avl_log_processor.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [],
   "source": [
    "from __future__ import annotations\n",
    "import pandas as pd\n",
    "from pathlib import Path\n",
    "from typing import Dict, List\n",
    "import io\n",
    "import os\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [],
   "source": [
    "# settings\n",
    "log_dir = '/var/avl_logs/current/log/'\n",
    "\n",
    "# logs to be read\n",
    "# log_names = ['data_collector.log']\n",
    "# leave empty to read all files\n",
    "log_names = []\n",
    "\n",
    "log_time_window = 0.1\n",
    "\n",
    "data_collector_units = ['NAN', 'rad', 'rad', 'rad', 'm/s', 'm/s', 'm/s', 'rad', 'rad', 'm', 'rad', 'rad', 'm', 'm', 'm', 'm', 'rad/s', 'rad/s', 'rad/s', 'm/s^2', 'm/s^2', 'm/s^2', 'NAN']\n",
    "\n",
    "# output csv filename\n",
    "log_dst_csv_name = 'avl_log.csv'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [
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       "                     time [gps_sim_node_[gps]]lat_rad  \\\n",
       "0    1679338479.370952845                 0.646784024   \n",
       "1    1679338479.393488169                 0.646783924   \n",
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       "..                    ...                         ...   \n",
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       "\n",
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       "3                  -1.406986463                      -0.2   \n",
       "4                  -1.406985905                       0.8   \n",
       "..                          ...                       ...   \n",
       "532                -1.406982184                      13.8   \n",
       "533                -1.406982788                      14.0   \n",
       "534                -1.406982710                      16.1   \n",
       "535                -1.406981762                      13.2   \n",
       "536                -1.406982999                      14.0   \n",
       "\n",
       "    [gps_sim_node_[gps]]ground\\_speed_m/s  \\\n",
       "0                                  0.0000   \n",
       "1                                  0.0000   \n",
       "2                                  0.0000   \n",
       "3                                  0.0000   \n",
       "4                                  0.0000   \n",
       "..                                    ...   \n",
       "532                                1.9979   \n",
       "533                                1.9980   \n",
       "534                                1.9980   \n",
       "535                                1.9981   \n",
       "536                                1.9981   \n",
       "\n",
       "    [gps_sim_node_[gps]]track\\_angle_rad [gps_sim_node_[gps]]fix\\_quality_NA  \\\n",
       "0                                 0.0000                                   1   \n",
       "1                                 0.0000                                   1   \n",
       "2                                 0.0000                                   1   \n",
       "3                                 0.0000                                   1   \n",
       "4                                 0.0000                                   1   \n",
       "..                                   ...                                 ...   \n",
       "532                               0.2356                                   1   \n",
       "533                               0.2351                                   1   \n",
       "534                               0.2346                                   1   \n",
       "535                               0.2341                                   1   \n",
       "536                               0.2335                                   1   \n",
       "\n",
       "    [gps_sim_node_[gps]]num\\_sats_num [gps_sim_node_[gps]]hdop_NA  \n",
       "0                                  10                           1  \n",
       "1                                  10                           1  \n",
       "2                                  10                           1  \n",
       "3                                  10                           1  \n",
       "4                                  10                           1  \n",
       "..                                ...                         ...  \n",
       "532                                10                           1  \n",
       "533                                10                           1  \n",
       "534                                10                           1  \n",
       "535                                10                           1  \n",
       "536                                10                           1  \n",
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       "                     time  \\\n",
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       "..                    ...   \n",
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       "904  1679338492.201057196   \n",
       "905  1679338492.205913782   \n",
       "\n",
       "    [pid_attitude_control_node_[roll_pid]]roll\\_input_rad  \\\n",
       "0                                               0.0002      \n",
       "1                                               0.0002      \n",
       "2                                               0.0002      \n",
       "3                                               0.0006      \n",
       "4                                               0.0006      \n",
       "..                                                 ...      \n",
       "901                                            -0.0063      \n",
       "902                                            -0.0063      \n",
       "903                                            -0.0063      \n",
       "904                                            -0.0063      \n",
       "905                                                nan      \n",
       "\n",
       "    [pid_attitude_control_node_[roll_pid]]roll\\_setpoint_rad  \\\n",
       "0                                                  nan         \n",
       "1                                               0.0000         \n",
       "2                                               0.0000         \n",
       "3                                               0.0000         \n",
       "4                                               0.0000         \n",
       "..                                                 ...         \n",
       "901                                             0.0000         \n",
       "902                                             0.0000         \n",
       "903                                             0.0000         \n",
       "904                                             0.0000         \n",
       "905                                                nan         \n",
       "\n",
       "    [pid_attitude_control_node_[roll_pid]]fin\\_angle\\_output_rad  \n",
       "0                                               0.0000            \n",
       "1                                              -0.0002            \n",
       "2                                              -0.0002            \n",
       "3                                              -0.0006            \n",
       "4                                              -0.0006            \n",
       "..                                                 ...            \n",
       "901                                             0.0063            \n",
       "902                                             0.0063            \n",
       "903                                             0.0063            \n",
       "904                                             0.0063            \n",
       "905                                                nan            \n",
       "\n",
       "[906 rows x 4 columns]"
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       "0                                              -0.0007        \n",
       "1                                              -0.0007        \n",
       "2                                              -0.0009        \n",
       "3                                              -0.0006        \n",
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       "..                                                 ...        \n",
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       "902                                             0.2632        \n",
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       "904                                             0.2632        \n",
       "905                                                nan        \n",
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       "0                                                  nan           \n",
       "1                                               0.2618           \n",
       "2                                               0.2618           \n",
       "3                                               0.2618           \n",
       "4                                               0.2618           \n",
       "..                                                 ...           \n",
       "901                                             0.2618           \n",
       "902                                             0.2618           \n",
       "903                                             0.2618           \n",
       "904                                             0.2618           \n",
       "905                                                nan           \n",
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       "    [pid_attitude_control_node_[pitch_pid]]elevator\\_angle\\_output_rad  \n",
       "0                                               0.3491                  \n",
       "1                                               0.3491                  \n",
       "2                                               0.3491                  \n",
       "3                                               0.3491                  \n",
       "4                                               0.3491                  \n",
       "..                                                 ...                  \n",
       "901                                             0.0177                  \n",
       "902                                             0.0177                  \n",
       "903                                             0.0176                  \n",
       "904                                             0.0176                  \n",
       "905                                                nan                  \n",
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       "                     time [pid_attitude_control_node_[yaw_pid]]yaw\\_input_rad  \\\n",
       "0    1679338481.475888014                                             0.7854    \n",
       "1    1679338481.488137484                                             0.7854    \n",
       "2    1679338481.501177549                                             0.7854    \n",
       "3    1679338481.513452053                                             0.7854    \n",
       "4    1679338481.525607347                                             0.7855    \n",
       "..                    ...                                                ...    \n",
       "901  1679338492.165370941                                             0.0067    \n",
       "902  1679338492.178271055                                             0.0067    \n",
       "903  1679338492.188036442                                             0.0067    \n",
       "904  1679338492.201121092                                             0.0067    \n",
       "905  1679338492.205976009                                                nan    \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_pid]]yaw\\_setpoint_rad  \\\n",
       "0                                               0.0000       \n",
       "1                                               0.0000       \n",
       "2                                               0.0000       \n",
       "3                                               0.0000       \n",
       "4                                               0.0000       \n",
       "..                                                 ...       \n",
       "901                                             0.0000       \n",
       "902                                             0.0000       \n",
       "903                                             0.0000       \n",
       "904                                             0.0000       \n",
       "905                                                nan       \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_pid]]rudder\\_angle\\_output_rad  \n",
       "0                                              -0.3491              \n",
       "1                                              -0.3491              \n",
       "2                                              -0.3491              \n",
       "3                                              -0.3491              \n",
       "4                                              -0.3491              \n",
       "..                                                 ...              \n",
       "901                                            -0.0090              \n",
       "902                                            -0.0090              \n",
       "903                                            -0.0090              \n",
       "904                                            -0.0090              \n",
       "905                                                nan              \n",
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       "      <th>905</th>\n",
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       "      <td>nan</td>\n",
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       "                     time  \\\n",
       "0    1679338481.475913048   \n",
       "1    1679338481.488158703   \n",
       "2    1679338481.501216412   \n",
       "3    1679338481.513476372   \n",
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       "1                                             0.000031         \n",
       "2                                             0.000128         \n",
       "3                                             0.000088         \n",
       "4                                             0.000057         \n",
       "..                                                 ...         \n",
       "901                                           0.001649         \n",
       "902                                           0.001649         \n",
       "903                                           0.001649         \n",
       "904                                           0.001649         \n",
       "905                                                nan         \n",
       "\n",
       "    [pid_attitude_control_node_[roll_info]]error_rad  \\\n",
       "0                                                nan   \n",
       "1                                          -0.000227   \n",
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       "3                                          -0.000636   \n",
       "4                                          -0.000557   \n",
       "..                                               ...   \n",
       "901                                         0.006321   \n",
       "902                                         0.006321   \n",
       "903                                         0.006321   \n",
       "904                                         0.006321   \n",
       "905                                              nan   \n",
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       "0                                                  nan     \n",
       "1                                            -0.000227     \n",
       "2                                            -0.000201     \n",
       "3                                            -0.000636     \n",
       "4                                            -0.000557     \n",
       "..                                                 ...     \n",
       "901                                           0.006321     \n",
       "902                                           0.006321     \n",
       "903                                           0.006321     \n",
       "904                                           0.006321     \n",
       "905                                                nan     \n",
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       "..                                                 ...     \n",
       "901                                           0.000000     \n",
       "902                                           0.000000     \n",
       "903                                           0.000000     \n",
       "904                                           0.000000     \n",
       "905                                                nan     \n",
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       "2                                            -0.000000     \n",
       "3                                            -0.000000     \n",
       "4                                            -0.000000     \n",
       "..                                                 ...     \n",
       "901                                          -0.000000     \n",
       "902                                          -0.000000     \n",
       "903                                          -0.000000     \n",
       "904                                          -0.000000     \n",
       "905                                                nan     \n",
       "\n",
       "    [pid_attitude_control_node_[roll_info]]i\\_error\\_sum_rad  \\\n",
       "0                                                  nan         \n",
       "1                                             0.000000         \n",
       "2                                             0.000000         \n",
       "3                                             0.000000         \n",
       "4                                             0.000000         \n",
       "..                                                 ...         \n",
       "901                                           0.000000         \n",
       "902                                           0.000000         \n",
       "903                                           0.000000         \n",
       "904                                           0.000000         \n",
       "905                                                nan         \n",
       "\n",
       "    [pid_attitude_control_node_[roll_info]]output_rad  \\\n",
       "0                                                 nan   \n",
       "1                                           -0.000227   \n",
       "2                                           -0.000201   \n",
       "3                                           -0.000636   \n",
       "4                                           -0.000557   \n",
       "..                                                ...   \n",
       "901                                          0.006321   \n",
       "902                                          0.006321   \n",
       "903                                          0.006321   \n",
       "904                                          0.006321   \n",
       "905                                               nan   \n",
       "\n",
       "    [pid_attitude_control_node_[roll_info]]unclamped\\_output_rad  \\\n",
       "0                                                  nan             \n",
       "1                                            -0.000227             \n",
       "2                                            -0.000201             \n",
       "3                                            -0.000636             \n",
       "4                                            -0.000557             \n",
       "..                                                 ...             \n",
       "901                                           0.006321             \n",
       "902                                           0.006321             \n",
       "903                                           0.006321             \n",
       "904                                           0.006321             \n",
       "905                                                nan             \n",
       "\n",
       "    [pid_attitude_control_node_[roll_info]]output\\_saturated_bool  \\\n",
       "0                                                    1              \n",
       "1                                                    0              \n",
       "2                                                    0              \n",
       "3                                                    0              \n",
       "4                                                    0              \n",
       "..                                                 ...              \n",
       "901                                                  0              \n",
       "902                                                  0              \n",
       "903                                                  0              \n",
       "904                                                  0              \n",
       "905                                                  0              \n",
       "\n",
       "    [pid_attitude_control_node_[roll_info]]i\\_saturated_bool  \n",
       "0                                                    1        \n",
       "1                                                    0        \n",
       "2                                                    0        \n",
       "3                                                    0        \n",
       "4                                                    0        \n",
       "..                                                 ...        \n",
       "901                                                  0        \n",
       "902                                                  0        \n",
       "903                                                  0        \n",
       "904                                                  0        \n",
       "905                                                  0        \n",
       "\n",
       "[906 rows x 11 columns]"
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       "                     time  \\\n",
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       "3    1679338481.513548374   \n",
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       "..                    ...   \n",
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       "    [pid_attitude_control_node_[pitch_info]]input\\_rate_rad/s  \\\n",
       "0                                            -0.000054          \n",
       "1                                             0.000049          \n",
       "2                                            -0.000021          \n",
       "3                                            -0.000041          \n",
       "4                                             0.000003          \n",
       "..                                                 ...          \n",
       "901                                          -0.000427          \n",
       "902                                          -0.000427          \n",
       "903                                          -0.000427          \n",
