CORRIMUDATAS

Short corrected IMU measurements

Platform:

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S

The CORRIMUS log was introduced in firmware version OEM 7.07.0x and is designed to replace the CORRIMUDATA and CORRIMUDATAS logs. It is recommended to upgrade to CORRIMUS log when collecting corrected IMU measurements synchronously. The CORRIMUDATA and CORRIMUDATAS logs are still available, but will eventually be phased out.

This log is the short header version of the CORRIMUDATA log.

To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the CORRIMUDATAS logging rate in Hz.

Message ID: 813

Log type: Synch

Recommended input:

log corrimudatasb ontime 0.01

Example log:

%CORRIMUDATASA,2209,488331.000;2209,488331.000000000,-0.0000016434879909,0.0000053888857361,-0.0000077180775912,-0.0001338946509402,-0.0013131748634920,-0.0002721905080061*bd5ba919

Field	Field type	Description	Format	Binary bytes	Binary offset
1	Log header	CORRIMUDATAS header For information about short log headers, see Description of ASCII and binary logs with short headers.	-	H	0
2	Week	GNSS week	Ulong	4	H+
3	Seconds	GNSS seconds from week start	Double	8	H+4
4	PitchRate	About x-axis rotation (right-handed) (rad/sample)	Double	8	H+12
5	RollRate	About y-axis rotation (right-handed) (rad/sample)	Double	8	H+20
6	YawRate	About z-axis rotation (right-handed) (rad/sample)	Double	8	H+28
7	LateralAcc	INS Lateral Acceleration (along x-axis) (m/s/sample)	Double	8	H+36
8	LongitudinalAcc	INS Longitudinal Acceleration (along y-axis) (m/s/sample)	Double	8	H+44
9	VerticalAcc	INS Vertical Acceleration (along z-axis) (m/s/sample)	Double	8	H+52
10	xxxx	32-bit CRC	Hex	4	H+56
11	[CR][LF]	Sentence Terminator (ASCII only)	-	-	-