Serafina data logs
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Serafina data logs |
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Each line in the files contains a timestamp (in seconds since startup), the acceleration vector (XYZ, in g=9.81 m/sec^2), angular velocity (yaw and pitch from gyros, roll is emulated using the accelerometer, in radians/second), the relative rotation since start of a program (this is the integrated angular velocity, in radians), the direction (absolute pose, from inclinometers and yaw gyro, in radians), the water pressure (raw), and the controller outputs (roll, pitch, yaw, thrust, dive). The sampling rate is approximately 10 Hz. Pool Session, 25. 08. 2005Recordings performed in our test pool. Matching Videos are on their way! Discard the first few seconds of inactivity, until things start moving. A good indicator of the start is an increase in pressure at first dive. The end of each recording is marked by a sharp increase in pressure, caused by opening the hull.pool1.txtInaccurate data due to wrong calibration. 83 seconds, 155 kbVideo low-res (3.6 Mb) medium-res (6.1 Mb) pool2.txtInaccurate data due to wrong calibration. 800 seconds, 1.5 MbVideo low-res (6.9 Mb) medium-res (12.7 Mb) pool3.txtCorrect calibration. Lost propeller aborted experiment... 427 seconds, 823 kbVideo low-res (2.7 Mb) medium-res (4.8 Mb) pool4.txtPretty good test run, some problems with the remote control. Includes autonomous demo runs. 666 seconds, 1.3 MbVideo low-res (3.5 Mb) medium-res (6.2 Mb) pool5.txtGood test run (in company of sister-submarine Serafina II). Remote controlled modes (horizontal stabilisation, free yaw-pitch-roll mode), locked position stabilisation, etc. 768 seconds, 1.1 MbVideo low-res (6.6 Mb) medium-res (11.9 Mb) pool6.txtGood test run during ANU open day (in company of sister-submarine Serafina II). Remote controlled modes (horizontal stabilisation, free yaw-pitch-roll mode), locked position stabilisation, etc. 858 seconds, 1.7 Mbpool7.txtGood test run during ANU open day (in company of sister-submarine Serafina II). similar to previous file. 489 seconds, 945 kbWalking data session, 24. 08. 2005Some test runs. Data was recorded by carrying the submarine, while walking, standing, running, blowing into the pressure sensor, etc.walking1.txt195 seconds, 392 kbwalking2.txt242 seconds, 492 kbwalking1.sxcOpenOffice Calc file to walking1.txtwalking2.sxcOpenOffice Calc file to walking1.txt |
