Data Logging/Plotting¶

Inertial Sense provides data a logging capability in the EvalTool, CLTool, and SDK (C++) that can record data in binary, comma separated (.CSV), and KML file formats. This logging capability is useful for storing, replaying, and analyzing data.

Data Log Types¶

Comma Seperated Values (`*.csv`)¶

The comma separated value (.csv) file format can be imported into many software packages, including Excel, Matlab, and Python.

KML (`*.kml`)¶

KML is a file format used to display geographic data in an Earth browser such as Google Earth.

Binary Data Log Types (`.dat` and `.sdat`)¶

	*Serial Logger (.dat)**	*Sorted Logger (.sdat)**
Description	Stores data to file in the same serial order it was passed into the logger. This is the default logger used in the CLTool and EvalTool.	Sorts data of similar types into separate chunks, allowing for faster load times into analysis tools.
Advantages	Optimized for real-time data logging.	Optimized for loading data into analysis tools (i.e. Matlab, Python).
Source File	DeviceLogSerial.h / .cpp	DeviceLogSorted.h / .cpp
File extension	.dat	.sdat

Binary Data Log Format¶

This section outlines the Inertial Sense binary data log types known as serial data and sorted data (.dat and .sdat file extensions). Both data log file types are composed of several data containers know as chunks. Each chunk contains a header, sub-header, and data.

File¶

The data log file name has the format LOG_SNXXXXX_YYYYMMDD_HHMMSS_CNT.dat which contains the device serial number, date, time, and log file count. The two primary log file formats are .dat and .sdat. These log files consist of a series of data Chunks.

DataLogFile

Standard data types are stored in the log files and are defined as:

U32	unsigned int
U16	unsigned short
S8	char
U8	unsigned char

Chunk¶

The data log file is composed of Chunks. A Chunk is a data container that provides an efficient method for organizing, handling, and parsing data in a file. A Chunk starts with a header which has a unique identifiable marker and ends with the data to be stored.

Chunk

Chunk Header¶

The header, found at the start of each Chunk, is as follows:

ChunkHeader

The C structure implementation of the Chunk header is:

//!< Chunk Header
#pragma pack(push,1)
struct sChunkHeader
{
uint32_t marker; //!< Chunk marker (0xFC05EA32)
uint16_t version; //!< Chunk Version
uint16_t classification; //!< Chunk classification
char name[4]; //!< Chunk name
char invName[4]; //!< Bitwise inverse of chunk name
uint32_t dataSize; //!< Chunk data length in bytes
uint32_t invDataSize; //!< Bitwise inverse of chunk data length
uint32_t grpNum; //!< Chunk Group Number: 0 = serial data, 1 = sorted data...
uint32_t devSerialNum; //!< Device serial number
uint32_t pHandle; //!< Device port handle
uint32_t reserved; //!< Unused
};
#pragma pack(pop)

Chunk Data¶

The Chunk data is defined for both the .dat and .sdat file types.

ChunkData

Chunk Sub-Header¶

The Chunk sub-header is used for .sdat file types.

ChunkSubHeader

Data Set Header¶

The Data set header is used for both the .dat and .sdat file types.

DataSetHeader