       "904                                          -0.000427          \n",
       "905                                                nan          \n",
       "\n",
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       "1                                            0.262529   \n",
       "2                                            0.262707   \n",
       "3                                            0.262395   \n",
       "4                                            0.262163   \n",
       "..                                                ...   \n",
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       "902                                         -0.001366   \n",
       "903                                         -0.001366   \n",
       "904                                         -0.001366   \n",
       "905                                               nan   \n",
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       "0                                                  nan      \n",
       "1                                             1.181382      \n",
       "2                                             1.182180      \n",
       "3                                             1.180780      \n",
       "4                                             1.179734      \n",
       "..                                                 ...      \n",
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       "902                                          -0.006148      \n",
       "903                                          -0.006148      \n",
       "904                                          -0.006148      \n",
       "905                                                nan      \n",
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       "2                                             0.005254      \n",
       "3                                             0.005248      \n",
       "4                                             0.005243      \n",
       "..                                                 ...      \n",
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       "903                                           0.020789      \n",
       "904                                           0.020761      \n",
       "905                                                nan      \n",
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       "..                                                 ...      \n",
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       "903                                           0.002989      \n",
       "904                                           0.002989      \n",
       "905                                                nan      \n",
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       "0                                                  nan          \n",
       "1                                             0.000000          \n",
       "2                                             0.000000          \n",
       "3                                             0.000000          \n",
       "4                                             0.000000          \n",
       "..                                                 ...          \n",
       "901                                           0.104217          \n",
       "902                                           0.104081          \n",
       "903                                           0.103944          \n",
       "904                                           0.103807          \n",
       "905                                                nan          \n",
       "\n",
       "    [pid_attitude_control_node_[pitch_info]]output_rad  \\\n",
       "0                                                  nan   \n",
       "1                                             0.349066   \n",
       "2                                             0.349066   \n",
       "3                                             0.349066   \n",
       "4                                             0.349066   \n",
       "..                                                 ...   \n",
       "901                                           0.017685   \n",
       "902                                           0.017658   \n",
       "903                                           0.017630   \n",
       "904                                           0.017603   \n",
       "905                                                nan   \n",
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       "    [pid_attitude_control_node_[pitch_info]]unclamped\\_output_rad  \\\n",
       "0                                                  nan              \n",
       "1                                             1.186289              \n",
       "2                                             1.187580              \n",
       "3                                             1.186314              \n",
       "4                                             1.184957              \n",
       "..                                                 ...              \n",
       "901                                           0.017685              \n",
       "902                                           0.017658              \n",
       "903                                           0.017630              \n",
       "904                                           0.017603              \n",
       "905                                                nan              \n",
       "\n",
       "    [pid_attitude_control_node_[pitch_info]]output\\_saturated_bool  \\\n",
       "0                                                    1               \n",
       "1                                                    1               \n",
       "2                                                    1               \n",
       "3                                                    1               \n",
       "4                                                    1               \n",
       "..                                                 ...               \n",
       "901                                                  0               \n",
       "902                                                  0               \n",
       "903                                                  0               \n",
       "904                                                  0               \n",
       "905                                                  0               \n",
       "\n",
       "    [pid_attitude_control_node_[pitch_info]]i\\_saturated_bool  \n",
       "0                                                    1         \n",
       "1                                                    0         \n",
       "2                                                    0         \n",
       "3                                                    0         \n",
       "4                                                    0         \n",
       "..                                                 ...         \n",
       "901                                                  0         \n",
       "902                                                  0         \n",
       "903                                                  0         \n",
       "904                                                  0         \n",
       "905                                                  0         \n",
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       "      <th>[pid_attitude_control_node_[yaw_info]]p\\_output_rad</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]i\\_output_rad</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]d\\_output_rad</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]i\\_error\\_sum_rad</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]output_rad</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]unclamped\\_output_rad</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]output\\_saturated_bool</th>\n",
       "      <th>[pid_attitude_control_node_[yaw_info]]i\\_saturated_bool</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>1679338481.475952625</td>\n",
       "      <td>-0.000051</td>\n",
       "      <td>-0.785404</td>\n",
       "      <td>-2.356212</td>\n",
       "      <td>-0.000393</td>\n",
       "      <td>0.000154</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-0.349066</td>\n",
       "      <td>-2.356450</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1679338481.488221645</td>\n",
       "      <td>-0.000021</td>\n",
       "      <td>-0.785406</td>\n",
       "      <td>-2.356218</td>\n",
       "      <td>-0.000393</td>\n",
       "      <td>0.000062</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-0.349066</td>\n",
       "      <td>-2.356549</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1679338481.501256943</td>\n",
       "      <td>-0.000071</td>\n",
       "      <td>-0.785396</td>\n",
       "      <td>-2.356189</td>\n",
       "      <td>-0.000393</td>\n",
       "      <td>0.000212</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-0.349066</td>\n",
       "      <td>-2.356370</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338481.513566494</td>\n",
       "      <td>0.000064</td>\n",
       "      <td>-0.785428</td>\n",
       "      <td>-2.356285</td>\n",
       "      <td>-0.000393</td>\n",
       "      <td>-0.000191</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-0.349066</td>\n",
       "      <td>-2.356869</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338481.525678158</td>\n",
       "      <td>-0.000073</td>\n",
       "      <td>-0.785464</td>\n",
       "      <td>-2.356392</td>\n",
       "      <td>-0.000393</td>\n",
       "      <td>0.000219</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-0.349066</td>\n",
       "      <td>-2.356565</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>901</th>\n",
       "      <td>1679338492.165414810</td>\n",
       "      <td>-0.004906</td>\n",
       "      <td>-0.006735</td>\n",
       "      <td>-0.020204</td>\n",
       "      <td>-0.003486</td>\n",
       "      <td>0.014718</td>\n",
       "      <td>-0.697131</td>\n",
       "      <td>-0.008972</td>\n",
       "      <td>-0.008972</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>902</th>\n",
       "      <td>1679338492.178313255</td>\n",
       "      <td>-0.004906</td>\n",
       "      <td>-0.006735</td>\n",
       "      <td>-0.020204</td>\n",
       "      <td>-0.003489</td>\n",
       "      <td>0.014718</td>\n",
       "      <td>-0.697804</td>\n",
       "      <td>-0.008976</td>\n",
       "      <td>-0.008976</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>903</th>\n",
       "      <td>1679338492.188086987</td>\n",
       "      <td>-0.004906</td>\n",
       "      <td>-0.006735</td>\n",
       "      <td>-0.020204</td>\n",
       "      <td>-0.003492</td>\n",
       "      <td>0.014718</td>\n",
       "      <td>-0.698478</td>\n",
       "      <td>-0.008979</td>\n",
       "      <td>-0.008979</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>904</th>\n",
       "      <td>1679338492.201169014</td>\n",
       "      <td>-0.004906</td>\n",
       "      <td>-0.006735</td>\n",
       "      <td>-0.020204</td>\n",
       "      <td>-0.003496</td>\n",
       "      <td>0.014718</td>\n",
       "      <td>-0.699151</td>\n",
       "      <td>-0.008982</td>\n",
       "      <td>-0.008982</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>905</th>\n",
       "      <td>1679338492.206061363</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>906 rows × 11 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                     time  \\\n",
       "0    1679338481.475952625   \n",
       "1    1679338481.488221645   \n",
       "2    1679338481.501256943   \n",
       "3    1679338481.513566494   \n",
       "4    1679338481.525678158   \n",
       "..                    ...   \n",
       "901  1679338492.165414810   \n",
       "902  1679338492.178313255   \n",
       "903  1679338492.188086987   \n",
       "904  1679338492.201169014   \n",
       "905  1679338492.206061363   \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]input\\_rate_rad/s  \\\n",
       "0                                            -0.000051        \n",
       "1                                            -0.000021        \n",
       "2                                            -0.000071        \n",
       "3                                             0.000064        \n",
       "4                                            -0.000073        \n",
       "..                                                 ...        \n",
       "901                                          -0.004906        \n",
       "902                                          -0.004906        \n",
       "903                                          -0.004906        \n",
       "904                                          -0.004906        \n",
       "905                                                nan        \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]error_rad  \\\n",
       "0                                         -0.785404   \n",
       "1                                         -0.785406   \n",
       "2                                         -0.785396   \n",
       "3                                         -0.785428   \n",
       "4                                         -0.785464   \n",
       "..                                              ...   \n",
       "901                                       -0.006735   \n",
       "902                                       -0.006735   \n",
       "903                                       -0.006735   \n",
       "904                                       -0.006735   \n",
       "905                                             nan   \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]p\\_output_rad  \\\n",
       "0                                            -2.356212    \n",
       "1                                            -2.356218    \n",
       "2                                            -2.356189    \n",
       "3                                            -2.356285    \n",
       "4                                            -2.356392    \n",
       "..                                                 ...    \n",
       "901                                          -0.020204    \n",
       "902                                          -0.020204    \n",
       "903                                          -0.020204    \n",
       "904                                          -0.020204    \n",
       "905                                                nan    \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]i\\_output_rad  \\\n",
       "0                                            -0.000393    \n",
       "1                                            -0.000393    \n",
       "2                                            -0.000393    \n",
       "3                                            -0.000393    \n",
       "4                                            -0.000393    \n",
       "..                                                 ...    \n",
       "901                                          -0.003486    \n",
       "902                                          -0.003489    \n",
       "903                                          -0.003492    \n",
       "904                                          -0.003496    \n",
       "905                                                nan    \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]d\\_output_rad  \\\n",
       "0                                             0.000154    \n",
       "1                                             0.000062    \n",
       "2                                             0.000212    \n",
       "3                                            -0.000191    \n",
       "4                                             0.000219    \n",
       "..                                                 ...    \n",
       "901                                           0.014718    \n",
       "902                                           0.014718    \n",
       "903                                           0.014718    \n",
       "904                                           0.014718    \n",
       "905                                                nan    \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]i\\_error\\_sum_rad  \\\n",
       "0                                             0.000000        \n",
       "1                                             0.000000        \n",
       "2                                             0.000000        \n",
       "3                                             0.000000        \n",
       "4                                             0.000000        \n",
       "..                                                 ...        \n",
       "901                                          -0.697131        \n",
       "902                                          -0.697804        \n",
       "903                                          -0.698478        \n",
       "904                                          -0.699151        \n",
       "905                                                nan        \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]output_rad  \\\n",
       "0                                          -0.349066   \n",
       "1                                          -0.349066   \n",
       "2                                          -0.349066   \n",
       "3                                          -0.349066   \n",
       "4                                          -0.349066   \n",
       "..                                               ...   \n",
       "901                                        -0.008972   \n",
       "902                                        -0.008976   \n",
       "903                                        -0.008979   \n",
       "904                                        -0.008982   \n",
       "905                                              nan   \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]unclamped\\_output_rad  \\\n",
       "0                                            -2.356450            \n",
       "1                                            -2.356549            \n",
       "2                                            -2.356370            \n",
       "3                                            -2.356869            \n",
       "4                                            -2.356565            \n",
       "..                                                 ...            \n",
       "901                                          -0.008972            \n",
       "902                                          -0.008976            \n",
       "903                                          -0.008979            \n",
       "904                                          -0.008982            \n",
       "905                                                nan            \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]output\\_saturated_bool  \\\n",
       "0                                                    1             \n",
       "1                                                    1             \n",
       "2                                                    1             \n",
       "3                                                    1             \n",
       "4                                                    1             \n",
       "..                                                 ...             \n",
       "901                                                  0             \n",
       "902                                                  0             \n",
       "903                                                  0             \n",
       "904                                                  0             \n",
       "905                                                  0             \n",
       "\n",
       "    [pid_attitude_control_node_[yaw_info]]i\\_saturated_bool  \n",
       "0                                                    0       \n",
       "1                                                    0       \n",
       "2                                                    0       \n",
       "3                                                    0       \n",
       "4                                                    0       \n",
       "..                                                 ...       \n",
       "901                                                  0       \n",
       "902                                                  0       \n",
       "903                                                  0       \n",
       "904                                                  0       \n",
       "905                                                  0       \n",
       "\n",
       "[906 rows x 11 columns]"
      ]
     },
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       "      <th>time</th>\n",
       "      <th>[pid_attitude_control_node_[fins]]port_rad</th>\n",
       "      <th>[pid_attitude_control_node_[fins]]starboard_rad</th>\n",
       "      <th>[pid_attitude_control_node_[fins]]top_rad</th>\n",
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       "      <th>0</th>\n",
       "      <td>1679338481.475972652</td>\n",
       "      <td>0.3491</td>\n",
       "      <td>-0.3491</td>\n",
       "      <td>-0.3491</td>\n",
       "      <td>0.3491</td>\n",
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       "      <th>1</th>\n",
       "      <td>1679338481.488239765</td>\n",
       "      <td>0.3489</td>\n",
       "      <td>-0.3494</td>\n",
       "      <td>-0.3494</td>\n",
       "      <td>0.3489</td>\n",
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       "      <th>2</th>\n",
       "      <td>1679338481.501288176</td>\n",
       "      <td>0.3489</td>\n",
       "      <td>-0.3493</td>\n",
       "      <td>-0.3493</td>\n",
       "      <td>0.3489</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338481.513580561</td>\n",
       "      <td>0.3487</td>\n",
       "      <td>-0.3499</td>\n",
       "      <td>-0.3499</td>\n",
       "      <td>0.3487</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338481.525697470</td>\n",
       "      <td>0.3487</td>\n",
       "      <td>-0.3498</td>\n",
       "      <td>-0.3498</td>\n",
       "      <td>0.3487</td>\n",
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       "      <td>...</td>\n",
       "      <td>...</td>\n",
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       "    <tr>\n",
       "      <th>901</th>\n",
       "      <td>1679338492.165426731</td>\n",
       "      <td>0.0239</td>\n",
       "      <td>-0.0113</td>\n",
       "      <td>-0.0025</td>\n",
       "      <td>0.0152</td>\n",
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       "    <tr>\n",
       "      <th>902</th>\n",
       "      <td>1679338492.178335190</td>\n",
       "      <td>0.0239</td>\n",
       "      <td>-0.0113</td>\n",
       "      <td>-0.0025</td>\n",
       "      <td>0.0152</td>\n",
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       "    <tr>\n",
       "      <th>903</th>\n",
       "      <td>1679338492.188099146</td>\n",
       "      <td>0.0239</td>\n",
       "      <td>-0.0113</td>\n",
       "      <td>-0.0025</td>\n",
       "      <td>0.0152</td>\n",
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       "    <tr>\n",
       "      <th>904</th>\n",
       "      <td>1679338492.201180935</td>\n",
