Serafina data logs
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.
Video low-res (3.6 Mb) medium-res (6.1 Mb)
Video low-res (6.9 Mb) medium-res (12.7 Mb)
Video low-res (2.7 Mb) medium-res (4.8 Mb)
Video low-res (3.5 Mb) medium-res (6.2 Mb)
Video low-res (6.6 Mb) medium-res (11.9 Mb)
Walking data session, 24. 08. 2005Some test runs. Data was recorded by carrying the submarine, while walking, standing, running, blowing into the pressure sensor, etc.