around all three axis (takes ca. 20 seconds), and then letting it stand on the flat end cap (hemisphere facing up) for 10 seconds. The sum of the calibration status represents the "total calibration" of the BDS, and is the sum of the three calibration values from each sensor, and ranges from 0 to 9.
| Col 1 | Col 2 | Col 3 | Col 4 | Col 5 | Col 6 | Col 7 | Col 8 | Col 9 | Col 10 | Col 11 | Col 12 | Col 13 | Col 14 | Col 15 | Col 16 | Col 17 | Col 18 | Col 19 | Col 20 | Col 21 | Col 22 | Col 23 | Col 24 | Col 25 | Col 26 | Col 27 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Time [ms] | PL [hPa] | TL [C] | PC [hPa] | TC [C] | PR [hPa] | TR [C] | EX [deg] | EY [deg] | EZ [deg] | QX [-] | QY [-] | QZ [-] | QW [-] | MX [microT] | MY [microT] | MZ [microT] | AX [m/s2] | AY [m/s2] | AZ [m/s2] | **RX [rad/s] | RY [rad/s] | RZ [rad/s] | CSM | CSA | CSR | CSTOT |
| Timestamp | Pressure left |
Left temp |
Pressure center |
Center temp |
Pressure right |
Right temp |
Euler angle X |
Euler angle Y |
Euler angle Z |
Quat. X | Quat. Y | Quat. Z | Quat. W | Magnet. X | Magnet. Y | Magnet. Z | Dynamic linear accel. X |
Dynamic linear accel. Y |
Dynamic linear accel. Z |
Rate gyro X |
Rate gyro Y |
Rate gyro Z |
Calibration status magnet. (0-3) |
Calibration status accel. (0-3) |
Calibration status gyro. (0-3) |
Sum calibration status (0-9) |
Sensor data example:
| Time [ms] | PL [hPa] | TL [C] | PC [hPa] | TC [C] | PR [hPa] | TR [C] | EX [deg] | EY [deg] | EZ [deg] | QX [-] | QY [-] | QZ [-] | QW [-] | MX [microT] | MY [microT] | MZ [microT] | AX [m/s2] | AY [m/s2] | AZ [m/s2] | RX [rad/s] | RY [rad/s] | RZ [rad/s] | CSM | CSA | CSR | CSTOT |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 | 1000.1 | 20.41 | 1000 | 20.55 | 999.97 | 20.67 | 65.563 | 18.75 | -165.94 | 0.53033 | 0.82336 | 0.18768 | -0.07489 | -22.75 | -19.25 | 57.875 | -1.16 | -1.99 | -0.59 | 0.29889 | 0.88778 | 0.78556 | 2 | 1 | 0 | 3 |
| 0.01 | 999.93 | 20.41 | 1000 | 20.55 | 999.93 | 20.67 | 66 | 18.625 | -166.25 | 0.53687 | 0.81989 | 0.18378 | -0.07581 | -22.75 | -19.25 | 57.875 | -0.23 | -1.56 | -0.54 | 0.27667 | 1.8667 | 0.82 | 2 | 1 | 0 | 3 |
| 0.02 | 999.93 | 20.41 | 999.98 | 20.55 | 999.89 | 20.67 | 66.75 | 18.875 | -166.81 | 0.53949 | 0.81836 | 0.1825 | -0.07745 | -22.75 | -19.25 | 57.875 | 0.01 | -1.36 | -1.03 | 0.27222 | 0.85333 | 0.79889 | 2 | 1 | 0 | 3 |
| 0.03 | 999.79 | 20.41 | 1000 | 20.55 | 999.82 | 20.67 | 67.063 | 18.938 | -167.13 | 0.54187 | 0.81696 | 0.18103 | -0.07874 | -22.75 | -19.25 | 57.875 | -0.1 | -1.47 | -0.93 | 0.29889 | 1.0844 | 0.70556 | 2 | 1 | 0 | 3 |
| 0.04 | 999.8 | 20.41 | 1000.1 | 20.55 | 999.9 | 20.67 | 67.063 | 18.938 | -167.13 | 0.54187 | 0.81696 | 0.18103 | -0.07874 | -22.75 | -19.25 | 57.875 | -0.14 | -1.57 | -0.86 | 0.30111 | 1.28 | 0.63667 | 2 | 1 | 0 | 3 |