       "      <td>0.0239</td>\n",
       "      <td>-0.0112</td>\n",
       "      <td>-0.0026</td>\n",
       "      <td>0.0152</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>905</th>\n",
       "      <td>1679338492.205997705</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "      <td>nan</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>906 rows × 5 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                     time [pid_attitude_control_node_[fins]]port_rad  \\\n",
       "0    1679338481.475972652                                     0.3491   \n",
       "1    1679338481.488239765                                     0.3489   \n",
       "2    1679338481.501288176                                     0.3489   \n",
       "3    1679338481.513580561                                     0.3487   \n",
       "4    1679338481.525697470                                     0.3487   \n",
       "..                    ...                                        ...   \n",
       "901  1679338492.165426731                                     0.0239   \n",
       "902  1679338492.178335190                                     0.0239   \n",
       "903  1679338492.188099146                                     0.0239   \n",
       "904  1679338492.201180935                                     0.0239   \n",
       "905  1679338492.205997705                                        nan   \n",
       "\n",
       "    [pid_attitude_control_node_[fins]]starboard_rad  \\\n",
       "0                                           -0.3491   \n",
       "1                                           -0.3494   \n",
       "2                                           -0.3493   \n",
       "3                                           -0.3499   \n",
       "4                                           -0.3498   \n",
       "..                                              ...   \n",
       "901                                         -0.0113   \n",
       "902                                         -0.0113   \n",
       "903                                         -0.0113   \n",
       "904                                         -0.0112   \n",
       "905                                             nan   \n",
       "\n",
       "    [pid_attitude_control_node_[fins]]top_rad  \\\n",
       "0                                     -0.3491   \n",
       "1                                     -0.3494   \n",
       "2                                     -0.3493   \n",
       "3                                     -0.3499   \n",
       "4                                     -0.3498   \n",
       "..                                        ...   \n",
       "901                                   -0.0025   \n",
       "902                                   -0.0025   \n",
       "903                                   -0.0025   \n",
       "904                                   -0.0026   \n",
       "905                                       nan   \n",
       "\n",
       "    [pid_attitude_control_node_[fins]]bottom_rad  \n",
       "0                                         0.3491  \n",
       "1                                         0.3489  \n",
       "2                                         0.3489  \n",
       "3                                         0.3487  \n",
       "4                                         0.3487  \n",
       "..                                           ...  \n",
       "901                                       0.0152  \n",
       "902                                       0.0152  \n",
       "903                                       0.0152  \n",
       "904                                       0.0152  \n",
       "905                                          nan  \n",
       "\n",
       "[906 rows x 5 columns]"
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     },
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       "      <th>533</th>\n",
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       "      <th>535</th>\n",
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       "                     time [depth_sim_node_[depth]]depth_m\n",
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       "1    1679338479.378517151                    -0.044945139\n",
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       "4    1679338479.451154232                    -0.039235108\n",
       "..                    ...                             ...\n",
       "533  1679338491.967962265                     0.000000000\n",
       "534  1679338491.988876343                     0.000000000\n",
       "535  1679338492.010548592                     0.000000000\n",
       "536  1679338492.031282663                     0.000000000\n",
       "537  1679338492.053930759                     0.000000000\n",
       "\n",
       "[538 rows x 2 columns]"
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       "      <td>7.378876629722735e-07</td>\n",
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       "      <td>1.7871585802409712e-05</td>\n",
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       "      <th>177</th>\n",
       "      <td>1679338491.8930168</td>\n",
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       "      <td>1.8322372819326353e-05</td>\n",
       "      <td>-9.799060755337333</td>\n",
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       "    <tr>\n",
       "      <th>178</th>\n",
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       "      <td>0.6467836972188552</td>\n",
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       "      <td>1.880546621010894e-05</td>\n",
       "      <td>-9.799059464856523</td>\n",
       "      <td>True</td>\n",
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       "    <tr>\n",
       "      <th>179</th>\n",
       "      <td>1679338492.0066025</td>\n",
       "      <td>946.9119904085039</td>\n",
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       "      <td>0.6467836972572363</td>\n",
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       "      <td>0.04574064357425771</td>\n",
       "      <td>1.9289673158758615e-05</td>\n",
       "      <td>-9.799058158645972</td>\n",
       "      <td>True</td>\n",
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       "    <tr>\n",
       "      <th>180</th>\n",
       "      <td>1679338492.0604634</td>\n",
       "      <td>946.9119904085039</td>\n",
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       "      <td>1.977471604304458e-05</td>\n",
       "      <td>-9.799056836759918</td>\n",
       "      <td>True</td>\n",
       "    </tr>\n",
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       "</table>\n",
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      ],
      "text/plain": [
       "                   time [data_collector]rpm_NAN [data_collector]roll_rad  \\\n",
       "0    1679338481.4589171                     0.0                      0.0   \n",
       "1    1679338481.4619718                     0.0                      0.0   \n",
       "2    1679338481.5241485                     0.0                      0.0   \n",
       "3    1679338481.5797637                     0.0                      0.0   \n",
       "4    1679338481.6399314                     0.0                      0.0   \n",
       "..                  ...                     ...                      ...   \n",
       "176  1679338491.8331077       929.5055770268265    7.378876629722735e-07   \n",
       "177  1679338491.8930168       946.9119904085039    7.669806433250179e-07   \n",
       "178   1679338491.953473       946.9119904085039    7.970148546465202e-07   \n",
       "179  1679338492.0066025       946.9119904085039    8.280131625423513e-07   \n",
       "180  1679338492.0604634       946.9119904085039    8.599984781742272e-07   \n",
       "\n",
       "    [data_collector]pitch_rad [data_collector]yaw_rad  \\\n",
       "0                         0.0      0.7853981633974483   \n",
       "1                         0.0      0.7853981633974483   \n",
       "2                         0.0      0.7853981633974483   \n",
       "3                         0.0      0.7853981633974483   \n",
       "4                         0.0      0.7853981633974483   \n",
       "..                        ...                     ...   \n",
       "176   -0.00020451454101995164      0.7853908407441844   \n",
       "177   -0.00020849305222703278      0.7853905360247336   \n",
       "178   -0.00021252166502832851      0.7853902205594444   \n",
       "179   -0.00021659998694906505      0.7853898940412383   \n",
       "180    -0.0002207276200163687      0.7853895561587991   \n",
       "\n",
       "    [data_collector]v_eb_b_x_m/s [data_collector]v_eb_b_y_m/s  \\\n",
       "0                            0.0                          0.0   \n",
       "1                            0.0                          0.0   \n",
       "2                            0.0                          0.0   \n",
       "3                            0.0                          0.0   \n",
       "4                            0.0                          0.0   \n",
       "..                           ...                          ...   \n",
       "176         0.033086959855088825         8.35680030095872e-06   \n",
       "177          0.03356562421539255        8.654601402071545e-06   \n",
       "178          0.03404427125817893          8.9611089987906e-06   \n",
       "179           0.0345229007357324        9.276449570885138e-06   \n",
       "180          0.03500151240038235        9.600749655516953e-06   \n",
       "\n",
       "    [data_collector]v_eb_b_z_m/s [data_collector]lat_rad  \\\n",
       "0                            0.0      0.6467836953250381   \n",
       "1                            0.0      0.6467836953250381   \n",
       "2                            0.0      0.6467836953250381   \n",
       "3                            0.0      0.6467836953250381   \n",
       "4                            0.0      0.6467836953250381   \n",
       "..                           ...                     ...   \n",
       "176      -0.00036969633938187176      0.6467836971436888   \n",
       "177       -0.0003694137735720001       0.646783697181006   \n",
       "178       -0.0003691223903499619      0.6467836972188552   \n",
       "179      -0.00036882206939853535      0.6467836972572363   \n",
       "180       -0.0003685126902340712      0.6467836972961493   \n",
       "\n",
       "    [data_collector]lon_rad  ... [data_collector]r_b_n_m  \\\n",
       "0       -1.4069862681874037  ...                     0.0   \n",
       "1       -1.4069862681874037  ...                     0.0   \n",
       "2       -1.4069862681874037  ...                     0.0   \n",
       "3       -1.4069862681874037  ...                     0.0   \n",
       "4       -1.4069862681874037  ...                     0.0   \n",
       "..                      ...  ...                     ...   \n",
       "176     -1.4069862659176422  ...    0.011564096982887856   \n",
       "177     -1.4069862658710568  ...    0.011801382856359982   \n",
       "178     -1.4069862658238068  ...     0.01204205121598706   \n",
       "179     -1.4069862657758923  ...    0.012286101879879474   \n",
       "180     -1.4069862657273133  ...    0.012533534663683954   \n",
       "\n",
       "    [data_collector]r_b_e_m  [data_collector]r_b_d_m  \\\n",
       "0                       0.0                      0.0   \n",
       "1                       0.0                      0.0   \n",
       "2                       0.0                      0.0   \n",
       "3                       0.0                      0.0   \n",
       "4                       0.0                      0.0   \n",
       "..                      ...                      ...   \n",
       "176    0.011566976103528994  -0.00014420129307626025   \n",
       "177    0.011804380899407687   -0.0001478267840890361   \n",
       "178    0.012045172319984154  -0.00015144702790383671   \n",
       "179    0.012289350298920665  -0.00015506187979768876   \n",
       "180    0.012536914768835491  -0.00015867119326338946   \n",
       "\n",
       "    [data_collector]w_ib_b_x_rad/s [data_collector]w_ib_b_y_rad/s  \\\n",
       "0            4.114865357999054e-05        -4.1148653579990536e-05   \n",
       "1            4.114865357999054e-05        -4.1148653579990536e-05   \n",
       "2            4.114865357999054e-05        -4.1148653579990536e-05   \n",
       "3            4.114865357999054e-05        -4.1148653579990536e-05   \n",
       "4            4.114865357999054e-05        -4.1148653579990536e-05   \n",
       "..                             ...                            ...   \n",
       "176          4.395150940347877e-05         -0.0004339558625921119   \n",
       "177          4.404286004830811e-05        -0.00043900478406653213   \n",
       "178           4.41364736480376e-05         -0.0004440150086514414   \n",
       "179          4.423235536757023e-05         -0.0004489859854614732   \n",
       "180         4.4330509177029794e-05         -0.0004539171646818033   \n",
       "\n",
       "    [data_collector]w_ib_b_z_rad/s [data_collector]f_ib_b_x_m/s^2  \\\n",
       "0           -4.394394991839449e-05                            0.0   \n",
       "1           -4.394394991839449e-05                            0.0   \n",
       "2           -4.394394991839449e-05                            0.0   \n",
       "3           -4.394394991839449e-05                            0.0   \n",
       "4           -4.394394991839449e-05                            0.0   \n",
       "..                             ...                            ...   \n",
       "176         -7.338246709836851e-05           0.044118414831168136   \n",
       "177         -7.442695499544031e-05            0.04582356906377775   \n",
       "178         -7.550172791679705e-05            0.04578236226710583   \n",
       "179         -7.660721005459283e-05            0.04574064357425771   \n",
       "180         -7.774382511460987e-05            0.04569841688922622   \n",
       "\n",
       "    [data_collector]f_ib_b_y_m/s^2 [data_collector]f_ib_b_z_m/s^2  \\\n",
       "0                              0.0             -9.799105342633558   \n",
       "1                              0.0             -9.799105342633558   \n",
       "2                              0.0             -9.799105342633558   \n",
       "3                              0.0             -9.799105342633558   \n",
       "4                              0.0             -9.799105342633558   \n",
       "..                             ...                            ...   \n",
       "176         1.7871585802409712e-05             -9.799061840709607   \n",
       "177         1.8322372819326353e-05             -9.799060755337333   \n",
       "178          1.880546621010894e-05             -9.799059464856523   \n",
       "179         1.9289673158758615e-05             -9.799058158645972   \n",
       "180          1.977471604304458e-05             -9.799056836759918   \n",
       "\n",
       "    [data_collector]fault_gen/depth_sensor_zero_NAN  \n",
       "0                                             False  \n",
       "1                                             False  \n",
       "2                                             False  \n",
       "3                                             False  \n",
       "4                                             False  \n",
       "..                                              ...  \n",
       "176                                            True  \n",
       "177                                            True  \n",
       "178                                            True  \n",
       "179                                            True  \n",
       "180                                            True  \n",
       "\n",
       "[181 rows x 24 columns]"
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       "                      time [actuators_node_[actuators]]port_deg  \\\n",
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       "2095  1679338492.681788683                                 0.00   \n",
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       "0                                         0.00   \n",
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       "2                                         0.00   \n",
       "3                                         0.00   \n",
       "4                                         0.00   \n",
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       "    <tr>\n",
       "      <th>5070</th>\n",
       "      <td>1679338492.260431528</td>\n",
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       "      <td>0.002291</td>\n",
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       "      <th>5071</th>\n",
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       "                      time [auv_dynamics_node_[nu_dot]]u\\_dot_m/s^2  \\\n",
       "0     1679338479.348682165                                 0.000000   \n",
       "1     1679338479.350725174                                 0.000000   \n",
       "2     1679338479.353497744                                 0.000000   \n",
       "3     1679338479.354841709                                 0.000000   \n",
       "4     1679338479.356604338                                 0.000000   \n",
       "...                    ...                                      ...   \n",
       "5068  1679338492.256180286                                -0.203306   \n",
       "5069  1679338492.258714914                                -0.202881   \n",
       "5070  1679338492.260431528                                -0.202459   \n",
       "5071  1679338492.262009144                                -0.202037   \n",
       "5072  1679338492.264118671                                -0.201617   \n",
       "\n",
       "     [auv_dynamics_node_[nu_dot]]v\\_dot_m/s^2  \\\n",
       "0                                    0.000000   \n",
       "1                                    0.000000   \n",
       "2                                    0.000000   \n",
       "3                                    0.000000   \n",
       "4                                    0.000000   \n",
       "...                                       ...   \n",
       "5068                                -0.000614   \n",
       "5069                                -0.000614   \n",
       "5070                                -0.000614   \n",
       "5071                                -0.000614   \n",
       "5072                                -0.000614   \n",
       "\n",
       "     [auv_dynamics_node_[nu_dot]]w\\_dot_m/s^2  \\\n",
       "0                                    0.000000   \n",
       "1                                    0.000000   \n",
       "2                                    0.000000   \n",
       "3                                    0.000000   \n",
       "4                                    0.000000   \n",
       "...                                       ...   \n",
       "5068                                 0.001022   \n",
       "5069                                 0.001021   \n",
       "5070                                 0.001020   \n",
       "5071                                 0.001019   \n",
       "5072                                 0.001016   \n",
       "\n",
       "     [auv_dynamics_node_[nu_dot]]p\\_dot_rad/s^2  \\\n",
       "0                                      0.000000   \n",
       "1                                      0.000000   \n",
       "2                                      0.000000   \n",
       "3                                      0.000000   \n",
       "4                                      0.000000   \n",
       "...                                         ...   \n",
       "5068                                  -0.000416   \n",
       "5069                                  -0.000405   \n",
       "5070                                  -0.000394   \n",
       "5071                                  -0.000383   \n",
       "5072                                  -0.000373   \n",
       "\n",
       "     [auv_dynamics_node_[nu_dot]]q\\_dot_rad/s^2  \\\n",
       "0                                      0.000000   \n",
       "1                                      0.000000   \n",
       "2                                      0.000000   \n",
       "3                                      0.000000   \n",
       "4                                      0.000000   \n",
       "...                                         ...   \n",
       "5068                                   0.002481   \n",
       "5069                                   0.002385   \n",
       "5070                                   0.002291   \n",
       "5071                                   0.002198   \n",
       "5072                                   0.002108   \n",
       "\n",
       "     [auv_dynamics_node_[nu_dot]]r\\_dot_rad/s^2  \n",
       "0                                      0.000000  \n",
       "1                                      0.000000  \n",
       "2                                      0.000000  \n",
       "3                                      0.000000  \n",
       "4                                      0.000000  \n",
       "...                                         ...  \n",
       "5068                                   0.001051  \n",
       "5069                                   0.001041  \n",
       "5070                                   0.001031  \n",
       "5071                                   0.001021  \n",
       "5072                                   0.001011  \n",
       "\n",
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       "                     time [rpm_control_node_[pid]]rpm\\_input_rpm  \\\n",
       "0    1679338481.477463961                                   0.00   \n",
       "1    1679338481.493185282                                   0.00   \n",
       "2    1679338481.504156113                                   0.00   \n",
       "3    1679338481.516341925                                   0.00   \n",
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       "..                    ...                                    ...   \n",
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       "897  1679338492.117775440                                2000.00   \n",
       "898  1679338492.131746054                                2000.00   \n",
       "899  1679338492.143469095                                2000.00   \n",
       "900  1679338492.157162905                                2000.00   \n",
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       "0                                     2000.00   \n",
       "1                                     2000.00   \n",
       "2                                     2000.00   \n",
       "3                                     2000.00   \n",
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       "    <tr>\n",
       "      <th>900</th>\n",
       "      <td>1679338492.157199860</td>\n",
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       "      <td>0</td>\n",
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       "<p>901 rows × 11 columns</p>\n",
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       "                     time [rpm_control_node_[info]]input_rate_rpm/s  \\\n",
       "0    1679338481.477489710                                  0.000000   \n",
       "1    1679338481.493241549                                  0.000000   \n",
       "2    1679338481.504213810                                  0.000000   \n",
       "3    1679338481.516391516                                  0.000000   \n",
       "4    1679338481.526793718                                  0.000000   \n",
       "..                    ...                                       ...   \n",
       "896  1679338492.106091499                                  0.000000   \n",
       "897  1679338492.117814064                                  0.000000   \n",
       "898  1679338492.131783485                                  0.000000   \n",
       "899  1679338492.143504143                                  0.000000   \n",
       "900  1679338492.157199860                                  0.000000   \n",
       "\n",
       "    [rpm_control_node_[info]]error_rpm [rpm_control_node_[info]]p_output_%  \\\n",
       "0                          2000.000000                            0.000000   \n",
       "1                          2000.000000                            0.000000   \n",
       "2                          2000.000000                            0.000000   \n",
       "3                          2000.000000                            0.000000   \n",
       "4                          2000.000000                            0.000000   \n",
       "..                                 ...                                 ...   \n",
       "896                           0.000640                            0.000000   \n",
       "897                           0.000640                            0.000000   \n",
       "898                           0.000640                            0.000000   \n",
       "899                           0.000640                            0.000000   \n",
       "900                           0.000640                            0.000000   \n",
       "\n",
       "    [rpm_control_node_[info]]i_output_% [rpm_control_node_[info]]d_output_%  \\\n",
       "0                              1.600000                           -0.000000   \n",
       "1                              3.200000                           -0.000000   \n",
       "2                              4.800000                           -0.000000   \n",
       "3                              6.400000                           -0.000000   \n",
       "4                              8.000000                           -0.000000   \n",
       "..                                  ...                                 ...   \n",
       "896                           99.999971                           -0.000000   \n",
       "897                           99.999972                           -0.000000   \n",
       "898                           99.999972                           -0.000000   \n",
       "899                           99.999973                           -0.000000   \n",
       "900                           99.999973                           -0.000000   \n",
       "\n",
       "    [rpm_control_node_[info]]i_error_sum_% [rpm_control_node_[info]]output_%  \\\n",
       "0                               200.000000                          1.600000   \n",
       "1                               400.000000                          3.200000   \n",
       "2                               600.000000                          4.800000   \n",
       "3                               800.000000                          6.400000   \n",
       "4                              1000.000000                          8.000000   \n",
       "..                                     ...                               ...   \n",
       "896                           12499.996386                         99.999971   \n",
       "897                           12499.996450                         99.999972   \n",
       "898                           12499.996514                         99.999972   \n",
       "899                           12499.996578                         99.999973   \n",
       "900                           12499.996642                         99.999973   \n",
       "\n",
       "    [rpm_control_node_[info]]unclamped_output_%  \\\n",
       "0                                      1.600000   \n",
       "1                                      3.200000   \n",
       "2                                      4.800000   \n",
       "3                                      6.400000   \n",
       "4                                      8.000000   \n",
       "..                                          ...   \n",
       "896                                   99.999971   \n",
       "897                                   99.999972   \n",
       "898                                   99.999972   \n",
       "899                                   99.999973   \n",
       "900                                   99.999973   \n",
       "\n",
       "    [rpm_control_node_[info]]output_saturated_bool  \\\n",
       "0                                                0   \n",
       "1                                                0   \n",
       "2                                                0   \n",
       "3                                                0   \n",
       "4                                                0   \n",
       "..                                             ...   \n",
       "896                                              0   \n",
       "897                                              0   \n",
       "898                                              0   \n",
       "899                                              0   \n",
       "900                                              0   \n",
       "\n",
       "    [rpm_control_node_[info]]i_saturated_bool  \n",
       "0                                           0  \n",
       "1                                           0  \n",
       "2                                           0  \n",
       "3                                           0  \n",
       "4                                           0  \n",
       "..                                        ...  \n",
       "896                                         0  \n",
       "897                                         0  \n",
       "898                                         0  \n",
       "899                                         0  \n",
       "900                                         0  \n",
       "\n",
       "[901 rows x 11 columns]"
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       "      <td>-4.823114247e-03</td>\n",
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       "                      time [inertial_nav_node_[imu]]\\omega_{ib,x}^b_rad/s  \\\n",
       "0     1679338479.380318880                                3.503239316e-05   \n",
       "1     1679338479.380519629                                7.666591079e-05   \n",
       "2     1679338479.381040812                                2.490479330e-05   \n",
       "3     1679338479.382441998                                2.267144730e-05   \n",
       "4     1679338479.383369684                                6.721362807e-05   \n",
       "...                    ...                                            ...   \n",
       "9526  1679338492.058690310                                1.740702600e-03   \n",
       "9527  1679338492.058908701                                1.724525547e-03   \n",
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       "9530  1679338492.067327976                                1.649418925e-03   \n",
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       "4                                  -1.163288865e-05   \n",
       "...                                             ...   \n",
       "9526                               -3.490653955e-04   \n",
       "9527                               -3.308420357e-04   \n",
       "9528                               -3.648325122e-04   \n",
       "9529                               -3.578029015e-04   \n",
       "9530                               -4.270312446e-04   \n",
       "\n",
       "     [inertial_nav_node_[imu]]\\omega_{ib,z}^b_rad/s  \\\n",
       "0                                  -7.639803968e-05   \n",
       "1                                  -6.372514500e-05   \n",
       "2                                  -6.075729380e-05   \n",
       "3                                  -2.555308141e-05   \n",
       "4                                  -9.145903257e-05   \n",
       "...                                             ...   \n",
       "9526                               -4.823114247e-03   \n",
       "9527                               -4.859641844e-03   \n",
       "9528                               -4.857363857e-03   \n",
       "9529                               -4.858041322e-03   \n",
       "9530                               -4.905887685e-03   \n",
       "\n",
       "     [inertial_nav_node_[imu]]f_{ib,x}^b_m/s^2  \\\n",
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       "0                              3.916730884e-04   \n",
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       "2                             -2.150015466e-03   \n",
       "3                             -2.365310236e-03   \n",
       "4                              5.177718157e-04   \n",
       "...                                        ...   \n",
       "9526                           6.618074155e-04   \n",
       "9527                           3.493031192e-03   \n",
       "9528                           2.279258708e-03   \n",
       "9529                           5.205409052e-03   \n",
       "9530                           5.205782539e-03   \n",
       "\n",
       "     [inertial_nav_node_[imu]]f_{ib,z}^b_m/s^2  \n",
       "0                             -9.801162898e+00  \n",
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       "...                                        ...  \n",
       "9526                          -9.434269372e+00  \n",
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       "      <td>6.467836801e-01</td>\n",
       "      <td>-1.406986463e+00</td>\n",
       "      <td>-2.310237805e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>6.467838275e-01</td>\n",
       "      <td>-1.406986333e+00</td>\n",
       "      <td>-1.155686410e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>-1.299890502e-07</td>\n",
       "      <td>9.246626292e-01</td>\n",
       "      <td>-1.201768264e-02</td>\n",
       "      <td>-3.595352945e-02</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.466308832</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467836750e-01</td>\n",
       "      <td>-1.406985905e+00</td>\n",
       "      <td>7.569478809e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>6.467837907e-01</td>\n",
       "      <td>-1.406986366e+00</td>\n",
       "      <td>-1.149161150e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>4.608615987e-07</td>\n",
       "      <td>1.906109031e+00</td>\n",
       "      <td>-1.091907225e-02</td>\n",
       "      <td>-1.606798666e-02</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338479.491176367</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467838391e-01</td>\n",
       "      <td>-1.406986663e+00</td>\n",
       "      <td>-9.676742647e-03</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>6.467837685e-01</td>\n",
       "      <td>-1.406986275e+00</td>\n",
       "      <td>-1.154273455e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>-3.888356317e-07</td>\n",
       "      <td>1.144596713e+00</td>\n",
       "      <td>-2.623659303e-02</td>\n",
       "      <td>5.554698318e-03</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>531</th>\n",
       "      <td>1679338491.962281942</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467911845e-01</td>\n",
       "      <td>-1.406982184e+00</td>\n",
       "      <td>1.384626485e+01</td>\n",
       "      <td>1.942706578e+00</td>\n",
       "      <td>4.664562150e-01</td>\n",
       "      <td>6.467984701e-01</td>\n",
       "      <td>-1.406982915e+00</td>\n",
       "      <td>-1.034790534e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>7.314334360e-07</td>\n",
       "      <td>1.488105538e+01</td>\n",
       "      <td>-8.701905281e-02</td>\n",
       "      <td>4.343920617e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>532</th>\n",
       "      <td>1679338491.981945515</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467923040e-01</td>\n",
       "      <td>-1.406982788e+00</td>\n",
       "      <td>1.398915331e+01</td>\n",
       "      <td>1.942992606e+00</td>\n",
       "      <td>4.654647364e-01</td>\n",
       "      <td>6.467985194e-01</td>\n",
       "      <td>-1.406982903e+00</td>\n",
       "      <td>-1.034359482e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>1.157336067e-07</td>\n",
       "      <td>1.502351279e+01</td>\n",
       "      <td>-8.840945817e-02</td>\n",
       "      <td>4.306294852e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>533</th>\n",
       "      <td>1679338492.003656864</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467919684e-01</td>\n",
       "      <td>-1.406982710e+00</td>\n",
       "      <td>1.611482599e+01</td>\n",
       "      <td>1.943283547e+00</td>\n",
       "      <td>4.644466215e-01</td>\n",
       "      <td>6.467985612e-01</td>\n",
       "      <td>-1.406982898e+00</td>\n",
       "      <td>-1.034723946e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>1.872343307e-07</td>\n",
       "      <td>1.714954994e+01</td>\n",
       "      <td>-8.775650405e-02</td>\n",
       "      <td>4.316480645e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>534</th>\n",
       "      <td>1679338492.024592161</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467922726e-01</td>\n",
       "      <td>-1.406981762e+00</td>\n",
       "      <td>1.315468111e+01</td>\n",
       "      <td>1.943542426e+00</td>\n",
       "      <td>4.635381169e-01</td>\n",
       "      <td>6.467985933e-01</td>\n",
       "      <td>-1.406982889e+00</td>\n",
       "      <td>-1.035792813e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>1.126865204e-06</td>\n",
       "      <td>1.419047392e+01</td>\n",
       "      <td>-8.668740997e-02</td>\n",
       "      <td>4.297975735e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>535</th>\n",
       "      <td>1679338492.046976566</td>\n",
       "      <td>10</td>\n",
       "      <td>6.467917509e-01</td>\n",
       "      <td>-1.406982999e+00</td>\n",
       "      <td>1.399640294e+01</td>\n",
       "      <td>1.943859205e+00</td>\n",
       "      <td>4.624147351e-01</td>\n",
       "      <td>6.467986413e-01</td>\n",
       "      <td>-1.406982874e+00</td>\n",
       "      <td>-1.035632568e+00</td>\n",
       "      <td>...</td>\n",
       "      <td>-1.247948558e-07</td>\n",
       "      <td>1.503203551e+01</td>\n",
       "      <td>-8.701714383e-02</td>\n",
       "      <td>4.224528602e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>536 rows × 28 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                     time [inertial_nav_node_[gps]]lat_rad  \\\n",
       "0    1679338479.394553185                               10   \n",
       "1    1679338479.420895338                               10   \n",
       "2    1679338479.443450689                               10   \n",
       "3    1679338479.466308832                               10   \n",
       "4    1679338479.491176367                               10   \n",
       "..                    ...                              ...   \n",
       "531  1679338491.962281942                               10   \n",
       "532  1679338491.981945515                               10   \n",
       "533  1679338492.003656864                               10   \n",
       "534  1679338492.024592161                               10   \n",
       "535  1679338492.046976566                               10   \n",
       "\n",
       "    [inertial_nav_node_[gps]]lon_rad [inertial_nav_node_[gps]]alt_m  \\\n",
       "0                    6.467839237e-01               -1.406986132e+00   \n",
       "1                    6.467836781e-01               -1.406986084e+00   \n",
       "2                    6.467836801e-01               -1.406986463e+00   \n",
       "3                    6.467836750e-01               -1.406985905e+00   \n",
       "4                    6.467838391e-01               -1.406986663e+00   \n",
       "..                               ...                            ...   \n",
       "531                  6.467911845e-01               -1.406982184e+00   \n",
       "532                  6.467923040e-01               -1.406982788e+00   \n",
       "533                  6.467919684e-01               -1.406982710e+00   \n",
       "534                  6.467922726e-01               -1.406981762e+00   \n",
       "535                  6.467917509e-01               -1.406982999e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]num_sats_? [inertial_nav_node_[gps]]y_1_?  \\\n",
       "0                      -1.774646897e-01                0.000000000e+00   \n",
       "1                      -2.037153192e+00                0.000000000e+00   \n",
       "2                      -2.310237805e-01                0.000000000e+00   \n",
       "3                       7.569478809e-01                0.000000000e+00   \n",
       "4                      -9.676742647e-03                0.000000000e+00   \n",
       "..                                  ...                            ...   \n",
       "531                     1.384626485e+01                1.942706578e+00   \n",
       "532                     1.398915331e+01                1.942992606e+00   \n",
       "533                     1.611482599e+01                1.943283547e+00   \n",
       "534                     1.315468111e+01                1.943542426e+00   \n",
       "535                     1.399640294e+01                1.943859205e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]y_2_? [inertial_nav_node_[gps]]y_3_?  \\\n",
       "0                  0.000000000e+00                6.467838802e-01   \n",
       "1                  0.000000000e+00                6.467839017e-01   \n",
       "2                  0.000000000e+00                6.467838275e-01   \n",
       "3                  0.000000000e+00                6.467837907e-01   \n",
       "4                  0.000000000e+00                6.467837685e-01   \n",
       "..                             ...                            ...   \n",
       "531                4.664562150e-01                6.467984701e-01   \n",
       "532                4.654647364e-01                6.467985194e-01   \n",
       "533                4.644466215e-01                6.467985612e-01   \n",
       "534                4.635381169e-01                6.467985933e-01   \n",
       "535                4.624147351e-01                6.467986413e-01   \n",
       "\n",
       "    [inertial_nav_node_[gps]]y_bar_1_? [inertial_nav_node_[gps]]y_bar_2_?  \\\n",
       "0                     -1.406986786e+00                   -1.131460480e+00   \n",
       "1                     -1.406986459e+00                   -1.153231842e+00   \n",
       "2                     -1.406986333e+00                   -1.155686410e+00   \n",
       "3                     -1.406986366e+00                   -1.149161150e+00   \n",
       "4                     -1.406986275e+00                   -1.154273455e+00   \n",
       "..                                 ...                                ...   \n",
       "531                   -1.406982915e+00                   -1.034790534e+00   \n",
       "532                   -1.406982903e+00                   -1.034359482e+00   \n",
       "533                   -1.406982898e+00                   -1.034723946e+00   \n",
       "534                   -1.406982889e+00                   -1.035792813e+00   \n",
       "535                   -1.406982874e+00                   -1.035632568e+00   \n",
       "\n",
       "     ... [inertial_nav_node_[gps]]P_yy_8_? [inertial_nav_node_[gps]]P_yy_9_?  \\\n",
       "0    ...                   6.543135780e-07                   9.539957907e-01   \n",
       "1    ...                   3.749376731e-07                  -8.839213497e-01   \n",
       "2    ...                  -1.299890502e-07                   9.246626292e-01   \n",
       "3    ...                   4.608615987e-07                   1.906109031e+00   \n",
       "4    ...                  -3.888356317e-07                   1.144596713e+00   \n",
       "..   ...                               ...                               ...   \n",
       "531  ...                   7.314334360e-07                   1.488105538e+01   \n",
       "532  ...                   1.157336067e-07                   1.502351279e+01   \n",
       "533  ...                   1.872343307e-07                   1.714954994e+01   \n",
       "534  ...                   1.126865204e-06                   1.419047392e+01   \n",
       "535  ...                  -1.247948558e-07                   1.503203551e+01   \n",
       "\n",
       "    [inertial_nav_node_[gps]]innovation_1_?  \\\n",
       "0                           5.073290244e-04   \n",
       "1                          -2.924536815e-03   \n",
       "2                          -1.201768264e-02   \n",
       "3                          -1.091907225e-02   \n",
       "4                          -2.623659303e-02   \n",
       "..                                      ...   \n",
       "531                        -8.701905281e-02   \n",
       "532                        -8.840945817e-02   \n",
       "533                        -8.775650405e-02   \n",
       "534                        -8.668740997e-02   \n",
       "535                        -8.701714383e-02   \n",
       "\n",
       "    [inertial_nav_node_[gps]]innovation_2_?  \\\n",
       "0                           1.062418968e-02   \n",
       "1                          -3.579731349e-02   \n",
       "2                          -3.595352945e-02   \n",
       "3                          -1.606798666e-02   \n",
       "4                           5.554698318e-03   \n",
       "..                                      ...   \n",
       "531                         4.343920617e-01   \n",
       "532                         4.306294852e-01   \n",
       "533                         4.316480645e-01   \n",
       "534                         4.297975735e-01   \n",
       "535                         4.224528602e-01   \n",
       "\n",
       "    [inertial_nav_node_[gps]]innovation_3_?  \\\n",
       "0                           0.000000000e+00   \n",
       "1                           0.000000000e+00   \n",
       "2                           0.000000000e+00   \n",
       "3                           0.000000000e+00   \n",
       "4                           0.000000000e+00   \n",
       "..                                      ...   \n",
       "531                         0.000000000e+00   \n",
       "532                         0.000000000e+00   \n",
       "533                         0.000000000e+00   \n",
       "534                         0.000000000e+00   \n",
       "535                         0.000000000e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]threshold_1_?  \\\n",
       "0                          0.000000000e+00   \n",
       "1                          0.000000000e+00   \n",
       "2                          0.000000000e+00   \n",
       "3                          0.000000000e+00   \n",
       "4                          0.000000000e+00   \n",
       "..                                     ...   \n",
       "531                        0.000000000e+00   \n",
       "532                        0.000000000e+00   \n",
       "533                        0.000000000e+00   \n",
       "534                        0.000000000e+00   \n",
       "535                        0.000000000e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]threshold_2_?  \\\n",
       "0                          0.000000000e+00   \n",
       "1                          0.000000000e+00   \n",
       "2                          0.000000000e+00   \n",
       "3                          0.000000000e+00   \n",
       "4                          0.000000000e+00   \n",
       "..                                     ...   \n",
       "531                        0.000000000e+00   \n",
       "532                        0.000000000e+00   \n",
       "533                        0.000000000e+00   \n",
       "534                        0.000000000e+00   \n",
       "535                        0.000000000e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]threshold_3_?  \\\n",
       "0                          0.000000000e+00   \n",
       "1                          0.000000000e+00   \n",
       "2                          0.000000000e+00   \n",
       "3                          0.000000000e+00   \n",
       "4                          0.000000000e+00   \n",
       "..                                     ...   \n",
       "531                        0.000000000e+00   \n",
       "532                        0.000000000e+00   \n",
       "533                        0.000000000e+00   \n",
       "534                        0.000000000e+00   \n",
       "535                        0.000000000e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]accepted_?  \\\n",
       "0                       0.000000000e+00   \n",
       "1                       0.000000000e+00   \n",
       "2                       0.000000000e+00   \n",
       "3                       0.000000000e+00   \n",
       "4                       0.000000000e+00   \n",
       "..                                  ...   \n",
       "531                     0.000000000e+00   \n",
       "532                     0.000000000e+00   \n",
       "533                     0.000000000e+00   \n",
       "534                     0.000000000e+00   \n",
       "535                     0.000000000e+00   \n",
       "\n",
       "    [inertial_nav_node_[gps]]has\\_lock_bool  \n",
       "0                                         1  \n",
       "1                                         1  \n",
       "2                                         1  \n",
       "3                                         1  \n",
       "4                                         1  \n",
       "..                                      ...  \n",
       "531                                       1  \n",
       "532                                       1  \n",
       "533                                       1  \n",
       "534                                       1  \n",
       "535                                       1  \n",
       "\n",
       "[536 rows x 28 columns]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>time</th>\n",
       "      <th>[inertial_nav_node_[mag]]mx_Gauss</th>\n",
       "      <th>[inertial_nav_node_[mag]]my_Gauss</th>\n",
       "      <th>[inertial_nav_node_[mag]]mz_Gauss</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>1679338479.350107670</td>\n",
       "      <td>0.35437</td>\n",
       "      <td>-0.35279</td>\n",
       "      <td>0.00083</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1679338479.351541519</td>\n",
       "      <td>0.35315</td>\n",
       "      <td>-0.35305</td>\n",
       "      <td>0.00065</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1679338479.352576733</td>\n",
       "      <td>0.35263</td>\n",
       "      <td>-0.35455</td>\n",
       "      <td>0.00156</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.354590654</td>\n",
       "      <td>0.35220</td>\n",
       "      <td>-0.35142</td>\n",
       "      <td>0.00148</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338479.355781794</td>\n",
       "      <td>0.35419</td>\n",
       "      <td>-0.35571</td>\n",
       "      <td>0.00066</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9692</th>\n",
       "      <td>1679338492.258615494</td>\n",
       "      <td>0.46905</td>\n",
       "      <td>-0.11556</td>\n",
       "      <td>0.13074</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9693</th>\n",
       "      <td>1679338492.259818316</td>\n",
       "      <td>0.46936</td>\n",
       "      <td>-0.11442</td>\n",
       "      <td>0.13139</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9694</th>\n",
       "      <td>1679338492.260955572</td>\n",
       "      <td>0.46767</td>\n",
       "      <td>-0.11691</td>\n",
       "      <td>0.13129</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9695</th>\n",
       "      <td>1679338492.261280298</td>\n",
       "      <td>0.46720</td>\n",
       "      <td>-0.11614</td>\n",
       "      <td>0.12980</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9696</th>\n",
       "      <td>1679338492.262438059</td>\n",
       "      <td>0.46873</td>\n",
       "      <td>-0.11599</td>\n",
       "      <td>0.13108</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>9697 rows × 4 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                      time [inertial_nav_node_[mag]]mx_Gauss  \\\n",
       "0     1679338479.350107670                           0.35437   \n",
       "1     1679338479.351541519                           0.35315   \n",
       "2     1679338479.352576733                           0.35263   \n",
       "3     1679338479.354590654                           0.35220   \n",
       "4     1679338479.355781794                           0.35419   \n",
       "...                    ...                               ...   \n",
       "9692  1679338492.258615494                           0.46905   \n",
       "9693  1679338492.259818316                           0.46936   \n",
       "9694  1679338492.260955572                           0.46767   \n",
       "9695  1679338492.261280298                           0.46720   \n",
       "9696  1679338492.262438059                           0.46873   \n",
       "\n",
       "     [inertial_nav_node_[mag]]my_Gauss [inertial_nav_node_[mag]]mz_Gauss  \n",
       "0                             -0.35279                           0.00083  \n",
       "1                             -0.35305                           0.00065  \n",
       "2                             -0.35455                           0.00156  \n",
       "3                             -0.35142                           0.00148  \n",
       "4                             -0.35571                           0.00066  \n",
       "...                                ...                               ...  \n",
       "9692                          -0.11556                           0.13074  \n",
       "9693                          -0.11442                           0.13139  \n",
       "9694                          -0.11691                           0.13129  \n",
       "9695                          -0.11614                           0.12980  \n",
       "9696                          -0.11599                           0.13108  \n",
       "\n",
       "[9697 rows x 4 columns]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>time</th>\n",
       "      <th>[inertial_nav_node_[x]]roll_rad</th>\n",
       "      <th>[inertial_nav_node_[x]]pitch_rad</th>\n",
       "      <th>[inertial_nav_node_[x]]yaw_rad</th>\n",
       "      <th>[inertial_nav_node_[x]]v_x_m/s</th>\n",
       "      <th>[inertial_nav_node_[x]]v_y_m/s</th>\n",
       "      <th>[inertial_nav_node_[x]]v_z_m/s</th>\n",
       "      <th>[inertial_nav_node_[x]]lat_rad</th>\n",
       "      <th>[inertial_nav_node_[x]]lon_rad</th>\n",
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       "      <th>[inertial_nav_node_[x]]baz_m/s^2</th>\n",
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       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>1679338479.373873234</td>\n",
       "      <td>4.928136943e-04</td>\n",
       "      <td>-1.045560577e-04</td>\n",
       "      <td>7.853981634e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>6.467840239e-01</td>\n",
       "      <td>-1.406986608e+00</td>\n",
       "      <td>-1.177080643e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1679338479.380361557</td>\n",
       "      <td>4.927526117e-04</td>\n",
       "      <td>-1.048989766e-04</td>\n",
       "      <td>7.853978385e-01</td>\n",
       "      <td>-4.310669357e-05</td>\n",
       "      <td>3.073244101e-05</td>\n",
       "      <td>-2.052669322e-05</td>\n",
       "      <td>6.467840239e-01</td>\n",
       "      <td>-1.406986608e+00</td>\n",
       "      <td>-1.177080438e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
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       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1679338479.380551577</td>\n",
       "      <td>4.931078509e-04</td>\n",
       "      <td>-1.041663633e-04</td>\n",
       "      <td>7.853976409e-01</td>\n",
       "      <td>-5.909992758e-05</td>\n",
       "      <td>8.783004906e-05</td>\n",
       "      <td>-1.252277338e-05</td>\n",
       "      <td>6.467840239e-01</td>\n",
       "      <td>-1.406986608e+00</td>\n",
       "      <td>-1.177080312e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.381077051</td>\n",
       "      <td>4.929454744e-04</td>\n",
       "      <td>-1.061670947e-04</td>\n",
       "      <td>7.853974726e-01</td>\n",
       "      <td>-8.323313590e-05</td>\n",
       "      <td>1.016314184e-04</td>\n",
       "      <td>-5.264456520e-05</td>\n",
       "      <td>6.467840239e-01</td>\n",
       "      <td>-1.406986608e+00</td>\n",
       "      <td>-1.132285103e+00</td>\n",
       "      <td>7.185556079e-25</td>\n",
       "      <td>4.405771503e-19</td>\n",
       "      <td>-2.169422546e-22</td>\n",
       "      <td>2.369290926e-18</td>\n",
       "      <td>1.118244005e-17</td>\n",
       "      <td>2.269041299e-14</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338479.382481337</td>\n",
       "      <td>4.927607292e-04</td>\n",
       "      <td>-1.059577770e-04</td>\n",
       "      <td>7.853976564e-01</td>\n",
       "      <td>-8.521089286e-05</td>\n",
       "      <td>1.344742243e-04</td>\n",
       "      <td>-3.012162306e-05</td>\n",
       "      <td>6.467840239e-01</td>\n",
       "      <td>-1.406986608e+00</td>\n",
       "      <td>-1.132284802e+00</td>\n",
       "      <td>7.185556079e-25</td>\n",
       "      <td>4.405771503e-19</td>\n",
       "      <td>-2.169422546e-22</td>\n",
       "      <td>2.369290926e-18</td>\n",
       "      <td>1.118244005e-17</td>\n",
       "      <td>2.269041299e-14</td>\n",
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       "      <td>...</td>\n",
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       "    <tr>\n",
       "      <th>9527</th>\n",
       "      <td>1679338492.058740854</td>\n",
       "      <td>-5.826327987e-03</td>\n",
       "      <td>2.638719361e-01</td>\n",
       "      <td>7.172725300e-03</td>\n",
       "      <td>2.033989167e+00</td>\n",
       "      <td>3.701449405e-02</td>\n",
       "      <td>-1.582915381e-02</td>\n",
       "      <td>6.467988428e-01</td>\n",
       "      <td>-1.406982868e+00</td>\n",
       "      <td>-7.103435393e-01</td>\n",
       "      <td>-4.803215430e-07</td>\n",
       "      <td>2.860005130e-06</td>\n",
       "      <td>-5.236739957e-09</td>\n",
       "      <td>4.188904065e-02</td>\n",
       "      <td>-5.140059027e-02</td>\n",
       "      <td>1.469230172e-03</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9528</th>\n",
       "      <td>1679338492.058948517</td>\n",
       "      <td>-5.822804535e-03</td>\n",
       "      <td>2.638683235e-01</td>\n",
       "      <td>7.122689856e-03</td>\n",
       "      <td>2.034602890e+00</td>\n",
       "      <td>3.702018464e-02</td>\n",
       "      <td>-1.573807849e-02</td>\n",
       "      <td>6.467988460e-01</td>\n",
       "      <td>-1.406982868e+00</td>\n",
       "      <td>-7.101861586e-01</td>\n",
       "      <td>-4.803215430e-07</td>\n",
       "      <td>2.860005130e-06</td>\n",
       "      <td>-5.236739957e-09</td>\n",
       "      <td>4.188904065e-02</td>\n",
       "      <td>-5.140059027e-02</td>\n",
       "      <td>1.469230172e-03</td>\n",
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       "    <tr>\n",
       "      <th>9529</th>\n",
       "      <td>1679338492.059717655</td>\n",
       "      <td>-6.327789961e-03</td>\n",
       "      <td>2.631740230e-01</td>\n",
       "      <td>6.835299396e-03</td>\n",
       "      <td>2.029144878e+00</td>\n",
       "      <td>2.970056372e-02</td>\n",
       "      <td>-2.232224689e-02</td>\n",
       "      <td>6.467988470e-01</td>\n",
       "      <td>-1.406982869e+00</td>\n",
       "      <td>-7.009027072e-01</td>\n",
       "      <td>-4.803787792e-07</td>\n",
       "      <td>2.859826968e-06</td>\n",
       "      <td>-5.256411433e-09</td>\n",
       "      <td>4.190462692e-02</td>\n",
       "      <td>-5.140105801e-02</td>\n",
       "      <td>1.645983216e-03</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9530</th>\n",
       "      <td>1679338492.060172558</td>\n",
       "      <td>-6.323190498e-03</td>\n",
       "      <td>2.631701164e-01</td>\n",
       "      <td>6.785294084e-03</td>\n",
       "      <td>2.029811165e+00</td>\n",
       "      <td>2.967641504e-02</td>\n",
       "      <td>-2.220885717e-02</td>\n",
       "      <td>6.467988502e-01</td>\n",
       "      <td>-1.406982869e+00</td>\n",
       "      <td>-7.006806186e-01</td>\n",
       "      <td>-4.803787792e-07</td>\n",
       "      <td>2.859826968e-06</td>\n",
       "      <td>-5.256411433e-09</td>\n",
       "      <td>4.190462692e-02</td>\n",
       "      <td>-5.140105801e-02</td>\n",
       "      <td>1.645983216e-03</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9531</th>\n",
       "      <td>1679338492.067394733</td>\n",
       "      <td>-6.320503857e-03</td>\n",
       "      <td>2.631655145e-01</td>\n",
       "      <td>6.734797834e-03</td>\n",
       "      <td>2.030514585e+00</td>\n",
       "      <td>2.965275145e-02</td>\n",
       "      <td>-2.210358844e-02</td>\n",
       "      <td>6.467988534e-01</td>\n",
       "      <td>-1.406982869e+00</td>\n",
       "      <td>-7.004595828e-01</td>\n",
       "      <td>-4.803787792e-07</td>\n",
       "      <td>2.859826968e-06</td>\n",
       "      <td>-5.256411433e-09</td>\n",
       "      <td>4.190462692e-02</td>\n",
       "      <td>-5.140105801e-02</td>\n",
       "      <td>1.645983216e-03</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>9532 rows × 16 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                      time [inertial_nav_node_[x]]roll_rad  \\\n",
       "0     1679338479.373873234                 4.928136943e-04   \n",
       "1     1679338479.380361557                 4.927526117e-04   \n",
       "2     1679338479.380551577                 4.931078509e-04   \n",
       "3     1679338479.381077051                 4.929454744e-04   \n",
       "4     1679338479.382481337                 4.927607292e-04   \n",
       "...                    ...                             ...   \n",
       "9527  1679338492.058740854                -5.826327987e-03   \n",
       "9528  1679338492.058948517                -5.822804535e-03   \n",
       "9529  1679338492.059717655                -6.327789961e-03   \n",
       "9530  1679338492.060172558                -6.323190498e-03   \n",
       "9531  1679338492.067394733                -6.320503857e-03   \n",
       "\n",
       "     [inertial_nav_node_[x]]pitch_rad [inertial_nav_node_[x]]yaw_rad  \\\n",
       "0                    -1.045560577e-04                7.853981634e-01   \n",
       "1                    -1.048989766e-04                7.853978385e-01   \n",
       "2                    -1.041663633e-04                7.853976409e-01   \n",
       "3                    -1.061670947e-04                7.853974726e-01   \n",
       "4                    -1.059577770e-04                7.853976564e-01   \n",
       "...                               ...                            ...   \n",
       "9527                  2.638719361e-01                7.172725300e-03   \n",
       "9528                  2.638683235e-01                7.122689856e-03   \n",
       "9529                  2.631740230e-01                6.835299396e-03   \n",
       "9530                  2.631701164e-01                6.785294084e-03   \n",
       "9531                  2.631655145e-01                6.734797834e-03   \n",
       "\n",
       "     [inertial_nav_node_[x]]v_x_m/s [inertial_nav_node_[x]]v_y_m/s  \\\n",
       "0                   0.000000000e+00                0.000000000e+00   \n",
       "1                  -4.310669357e-05                3.073244101e-05   \n",
       "2                  -5.909992758e-05                8.783004906e-05   \n",
       "3                  -8.323313590e-05                1.016314184e-04   \n",
       "4                  -8.521089286e-05                1.344742243e-04   \n",
       "...                             ...                            ...   \n",
       "9527                2.033989167e+00                3.701449405e-02   \n",
       "9528                2.034602890e+00                3.702018464e-02   \n",
       "9529                2.029144878e+00                2.970056372e-02   \n",
       "9530                2.029811165e+00                2.967641504e-02   \n",
       "9531                2.030514585e+00                2.965275145e-02   \n",
       "\n",
       "     [inertial_nav_node_[x]]v_z_m/s [inertial_nav_node_[x]]lat_rad  \\\n",
       "0                   0.000000000e+00                6.467840239e-01   \n",
       "1                  -2.052669322e-05                6.467840239e-01   \n",
       "2                  -1.252277338e-05                6.467840239e-01   \n",
       "3                  -5.264456520e-05                6.467840239e-01   \n",
       "4                  -3.012162306e-05                6.467840239e-01   \n",
       "...                             ...                            ...   \n",
       "9527               -1.582915381e-02                6.467988428e-01   \n",
       "9528               -1.573807849e-02                6.467988460e-01   \n",
       "9529               -2.232224689e-02                6.467988470e-01   \n",
       "9530               -2.220885717e-02                6.467988502e-01   \n",
       "9531               -2.210358844e-02                6.467988534e-01   \n",
       "\n",
       "     [inertial_nav_node_[x]]lon_rad [inertial_nav_node_[x]]alt_m  \\\n",
       "0                  -1.406986608e+00             -1.177080643e+00   \n",
       "1                  -1.406986608e+00             -1.177080438e+00   \n",
       "2                  -1.406986608e+00             -1.177080312e+00   \n",
       "3                  -1.406986608e+00             -1.132285103e+00   \n",
       "4                  -1.406986608e+00             -1.132284802e+00   \n",
       "...                             ...                          ...   \n",
       "9527               -1.406982868e+00             -7.103435393e-01   \n",
       "9528               -1.406982868e+00             -7.101861586e-01   \n",
       "9529               -1.406982869e+00             -7.009027072e-01   \n",
       "9530               -1.406982869e+00             -7.006806186e-01   \n",
       "9531               -1.406982869e+00             -7.004595828e-01   \n",
       "\n",
       "     [inertial_nav_node_[x]]bgx_rad/s [inertial_nav_node_[x]]bgy_rad/s  \\\n",
       "0                     0.000000000e+00                  0.000000000e+00   \n",
       "1                     0.000000000e+00                  0.000000000e+00   \n",
       "2                     0.000000000e+00                  0.000000000e+00   \n",
       "3                     7.185556079e-25                  4.405771503e-19   \n",
       "4                     7.185556079e-25                  4.405771503e-19   \n",
       "...                               ...                              ...   \n",
       "9527                 -4.803215430e-07                  2.860005130e-06   \n",
       "9528                 -4.803215430e-07                  2.860005130e-06   \n",
       "9529                 -4.803787792e-07                  2.859826968e-06   \n",
       "9530                 -4.803787792e-07                  2.859826968e-06   \n",
       "9531                 -4.803787792e-07                  2.859826968e-06   \n",
       "\n",
       "     [inertial_nav_node_[x]]bgz_rad/s [inertial_nav_node_[x]]bax_m/s^2  \\\n",
       "0                     0.000000000e+00                  0.000000000e+00   \n",
       "1                     0.000000000e+00                  0.000000000e+00   \n",
       "2                     0.000000000e+00                  0.000000000e+00   \n",
       "3                    -2.169422546e-22                  2.369290926e-18   \n",
       "4                    -2.169422546e-22                  2.369290926e-18   \n",
       "...                               ...                              ...   \n",
       "9527                 -5.236739957e-09                  4.188904065e-02   \n",
       "9528                 -5.236739957e-09                  4.188904065e-02   \n",
       "9529                 -5.256411433e-09                  4.190462692e-02   \n",
       "9530                 -5.256411433e-09                  4.190462692e-02   \n",
       "9531                 -5.256411433e-09                  4.190462692e-02   \n",
       "\n",
       "     [inertial_nav_node_[x]]bay_m/s^2 [inertial_nav_node_[x]]baz_m/s^2  \n",
       "0                     0.000000000e+00                  0.000000000e+00  \n",
       "1                     0.000000000e+00                  0.000000000e+00  \n",
       "2                     0.000000000e+00                  0.000000000e+00  \n",
       "3                     1.118244005e-17                  2.269041299e-14  \n",
       "4                     1.118244005e-17                  2.269041299e-14  \n",
       "...                               ...                              ...  \n",
       "9527                 -5.140059027e-02                  1.469230172e-03  \n",
       "9528                 -5.140059027e-02                  1.469230172e-03  \n",
       "9529                 -5.140105801e-02                  1.645983216e-03  \n",
       "9530                 -5.140105801e-02                  1.645983216e-03  \n",
       "9531                 -5.140105801e-02                  1.645983216e-03  \n",
       "\n",
       "[9532 rows x 16 columns]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>time</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_roll_rad^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_pitch_rad^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_yaw_rad^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_v_x_(m/s)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_v_y_(m/s)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_v_z_(m/s)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_lat_rad^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_lon_rad^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_alt_m^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_bgx_(rad/s)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_bgy_(rad/s)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_bgz_(rad/s)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_bax_(m/s^2)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_bay_(m/s^2)^2</th>\n",
       "      <th>[inertial_nav_node_[P]]cov_baz_(m/s^2)^2</th>\n",
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       "  <tbody>\n",
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       "      <th>0</th>\n",
       "      <td>1679338479.373909235</td>\n",
       "      <td>3.000000000e-03</td>\n",
       "      <td>3.000000000e-03</td>\n",
       "      <td>3.046200000e-06</td>\n",
       "      <td>1.000000000e-02</td>\n",
       "      <td>1.000000000e-02</td>\n",
       "      <td>1.000000000e-02</td>\n",
       "      <td>1.539800000e-13</td>\n",
       "      <td>1.539800000e-13</td>\n",
       "      <td>1.000000000e+02</td>\n",
       "      <td>6.930300000e-14</td>\n",
       "      <td>6.930300000e-14</td>\n",
       "      <td>6.930300000e-14</td>\n",
       "      <td>1.688400000e-07</td>\n",
       "      <td>1.688400000e-07</td>\n",
       "      <td>1.688400000e-07</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1679338479.380404949</td>\n",
       "      <td>3.000007065e-03</td>\n",
       "      <td>3.000007065e-03</td>\n",
       "      <td>3.046200089e-06</td>\n",
       "      <td>1.002882741e-02</td>\n",
       "      <td>1.002882741e-02</td>\n",
       "      <td>1.000018151e-02</td>\n",
       "      <td>1.539800325e-13</td>\n",
       "      <td>1.539800250e-13</td>\n",
       "      <td>1.000000011e+02</td>\n",
       "      <td>6.930531010e-14</td>\n",
       "      <td>6.930531010e-14</td>\n",
       "      <td>6.930531010e-14</td>\n",
       "      <td>1.688456279e-07</td>\n",
       "      <td>1.688456279e-07</td>\n",
       "      <td>1.688456279e-07</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1679338479.380584955</td>\n",
       "      <td>3.000007065e-03</td>\n",
       "      <td>3.000007065e-03</td>\n",
       "      <td>3.046201185e-06</td>\n",
       "      <td>1.011525903e-02</td>\n",
       "      <td>1.011525904e-02</td>\n",
       "      <td>1.000036298e-02</td>\n",
       "      <td>1.539801067e-13</td>\n",
       "      <td>1.539801401e-13</td>\n",
       "      <td>1.000000042e+02</td>\n",
       "      <td>6.930762020e-14</td>\n",
       "      <td>6.930762020e-14</td>\n",
       "      <td>6.930762020e-14</td>\n",
       "      <td>1.688512558e-07</td>\n",
       "      <td>1.688512558e-07</td>\n",
       "      <td>1.688512558e-07</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.381108046</td>\n",
       "      <td>2.999944693e-03</td>\n",
       "      <td>2.999916433e-03</td>\n",
       "      <td>3.046202286e-06</td>\n",
       "      <td>1.025937183e-02</td>\n",
       "      <td>1.025937183e-02</td>\n",
       "      <td>1.000054420e-02</td>\n",
       "      <td>1.539802323e-13</td>\n",
       "      <td>1.539803352e-13</td>\n",
       "      <td>6.113041987e-03</td>\n",
       "      <td>6.930993030e-14</td>\n",
       "      <td>6.930993030e-14</td>\n",
       "      <td>6.930993030e-14</td>\n",
       "      <td>1.688568837e-07</td>\n",
       "      <td>1.688568837e-07</td>\n",
       "      <td>1.688568837e-07</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338479.382508755</td>\n",
       "      <td>2.999944690e-03</td>\n",
       "      <td>2.999916430e-03</td>\n",
       "      <td>3.046202378e-06</td>\n",
       "      <td>1.046100001e-02</td>\n",
       "      <td>1.046100027e-02</td>\n",
       "      <td>1.000072567e-02</td>\n",
       "      <td>1.539804099e-13</td>\n",
       "      <td>1.539806123e-13</td>\n",
       "      <td>6.116045310e-03</td>\n",
       "      <td>6.931224040e-14</td>\n",
       "      <td>6.931224040e-14</td>\n",
       "      <td>6.931224040e-14</td>\n",
       "      <td>1.688625116e-07</td>\n",
       "      <td>1.688625116e-07</td>\n",
       "      <td>1.688625116e-07</td>\n",
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       "      <th>9527</th>\n",
       "      <td>1679338492.058769226</td>\n",
       "      <td>3.820512965e-07</td>\n",
       "      <td>4.255311202e-07</td>\n",
       "      <td>8.588335335e-06</td>\n",
       "      <td>4.639065750e-05</td>\n",
       "      <td>8.258311014e-05</td>\n",
       "      <td>2.380787547e-06</td>\n",
       "      <td>3.130775339e-16</td>\n",
       "      <td>1.020275508e-15</td>\n",
       "      <td>8.897773652e-06</td>\n",
       "      <td>9.129954809e-14</td>\n",
       "      <td>9.129501163e-14</td>\n",
       "      <td>9.131080603e-14</td>\n",
       "      <td>1.792412103e-07</td>\n",
       "      <td>2.172035708e-07</td>\n",
       "      <td>3.271479450e-08</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9528</th>\n",
       "      <td>1679338492.058993101</td>\n",
       "      <td>3.820513734e-07</td>\n",
       "      <td>4.255312169e-07</td>\n",
       "      <td>8.588335401e-06</td>\n",
       "      <td>4.701423195e-05</td>\n",
       "      <td>8.322598396e-05</td>\n",
       "      <td>2.390748061e-06</td>\n",
       "      <td>3.130957563e-16</td>\n",
       "      <td>1.020788008e-15</td>\n",
       "      <td>8.962612168e-06</td>\n",
       "      <td>9.130185819e-14</td>\n",
       "      <td>9.129732173e-14</td>\n",
       "      <td>9.131311613e-14</td>\n",
       "      <td>1.792468382e-07</td>\n",
       "      <td>2.172091987e-07</td>\n",
       "      <td>3.272042240e-08</td>\n",
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       "    <tr>\n",
       "      <th>9529</th>\n",
       "      <td>1679338492.059747219</td>\n",
       "      <td>3.396855202e-07</td>\n",
       "      <td>3.786203418e-07</td>\n",
       "      <td>8.601495511e-06</td>\n",
       "      <td>3.755694129e-05</td>\n",
       "      <td>7.363285422e-05</td>\n",
       "      <td>2.365039888e-06</td>\n",
       "      <td>3.129688730e-16</td>\n",
       "      <td>1.021196978e-15</td>\n",
       "      <td>8.909584407e-06</td>\n",
       "      <td>9.130416559e-14</td>\n",
       "      <td>9.129962992e-14</td>\n",
       "      <td>9.131542614e-14</td>\n",
       "      <td>1.792518549e-07</td>\n",
       "      <td>2.172148238e-07</td>\n",
       "      <td>3.270410984e-08</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9530</th>\n",
       "      <td>1679338492.060202122</td>\n",
       "      <td>3.396855970e-07</td>\n",
       "      <td>3.786204423e-07</td>\n",
       "      <td>8.601495578e-06</td>\n",
       "      <td>3.806267408e-05</td>\n",
       "      <td>7.416117996e-05</td>\n",
       "      <td>2.374990396e-06</td>\n",
       "      <td>3.129833280e-16</td>\n",
       "      <td>1.021709271e-15</td>\n",
       "      <td>8.974217498e-06</td>\n",
       "      <td>9.130647569e-14</td>\n",
       "      <td>9.130194002e-14</td>\n",
       "      <td>9.131773624e-14</td>\n",
       "      <td>1.792574828e-07</td>\n",
       "      <td>2.172204517e-07</td>\n",
       "      <td>3.270973774e-08</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9531</th>\n",
       "      <td>1679338492.067446947</td>\n",
       "      <td>3.528607704e-07</td>\n",
       "      <td>3.786223402e-07</td>\n",
       "      <td>8.602451999e-06</td>\n",
       "      <td>3.857566460e-05</td>\n",
       "      <td>7.469732553e-05</td>\n",
       "      <td>2.384956364e-06</td>\n",
       "      <td>3.129981871e-16</td>\n",
       "      <td>1.022220875e-15</td>\n",
       "      <td>9.039347065e-06</td>\n",
       "      <td>9.130878579e-14</td>\n",
       "      <td>9.130425012e-14</td>\n",
       "      <td>9.132004634e-14</td>\n",
       "      <td>1.792631107e-07</td>\n",
       "      <td>2.172260796e-07</td>\n",
       "      <td>3.271536564e-08</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>9532 rows × 16 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                      time [inertial_nav_node_[P]]cov_roll_rad^2  \\\n",
       "0     1679338479.373909235                       3.000000000e-03   \n",
       "1     1679338479.380404949                       3.000007065e-03   \n",
       "2     1679338479.380584955                       3.000007065e-03   \n",
       "3     1679338479.381108046                       2.999944693e-03   \n",
       "4     1679338479.382508755                       2.999944690e-03   \n",
       "...                    ...                                   ...   \n",
       "9527  1679338492.058769226                       3.820512965e-07   \n",
       "9528  1679338492.058993101                       3.820513734e-07   \n",
       "9529  1679338492.059747219                       3.396855202e-07   \n",
       "9530  1679338492.060202122                       3.396855970e-07   \n",
       "9531  1679338492.067446947                       3.528607704e-07   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_pitch_rad^2  \\\n",
       "0                           3.000000000e-03   \n",
       "1                           3.000007065e-03   \n",
       "2                           3.000007065e-03   \n",
       "3                           2.999916433e-03   \n",
       "4                           2.999916430e-03   \n",
       "...                                     ...   \n",
       "9527                        4.255311202e-07   \n",
       "9528                        4.255312169e-07   \n",
       "9529                        3.786203418e-07   \n",
       "9530                        3.786204423e-07   \n",
       "9531                        3.786223402e-07   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_yaw_rad^2  \\\n",
       "0                         3.046200000e-06   \n",
       "1                         3.046200089e-06   \n",
       "2                         3.046201185e-06   \n",
       "3                         3.046202286e-06   \n",
       "4                         3.046202378e-06   \n",
       "...                                   ...   \n",
       "9527                      8.588335335e-06   \n",
       "9528                      8.588335401e-06   \n",
       "9529                      8.601495511e-06   \n",
       "9530                      8.601495578e-06   \n",
       "9531                      8.602451999e-06   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_v_x_(m/s)^2  \\\n",
       "0                           1.000000000e-02   \n",
       "1                           1.002882741e-02   \n",
       "2                           1.011525903e-02   \n",
       "3                           1.025937183e-02   \n",
       "4                           1.046100001e-02   \n",
       "...                                     ...   \n",
       "9527                        4.639065750e-05   \n",
       "9528                        4.701423195e-05   \n",
       "9529                        3.755694129e-05   \n",
       "9530                        3.806267408e-05   \n",
       "9531                        3.857566460e-05   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_v_y_(m/s)^2  \\\n",
       "0                           1.000000000e-02   \n",
       "1                           1.002882741e-02   \n",
       "2                           1.011525904e-02   \n",
       "3                           1.025937183e-02   \n",
       "4                           1.046100027e-02   \n",
       "...                                     ...   \n",
       "9527                        8.258311014e-05   \n",
       "9528                        8.322598396e-05   \n",
       "9529                        7.363285422e-05   \n",
       "9530                        7.416117996e-05   \n",
       "9531                        7.469732553e-05   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_v_z_(m/s)^2  \\\n",
       "0                           1.000000000e-02   \n",
       "1                           1.000018151e-02   \n",
       "2                           1.000036298e-02   \n",
       "3                           1.000054420e-02   \n",
       "4                           1.000072567e-02   \n",
       "...                                     ...   \n",
       "9527                        2.380787547e-06   \n",
       "9528                        2.390748061e-06   \n",
       "9529                        2.365039888e-06   \n",
       "9530                        2.374990396e-06   \n",
       "9531                        2.384956364e-06   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_lat_rad^2  \\\n",
       "0                         1.539800000e-13   \n",
       "1                         1.539800325e-13   \n",
       "2                         1.539801067e-13   \n",
       "3                         1.539802323e-13   \n",
       "4                         1.539804099e-13   \n",
       "...                                   ...   \n",
       "9527                      3.130775339e-16   \n",
       "9528                      3.130957563e-16   \n",
       "9529                      3.129688730e-16   \n",
       "9530                      3.129833280e-16   \n",
       "9531                      3.129981871e-16   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_lon_rad^2 [inertial_nav_node_[P]]cov_alt_m^2  \\\n",
       "0                         1.539800000e-13                    1.000000000e+02   \n",
       "1                         1.539800250e-13                    1.000000011e+02   \n",
       "2                         1.539801401e-13                    1.000000042e+02   \n",
       "3                         1.539803352e-13                    6.113041987e-03   \n",
       "4                         1.539806123e-13                    6.116045310e-03   \n",
       "...                                   ...                                ...   \n",
       "9527                      1.020275508e-15                    8.897773652e-06   \n",
       "9528                      1.020788008e-15                    8.962612168e-06   \n",
       "9529                      1.021196978e-15                    8.909584407e-06   \n",
       "9530                      1.021709271e-15                    8.974217498e-06   \n",
       "9531                      1.022220875e-15                    9.039347065e-06   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_bgx_(rad/s)^2  \\\n",
       "0                             6.930300000e-14   \n",
       "1                             6.930531010e-14   \n",
       "2                             6.930762020e-14   \n",
       "3                             6.930993030e-14   \n",
       "4                             6.931224040e-14   \n",
       "...                                       ...   \n",
       "9527                          9.129954809e-14   \n",
       "9528                          9.130185819e-14   \n",
       "9529                          9.130416559e-14   \n",
       "9530                          9.130647569e-14   \n",
       "9531                          9.130878579e-14   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_bgy_(rad/s)^2  \\\n",
       "0                             6.930300000e-14   \n",
       "1                             6.930531010e-14   \n",
       "2                             6.930762020e-14   \n",
       "3                             6.930993030e-14   \n",
       "4                             6.931224040e-14   \n",
       "...                                       ...   \n",
       "9527                          9.129501163e-14   \n",
       "9528                          9.129732173e-14   \n",
       "9529                          9.129962992e-14   \n",
       "9530                          9.130194002e-14   \n",
       "9531                          9.130425012e-14   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_bgz_(rad/s)^2  \\\n",
       "0                             6.930300000e-14   \n",
       "1                             6.930531010e-14   \n",
       "2                             6.930762020e-14   \n",
       "3                             6.930993030e-14   \n",
       "4                             6.931224040e-14   \n",
       "...                                       ...   \n",
       "9527                          9.131080603e-14   \n",
       "9528                          9.131311613e-14   \n",
       "9529                          9.131542614e-14   \n",
       "9530                          9.131773624e-14   \n",
       "9531                          9.132004634e-14   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_bax_(m/s^2)^2  \\\n",
       "0                             1.688400000e-07   \n",
       "1                             1.688456279e-07   \n",
       "2                             1.688512558e-07   \n",
       "3                             1.688568837e-07   \n",
       "4                             1.688625116e-07   \n",
       "...                                       ...   \n",
       "9527                          1.792412103e-07   \n",
       "9528                          1.792468382e-07   \n",
       "9529                          1.792518549e-07   \n",
       "9530                          1.792574828e-07   \n",
       "9531                          1.792631107e-07   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_bay_(m/s^2)^2  \\\n",
       "0                             1.688400000e-07   \n",
       "1                             1.688456279e-07   \n",
       "2                             1.688512558e-07   \n",
       "3                             1.688568837e-07   \n",
       "4                             1.688625116e-07   \n",
       "...                                       ...   \n",
       "9527                          2.172035708e-07   \n",
       "9528                          2.172091987e-07   \n",
       "9529                          2.172148238e-07   \n",
       "9530                          2.172204517e-07   \n",
       "9531                          2.172260796e-07   \n",
       "\n",
       "     [inertial_nav_node_[P]]cov_baz_(m/s^2)^2  \n",
       "0                             1.688400000e-07  \n",
       "1                             1.688456279e-07  \n",
       "2                             1.688512558e-07  \n",
       "3                             1.688568837e-07  \n",
       "4                             1.688625116e-07  \n",
       "...                                       ...  \n",
       "9527                          3.271479450e-08  \n",
       "9528                          3.272042240e-08  \n",
       "9529                          3.270410984e-08  \n",
       "9530                          3.270973774e-08  \n",
       "9531                          3.271536564e-08  \n",
       "\n",
       "[9532 rows x 16 columns]"
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       "..                                                 ...           \n",
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       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.502732515</td>\n",
       "      <td>2.192838563e-03</td>\n",
       "      <td>-5.401853578e-03</td>\n",
       "      <td>-1.754916127e-02</td>\n",
       "      <td>1.527515226e-02</td>\n",
       "      <td>-2.547304383e-02</td>\n",
       "      <td>-1.654146743e-03</td>\n",
       "      <td>3.584030396e-04</td>\n",
       "      <td>3.587125310e-04</td>\n",
       "      <td>2.074403949e-04</td>\n",
       "      <td>-1.308231370e-02</td>\n",
       "      <td>2.007119025e-02</td>\n",
       "      <td>-1.589501453e-02</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338479.526088953</td>\n",
       "      <td>-9.224565961e-03</td>\n",
       "      <td>-1.933932372e-02</td>\n",
       "      <td>-3.498033895e-03</td>\n",
       "      <td>8.541112467e-03</td>\n",
       "      <td>-1.925417978e-02</td>\n",
       "      <td>-1.010856369e-02</td>\n",
       "      <td>3.228640624e-04</td>\n",
       "      <td>3.232007633e-04</td>\n",
       "      <td>2.003619786e-04</td>\n",
       "      <td>-1.776567843e-02</td>\n",
       "      <td>-8.514393877e-05</td>\n",
       "      <td>6.610529795e-03</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>530</th>\n",
       "      <td>1679338491.971919537</td>\n",
       "      <td>2.002794495e+00</td>\n",
       "      <td>1.238288056e-02</td>\n",
       "      <td>1.925657410e-03</td>\n",
       "      <td>1.969584300e+00</td>\n",
       "      <td>1.221109021e-02</td>\n",
       "      <td>5.166262182e-01</td>\n",
       "      <td>2.271177048e-04</td>\n",
       "      <td>2.280443437e-04</td>\n",
       "      <td>1.805108102e-04</td>\n",
       "      <td>3.321019458e-02</td>\n",
       "      <td>1.717903516e-04</td>\n",
       "      <td>-5.147005608e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>531</th>\n",
       "      <td>1679338491.993467808</td>\n",
       "      <td>2.004093207e+00</td>\n",
       "      <td>-4.817982828e-03</td>\n",
       "      <td>-4.176787968e-03</td>\n",
       "      <td>1.970018943e+00</td>\n",
       "      <td>1.522774322e-02</td>\n",
       "      <td>5.169557446e-01</td>\n",
       "      <td>2.268928287e-04</td>\n",
       "      <td>2.279040780e-04</td>\n",
       "      <td>1.804811677e-04</td>\n",
       "      <td>3.407426325e-02</td>\n",
       "      <td>-2.004572604e-02</td>\n",
       "      <td>-5.211325326e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>532</th>\n",
       "      <td>1679338492.015145779</td>\n",
       "      <td>2.008413981e+00</td>\n",
       "      <td>5.931594751e-03</td>\n",
       "      <td>1.038961995e-02</td>\n",
       "      <td>1.969107359e+00</td>\n",
       "      <td>1.315913234e-02</td>\n",
       "      <td>5.162231155e-01</td>\n",
       "      <td>2.251937538e-04</td>\n",
       "      <td>2.262762257e-04</td>\n",
       "      <td>1.804058399e-04</td>\n",
       "      <td>3.930662234e-02</td>\n",
       "      <td>-7.227537589e-03</td>\n",
       "      <td>-5.058334955e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>533</th>\n",
       "      <td>1679338492.036204338</td>\n",
       "      <td>1.999709380e+00</td>\n",
       "      <td>2.652625396e-02</td>\n",
       "      <td>1.747276195e-02</td>\n",
       "      <td>1.970240878e+00</td>\n",
       "      <td>1.417918628e-02</td>\n",
       "      <td>5.164271148e-01</td>\n",
       "      <td>2.245338236e-04</td>\n",
       "      <td>2.257654357e-04</td>\n",
       "      <td>1.805173925e-04</td>\n",
       "      <td>2.946850261e-02</td>\n",
       "      <td>1.234706768e-02</td>\n",
       "      <td>-4.989543529e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>534</th>\n",
       "      <td>1679338492.059155464</td>\n",
       "      <td>2.024206352e+00</td>\n",
       "      <td>-1.188647656e-02</td>\n",
       "      <td>-7.122566220e-03</td>\n",
       "      <td>1.968501082e+00</td>\n",
       "      <td>2.000399741e-02</td>\n",
       "      <td>5.156068261e-01</td>\n",
       "      <td>2.228123580e-04</td>\n",
       "      <td>2.239085212e-04</td>\n",
       "      <td>1.804342241e-04</td>\n",
       "      <td>5.570527042e-02</td>\n",
       "      <td>-3.189047397e-02</td>\n",
       "      <td>-5.227293923e-01</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>0.000000000e+00</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>535 rows × 17 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                     time  \\\n",
       "0    1679338479.432095289   \n",
       "1    1679338479.455978155   \n",
       "2    1679338479.478588343   \n",
       "3    1679338479.502732515   \n",
       "4    1679338479.526088953   \n",
       "..                    ...   \n",
       "530  1679338491.971919537   \n",
       "531  1679338491.993467808   \n",
       "532  1679338492.015145779   \n",
       "533  1679338492.036204338   \n",
       "534  1679338492.059155464   \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-7.110125205e-03_1.673530006e-02  \\\n",
       "0                                      2.316197006e-02          \n",
       "1                                      9.280730671e-03          \n",
       "2                                      6.217080233e-03          \n",
       "3                                      2.192838563e-03          \n",
       "4                                     -9.224565961e-03          \n",
       "..                                                 ...          \n",
       "530                                    2.002794495e+00          \n",
       "531                                    2.004093207e+00          \n",
       "532                                    2.008413981e+00          \n",
       "533                                    1.999709380e+00          \n",
       "534                                    2.024206352e+00          \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-6.765953904e-03_1.383019626e-02  \\\n",
       "0                                      8.400622469e-03          \n",
       "1                                     -3.397324416e-03          \n",
       "2                                     -3.705191398e-02          \n",
       "3                                     -5.401853578e-03          \n",
       "4                                     -1.933932372e-02          \n",
       "..                                                 ...          \n",
       "530                                    1.238288056e-02          \n",
       "531                                   -4.817982828e-03          \n",
       "532                                    5.931594751e-03          \n",
       "533                                    2.652625396e-02          \n",
       "534                                   -1.188647656e-02          \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-7.378259155e-03_-1.283292231e-02  \\\n",
       "0                                     -3.496241379e-03           \n",
       "1                                     -6.947636402e-03           \n",
       "2                                     -2.059879757e-02           \n",
       "3                                     -1.754916127e-02           \n",
       "4                                     -3.498033895e-03           \n",
       "..                                                 ...           \n",
       "530                                    1.925657410e-03           \n",
       "531                                   -4.176787968e-03           \n",
       "532                                    1.038961995e-02           \n",
       "533                                    1.747276195e-02           \n",
       "534                                   -7.122566220e-03           \n",
       "\n",
       "    [inertial_nav_node_[dvl]]6.024550473e-05_-5.428296113e-03  \\\n",
       "0                                      3.730928302e-02          \n",
       "1                                      4.095137373e-02          \n",
       "2                                      2.148013032e-02          \n",
       "3                                      1.527515226e-02          \n",
       "4                                      8.541112467e-03          \n",
       "..                                                 ...          \n",
       "530                                    1.969584300e+00          \n",
       "531                                    1.970018943e+00          \n",
       "532                                    1.969107359e+00          \n",
       "533                                    1.970240878e+00          \n",
       "534                                    1.968501082e+00          \n",
       "\n",
       "    [inertial_nav_node_[dvl]]2.166741177e-04_-4.736414257e-03  \\\n",
       "0                                      3.176074352e-02          \n",
       "1                                      2.054435150e-02          \n",
       "2                                      3.765402608e-03          \n",
       "3                                     -2.547304383e-02          \n",
       "4                                     -1.925417978e-02          \n",
       "..                                                 ...          \n",
       "530                                    1.221109021e-02          \n",
       "531                                    1.522774322e-02          \n",
       "532                                    1.315913234e-02          \n",
       "533                                    1.417918628e-02          \n",
       "534                                    2.000399741e-02          \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-2.985221838e-03_-2.857449756e-03  \\\n",
       "0                                      2.223982543e-03           \n",
       "1                                     -3.728982899e-03           \n",
       "2                                      8.306071186e-04           \n",
       "3                                     -1.654146743e-03           \n",
       "4                                     -1.010856369e-02           \n",
       "..                                                 ...           \n",
       "530                                    5.166262182e-01           \n",
       "531                                    5.169557446e-01           \n",
       "532                                    5.162231155e-01           \n",
       "533                                    5.164271148e-01           \n",
       "534                                    5.156068261e-01           \n",
       "\n",
       "    [inertial_nav_node_[dvl]]1.089657115e-02_7.188472160e-03  \\\n",
       "0                                      9.823717960e-04         \n",
       "1                                      6.064268224e-04         \n",
       "2                                      3.742794572e-04         \n",
       "3                                      3.584030396e-04         \n",
       "4                                      3.228640624e-04         \n",
       "..                                                 ...         \n",
       "530                                    2.271177048e-04         \n",
       "531                                    2.268928287e-04         \n",
       "532                                    2.251937538e-04         \n",
       "533                                    2.245338236e-04         \n",
       "534                                    2.228123580e-04         \n",
       "\n",
       "    [inertial_nav_node_[dvl]]1.089661233e-02_7.188551720e-03  \\\n",
       "0                                      9.824767505e-04         \n",
       "1                                      6.066573078e-04         \n",
       "2                                      3.744135187e-04         \n",
       "3                                      3.587125310e-04         \n",
       "4                                      3.232007633e-04         \n",
       "..                                                 ...         \n",
       "530                                    2.280443437e-04         \n",
       "531                                    2.279040780e-04         \n",
       "532                                    2.262762257e-04         \n",
       "533                                    2.257654357e-04         \n",
       "534                                    2.239085212e-04         \n",
       "\n",
       "    [inertial_nav_node_[dvl]]1.019459214e-02_4.812947283e-04  \\\n",
       "0                                      2.830601156e-04         \n",
       "1                                      2.370252268e-04         \n",
       "2                                      2.183857088e-04         \n",
       "3                                      2.074403949e-04         \n",
       "4                                      2.003619786e-04         \n",
       "..                                                 ...         \n",
       "530                                    1.805108102e-04         \n",
       "531                                    1.804811677e-04         \n",
       "532                                    1.804058399e-04         \n",
       "533                                    1.805173925e-04         \n",
       "534                                    1.804342241e-04         \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-7.170370710e-03_2.216359617e-02  \\\n",
       "0                                     -1.414731296e-02          \n",
       "1                                     -3.167064306e-02          \n",
       "2                                     -1.526305009e-02          \n",
       "3                                     -1.308231370e-02          \n",
       "4                                     -1.776567843e-02          \n",
       "..                                                 ...          \n",
       "530                                    3.321019458e-02          \n",
       "531                                    3.407426325e-02          \n",
       "532                                    3.930662234e-02          \n",
       "533                                    2.946850261e-02          \n",
       "534                                    5.570527042e-02          \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-6.982628021e-03_1.856661052e-02  \\\n",
       "0                                     -2.336012105e-02          \n",
       "1                                     -2.394167591e-02          \n",
       "2                                     -4.081731658e-02          \n",
       "3                                      2.007119025e-02          \n",
       "4                                     -8.514393877e-05          \n",
       "..                                                 ...          \n",
       "530                                    1.717903516e-04          \n",
       "531                                   -2.004572604e-02          \n",
       "532                                   -7.227537589e-03          \n",
       "533                                    1.234706768e-02          \n",
       "534                                   -3.189047397e-02          \n",
       "\n",
       "    [inertial_nav_node_[dvl]]-4.393037317e-03_-9.975472558e-03  \\\n",
       "0                                     -5.720223921e-03           \n",
       "1                                     -3.218653502e-03           \n",
       "2                                     -2.142940469e-02           \n",
       "3                                     -1.589501453e-02           \n",
       "4                                      6.610529795e-03           \n",
       "..                                                 ...           \n",
       "530                                   -5.147005608e-01           \n",
       "531                                   -5.211325326e-01           \n",
       "532                                   -5.058334955e-01           \n",
       "533                                   -4.989543529e-01           \n",
       "534                                   -5.227293923e-01           \n",
       "\n",
       "    [inertial_nav_node_[dvl]]0.000000000e+00_0.000000000e+00  \\\n",
       "0                                      0.000000000e+00         \n",
       "1                                      0.000000000e+00         \n",
       "2                                      0.000000000e+00         \n",
       "3                                      0.000000000e+00         \n",
       "4                                      0.000000000e+00         \n",
       "..                                                 ...         \n",
       "530                                    0.000000000e+00         \n",
       "531                                    0.000000000e+00         \n",
       "532                                    0.000000000e+00         \n",
       "533                                    0.000000000e+00         \n",
       "534                                    0.000000000e+00         \n",
       "\n",
       "    [inertial_nav_node_[dvl]]0.000000000e+00_0.000000000e+00  \\\n",
       "0                                      0.000000000e+00         \n",
       "1                                      0.000000000e+00         \n",
       "2                                      0.000000000e+00         \n",
       "3                                      0.000000000e+00         \n",
       "4                                      0.000000000e+00         \n",
       "..                                                 ...         \n",
       "530                                    0.000000000e+00         \n",
       "531                                    0.000000000e+00         \n",
       "532                                    0.000000000e+00         \n",
       "533                                    0.000000000e+00         \n",
       "534                                    0.000000000e+00         \n",
       "\n",
       "    [inertial_nav_node_[dvl]]0.000000000e+00_0.000000000e+00  \\\n",
       "0                                      0.000000000e+00         \n",
       "1                                      0.000000000e+00         \n",
       "2                                      0.000000000e+00         \n",
       "3                                      0.000000000e+00         \n",
       "4                                      0.000000000e+00         \n",
       "..                                                 ...         \n",
       "530                                    0.000000000e+00         \n",
       "531                                    0.000000000e+00         \n",
       "532                                    0.000000000e+00         \n",
       "533                                    0.000000000e+00         \n",
       "534                                    0.000000000e+00         \n",
       "\n",
       "    [inertial_nav_node_[dvl]]1_1  \n",
       "0                              1  \n",
       "1                              1  \n",
       "2                              1  \n",
       "3                              1  \n",
       "4                              1  \n",
       "..                           ...  \n",
       "530                            1  \n",
       "531                            1  \n",
       "532                            1  \n",
       "533                            1  \n",
       "534                            1  \n",
       "\n",
       "[535 rows x 17 columns]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>time</th>\n",
       "      <th>[ahrs_sim_node_[theta_n_b]]roll_rad</th>\n",
       "      <th>[ahrs_sim_node_[theta_n_b]]pitch_rad</th>\n",
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       "      <th>0</th>\n",
       "      <td>1679338479.349827051</td>\n",
       "      <td>-0.000091389</td>\n",
       "      <td>0.000015828</td>\n",
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       "      <th>1</th>\n",
       "      <td>1679338479.351219893</td>\n",
       "      <td>0.000002692</td>\n",
       "      <td>-0.000211862</td>\n",
       "      <td>0.785426779</td>\n",
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       "      <th>2</th>\n",
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       "      <td>0.000009311</td>\n",
       "      <td>-0.000012416</td>\n",
       "      <td>0.785477163</td>\n",
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       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.353905201</td>\n",
       "      <td>0.000104563</td>\n",
       "      <td>0.000051903</td>\n",
       "      <td>0.785396165</td>\n",
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       "      <th>4</th>\n",
       "      <td>1679338479.354038715</td>\n",
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       "      <th>10676</th>\n",
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       "                       time [ahrs_sim_node_[theta_n_b]]roll_rad  \\\n",
       "0      1679338479.349827051                        -0.000091389   \n",
       "1      1679338479.351219893                         0.000002692   \n",
       "2      1679338479.352509737                         0.000009311   \n",
       "3      1679338479.353905201                         0.000104563   \n",
       "4      1679338479.354038715                         0.000135006   \n",
       "...                     ...                                 ...   \n",
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       "10679  1679338492.261100769                        -0.001410853   \n",
       "10680  1679338492.262344122                        -0.001304690   \n",
       "\n",
       "      [ahrs_sim_node_[theta_n_b]]pitch_rad [ahrs_sim_node_[theta_n_b]]yaw_rad  \n",
       "0                              0.000015828                        0.785372222  \n",
       "1                             -0.000211862                        0.785426779  \n",
       "2                             -0.000012416                        0.785477163  \n",
       "3                              0.000051903                        0.785396165  \n",
       "4                             -0.000057971                        0.785391043  \n",
       "...                                    ...                                ...  \n",
       "10676                          0.274342771                        0.233657297  \n",
       "10677                          0.274350809                        0.233577268  \n",
       "10678                          0.274254688                        0.233556012  \n",
       "10679                          0.274203128                        0.233655772  \n",
       "10680                          0.274212168                        0.233646262  \n",
       "\n",
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       "10676                              0.005139195   \n",
       "10677                              0.005055850   \n",
       "10678                              0.009444452   \n",
       "10679                              0.001928558   \n",
       "10680                              0.005529433   \n",
       "\n",
       "      [ahrs_sim_node_[f_ib_b]]f_{ib,z}^b_m/s^2  \n",
       "0                                 -9.798120629  \n",
       "1                                 -9.798457562  \n",
       "2                                 -9.796612688  \n",
       "3                                 -9.799205992  \n",
       "4                                 -9.798258145  \n",
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       "10676                             -9.434794707  \n",
       "10677                             -9.432561286  \n",
       "10678                             -9.432463990  \n",
       "10679                             -9.429063569  \n",
       "10680                             -9.435214409  \n",
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       "                       time [ahrs_sim_node_[w_ib_b]]\\omega_{ib,x}^b_rad/s  \\\n",
       "0      1679338479.349887133                                  -0.000756431   \n",
       "1      1679338479.351339340                                   0.000414894   \n",
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       "...                     ...                                           ...   \n",
       "10676  1679338492.258463383                                   0.000806607   \n",
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       "10678  1679338492.260934830                                   0.001286391   \n",
       "10679  1679338492.261170149                                   0.001939143   \n",
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       "0                                       0.000929386   \n",
       "1                                      -0.000182923   \n",
       "2                                       0.000781595   \n",
       "3                                      -0.000379590   \n",
       "4                                       0.000932460   \n",
       "...                                             ...   \n",
       "10676                                   0.001766925   \n",
       "10677                                   0.000866779   \n",
       "10678                                   0.001273866   \n",
       "10679                                   0.001825908   \n",
       "10680                                   0.001044493   \n",
       "\n",
       "      [ahrs_sim_node_[w_ib_b]]\\omega_{ib,z}^b_rad/s  \n",
       "0                                       0.000485847  \n",
       "1                                      -0.000297583  \n",
       "2                                      -0.001309133  \n",
       "3                                      -0.000977169  \n",
       "4                                       0.000180428  \n",
       "...                                             ...  \n",
       "10676                                  -0.002398195  \n",
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       "10678                                  -0.003468452  \n",
       "10679                                  -0.004860435  \n",
       "10680                                  -0.003806432  \n",
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       "                       time [ahrs_sim_node_[m_b]]m_x_gauss  \\\n",
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       "1      1679338479.351353407                    0.353154758   \n",
       "2      1679338479.352576017                    0.352633120   \n",
       "3      1679338479.353983164                    0.352983073   \n",
       "4      1679338479.354100943                    0.352195192   \n",
       "...                     ...                            ...   \n",
       "10676  1679338492.258486032                    0.469053696   \n",
       "10677  1679338492.259690523                    0.469361133   \n",
       "10678  1679338492.260974169                    0.467669375   \n",
       "10679  1679338492.261199951                    0.467202037   \n",
       "10680  1679338492.262424946                    0.468729936   \n",
       "\n",
       "      [ahrs_sim_node_[m_b]]m_y_gauss [ahrs_sim_node_[m_b]]m_z_gauss  \n",
       "0                       -0.352794317                    0.000826839  \n",
       "1                       -0.353047446                    0.000648380  \n",
       "2                       -0.354551012                    0.001556627  \n",
       "3                       -0.356024216                    0.000130285  \n",
       "4                       -0.351415153                    0.001475512  \n",
       "...                              ...                            ...  \n",
       "10676                   -0.115564109                    0.130743377  \n",
       "10677                   -0.114418412                    0.131390766  \n",
       "10678                   -0.116908351                    0.131286383  \n",
       "10679                   -0.116143468                    0.129796297  \n",
       "10680                   -0.115985278                    0.131081666  \n",
       "\n",
       "[10681 rows x 4 columns]"
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       "4      1679338479.356356144                             0.002484303   \n",
       "...                     ...                                     ...   \n",
       "10523  1679338492.059809685                             2.652440244   \n",
       "10524  1679338492.061089754                             2.653403669   \n",
       "10525  1679338492.063662767                             2.656193856   \n",
       "10526  1679338492.063756466                             2.653999509   \n",
       "10527  1679338492.064196110                             2.653944829   \n",
       "\n",
       "      [imu_sim_node_[f_ib_b]]f_{ib,y}^b_m/s^2  \\\n",
       "0                                 0.004041629   \n",
       "1                                -0.001038926   \n",
       "2                                -0.005276556   \n",
       "3                                -0.000481371   \n",
       "4                                -0.000438351   \n",
       "...                                       ...   \n",
       "10523                             0.005205409   \n",
       "10524                             0.005271641   \n",
       "10525                             0.005205783   \n",
       "10526                             0.005963375   \n",
       "10527                             0.003637206   \n",
       "\n",
       "      [imu_sim_node_[f_ib_b]]f_{ib,z}^b_m/s^2  \n",
       "0                                -9.802427765  \n",
       "1                                -9.802971952  \n",
       "2                                -9.799709967  \n",
       "3                                -9.799123668  \n",
       "4                                -9.797249569  \n",
       "...                                       ...  \n",
       "10523                            -9.431629866  \n",
       "10524                            -9.432946929  \n",
       "10525                            -9.431459951  \n",
       "10526                            -9.432319147  \n",
       "10527                            -9.430711026  \n",
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       "      <td>-0.000082508</td>\n",
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       "                       time [imu_sim_node_[w_ib_b]]\\omega_{ib,x}^b_rad/s  \\\n",
       "0      1679338479.350416183                                  0.000011608   \n",
       "1      1679338479.352747440                                 -0.000004875   \n",
       "2      1679338479.353934526                                  0.000090884   \n",
       "3      1679338479.355090141                                  0.000093828   \n",
       "4      1679338479.356323242                                  0.000004917   \n",
       "...                     ...                                          ...   \n",
       "10523  1679338492.059757710                                  0.001827950   \n",
       "10524  1679338492.061043024                                  0.001748201   \n",
       "10525  1679338492.063494205                                  0.001649419   \n",
       "10526  1679338492.063724756                                  0.001793596   \n",
       "10527  1679338492.064170599                                  0.001699594   \n",
       "\n",
       "      [imu_sim_node_[w_ib_b]]\\omega_{ib,y}^b_rad/s  \\\n",
       "0                                     -0.000023511   \n",
       "1                                     -0.000053449   \n",
       "2                                     -0.000006990   \n",
       "3                                     -0.000082508   \n",
       "4                                     -0.000053258   \n",
       "...                                            ...   \n",
       "10523                                 -0.000357803   \n",
       "10524                                 -0.000352619   \n",
       "10525                                 -0.000427031   \n",
       "10526                                 -0.000373048   \n",
       "10527                                 -0.000375927   \n",
       "\n",
       "      [imu_sim_node_[w_ib_b]]\\omega_{ib,z}^b_rad/s  \n",
       "0                                     -0.000052003  \n",
       "1                                     -0.000066957  \n",
       "2                                     -0.000057206  \n",
       "3                                     -0.000039911  \n",
       "4                                     -0.000072417  \n",
       "...                                            ...  \n",
       "10523                                 -0.004858041  \n",
       "10524                                 -0.004808983  \n",
       "10525                                 -0.004905888  \n",
       "10526                                 -0.004830982  \n",
       "10527                                 -0.004856233  \n",
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       "      <td>0.646806</td>\n",
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       "      <th>3</th>\n",
       "      <td>1679338481.556079388</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>143.244</td>\n",
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       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
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       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>144.593</td>\n",
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       "      <th>6</th>\n",
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       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
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       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>140.037</td>\n",
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       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>137.678</td>\n",
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       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>1679338485.259785414</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>135.343</td>\n",
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       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>1679338485.813027143</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>134.489</td>\n",
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       "      <th>11</th>\n",
       "      <td>1679338486.380026102</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>130.297</td>\n",
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       "    <tr>\n",
       "      <th>12</th>\n",
       "      <td>1679338486.985219479</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>126.203</td>\n",
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       "    <tr>\n",
       "      <th>13</th>\n",
       "      <td>1679338487.560263872</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>123.920</td>\n",
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       "      <th>14</th>\n",
       "      <td>1679338488.124490261</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>120.599</td>\n",
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       "    <tr>\n",
       "      <th>15</th>\n",
       "      <td>1679338488.686378956</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>114.904</td>\n",
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       "    <tr>\n",
       "      <th>16</th>\n",
       "      <td>1679338489.238814116</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
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       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>107.912</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>18</th>\n",
       "      <td>1679338490.450518131</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>105.755</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>19</th>\n",
       "      <td>1679338491.061414957</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>101.282</td>\n",
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       "    <tr>\n",
       "      <th>20</th>\n",
       "      <td>1679338491.625464201</td>\n",
       "      <td>0.646806</td>\n",
       "      <td>-1.406988</td>\n",
       "      <td>-10.000000</td>\n",
       "      <td>98.825</td>\n",
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       "                    time [lbl_range_sim_node_[beacon_0]]lat_deg  \\\n",
       "0   1679338479.791716814                               0.646806   \n",
       "1   1679338480.344172478                               0.646806   \n",
       "2   1679338480.918558359                               0.646806   \n",
       "3   1679338481.556079388                               0.646806   \n",
       "4   1679338482.130714893                               0.646806   \n",
       "5   1679338482.791071177                               0.646806   \n",
       "6   1679338483.376883507                               0.646806   \n",
       "7   1679338483.988084316                               0.646806   \n",
       "8   1679338484.626705647                               0.646806   \n",
       "9   1679338485.259785414                               0.646806   \n",
       "10  1679338485.813027143                               0.646806   \n",
       "11  1679338486.380026102                               0.646806   \n",
       "12  1679338486.985219479                               0.646806   \n",
       "13  1679338487.560263872                               0.646806   \n",
       "14  1679338488.124490261                               0.646806   \n",
       "15  1679338488.686378956                               0.646806   \n",
       "16  1679338489.238814116                               0.646806   \n",
       "17  1679338489.815274715                               0.646806   \n",
       "18  1679338490.450518131                               0.646806   \n",
       "19  1679338491.061414957                               0.646806   \n",
       "20  1679338491.625464201                               0.646806   \n",
       "\n",
       "   [lbl_range_sim_node_[beacon_0]]lon_deg  \\\n",
       "0                               -1.406988   \n",
       "1                               -1.406988   \n",
       "2                               -1.406988   \n",
       "3                               -1.406988   \n",
       "4                               -1.406988   \n",
       "5                               -1.406988   \n",
       "6                               -1.406988   \n",
       "7                               -1.406988   \n",
       "8                               -1.406988   \n",
       "9                               -1.406988   \n",
       "10                              -1.406988   \n",
       "11                              -1.406988   \n",
       "12                              -1.406988   \n",
       "13                              -1.406988   \n",
       "14                              -1.406988   \n",
       "15                              -1.406988   \n",
       "16                              -1.406988   \n",
       "17                              -1.406988   \n",
       "18                              -1.406988   \n",
       "19                              -1.406988   \n",
       "20                              -1.406988   \n",
       "\n",
       "   [lbl_range_sim_node_[beacon_0]]alt_m [lbl_range_sim_node_[beacon_0]]range_m  \n",
       "0                            -10.000000                                143.334  \n",
       "1                            -10.000000                                142.874  \n",
       "2                            -10.000000                                143.016  \n",
       "3                            -10.000000                                143.244  \n",
       "4                            -10.000000                                143.498  \n",
       "5                            -10.000000                                144.593  \n",
       "6                            -10.000000                                142.140  \n",
       "7                            -10.000000                                140.037  \n",
       "8                            -10.000000                                137.678  \n",
       "9                            -10.000000                                135.343  \n",
       "10                           -10.000000                                134.489  \n",
       "11                           -10.000000                                130.297  \n",
       "12                           -10.000000                                126.203  \n",
       "13                           -10.000000                                123.920  \n",
       "14                           -10.000000                                120.599  \n",
       "15                           -10.000000                                114.904  \n",
       "16                           -10.000000                                112.049  \n",
       "17                           -10.000000                                107.912  \n",
       "18                           -10.000000                                105.755  \n",
       "19                           -10.000000                                101.282  \n",
       "20                           -10.000000                                 98.825  "
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       "                      time [dynamics_manager_node_[nu]]u_m/s  \\\n",
       "0     1679338479.348980904                          0.000000   \n",
       "1     1679338479.350825310                          0.000000   \n",
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       "5073  1679338492.357505083                          1.940077   \n",
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       "5073                          0.004117                          0.009240   \n",
       "\n",
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       "                      time [dynamics_manager_node_[nu_dot]]u\\_dot_m/s^2  \\\n",
       "0     1679338479.349024534                                     0.000000   \n",
       "1     1679338479.350856304                                     0.000000   \n",
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       "...                    ...                                          ...   \n",
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       "      <td>0.00</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1679338479.353731155</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338479.355088949</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338479.356811047</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
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       "    <tr>\n",
       "      <th>...</th>\n",
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       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
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       "      <th>5069</th>\n",
       "      <td>1679338492.258947372</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646792434</td>\n",
       "      <td>-1.406982286</td>\n",
       "      <td>14.91</td>\n",
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       "    <tr>\n",
       "      <th>5070</th>\n",
       "      <td>1679338492.260603666</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646792436</td>\n",
       "      <td>-1.406982286</td>\n",
       "      <td>14.92</td>\n",
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       "    <tr>\n",
       "      <th>5071</th>\n",
       "      <td>1679338492.262307644</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646792439</td>\n",
       "      <td>-1.406982285</td>\n",
       "      <td>14.93</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5072</th>\n",
       "      <td>1679338492.264541864</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646792442</td>\n",
       "      <td>-1.406982284</td>\n",
       "      <td>14.93</td>\n",
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       "    <tr>\n",
       "      <th>5073</th>\n",
       "      <td>1679338492.357652426</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646792445</td>\n",
       "      <td>-1.406982283</td>\n",
       "      <td>14.94</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
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       "                      time [dynamics_manager_node_[p_b]]lat0_rad  \\\n",
       "0     1679338479.349161625                           0.646783695   \n",
       "1     1679338479.350926876                           0.646783695   \n",
       "2     1679338479.353731155                           0.646783695   \n",
       "3     1679338479.355088949                           0.646783695   \n",
       "4     1679338479.356811047                           0.646783695   \n",
       "...                    ...                                   ...   \n",
       "5069  1679338492.258947372                           0.646783695   \n",
       "5070  1679338492.260603666                           0.646783695   \n",
       "5071  1679338492.262307644                           0.646783695   \n",
       "5072  1679338492.264541864                           0.646783695   \n",
       "5073  1679338492.357652426                           0.646783695   \n",
       "\n",
       "     [dynamics_manager_node_[p_b]]lon0_rad  \\\n",
       "0                             -1.406986268   \n",
       "1                             -1.406986268   \n",
       "2                             -1.406986268   \n",
       "3                             -1.406986268   \n",
       "4                             -1.406986268   \n",
       "...                                    ...   \n",
       "5069                          -1.406986268   \n",
       "5070                          -1.406986268   \n",
       "5071                          -1.406986268   \n",
       "5072                          -1.406986268   \n",
       "5073                          -1.406986268   \n",
       "\n",
       "     [dynamics_manager_node_[p_b]]alt0_m [dynamics_manager_node_[p_b]]lat_rad  \\\n",
       "0                                   0.00                          0.646783695   \n",
       "1                                   0.00                          0.646783695   \n",
       "2                                   0.00                          0.646783695   \n",
       "3                                   0.00                          0.646783695   \n",
       "4                                   0.00                          0.646783695   \n",
       "...                                  ...                                  ...   \n",
       "5069                                0.00                          0.646792434   \n",
       "5070                                0.00                          0.646792436   \n",
       "5071                                0.00                          0.646792439   \n",
       "5072                                0.00                          0.646792442   \n",
       "5073                                0.00                          0.646792445   \n",
       "\n",
       "     [dynamics_manager_node_[p_b]]lon_rad [dynamics_manager_node_[p_b]]alt_m  \n",
       "0                            -1.406986268                               0.00  \n",
       "1                            -1.406986268                               0.00  \n",
       "2                            -1.406986268                               0.00  \n",
       "3                            -1.406986268                               0.00  \n",
       "4                            -1.406986268                               0.00  \n",
       "...                                   ...                                ...  \n",
       "5069                         -1.406982286                              14.91  \n",
       "5070                         -1.406982286                              14.92  \n",
       "5071                         -1.406982285                              14.93  \n",
       "5072                         -1.406982284                              14.93  \n",
       "5073                         -1.406982283                              14.94  \n",
       "\n",
       "[5074 rows x 7 columns]"
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       "                      time  \\\n",
       "0     1679338479.349191904   \n",
       "1     1679338479.350950241   \n",
       "2     1679338479.353752375   \n",
       "3     1679338479.355131388   \n",
       "4     1679338479.356835842   \n",
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       "5069  1679338492.258965015   \n",
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       "5072  1679338492.264554501   \n",
       "5073  1679338492.357669830   \n",
       "\n",
       "     [dynamics_manager_node_[w_ib_b]]\\omega_{ib,x}^b_rad/s  \\\n",
       "0                                              0.000041      \n",
       "1                                              0.000041      \n",
       "2                                              0.000041      \n",
       "3                                              0.000041      \n",
       "4                                              0.000041      \n",
       "...                                                 ...      \n",
       "5069                                           0.001539      \n",
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       "5071                                           0.001531      \n",
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       "5073                                           0.001527      \n",
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       "     [dynamics_manager_node_[w_ib_b]]\\omega_{ib,y}^b_rad/s  \\\n",
       "0                                             -0.000041      \n",
       "1                                             -0.000041      \n",
       "2                                             -0.000041      \n",
       "3                                             -0.000041      \n",
       "4                                             -0.000041      \n",
       "...                                                 ...      \n",
       "5069                                           0.000797      \n",
       "5070                                           0.000820      \n",
       "5071                                           0.000842      \n",
       "5072                                           0.000863      \n",
       "5073                                           0.000863      \n",
       "\n",
       "     [dynamics_manager_node_[w_ib_b]]\\omega_{ib,z}^b_rad/s  \n",
       "0                                             -0.000044     \n",
       "1                                             -0.000044     \n",
       "2                                             -0.000044     \n",
       "3                                             -0.000044     \n",
       "4                                             -0.000044     \n",
       "...                                                 ...     \n",
       "5069                                          -0.004462     \n",
       "5070                                          -0.004452     \n",
       "5071                                          -0.004442     \n",
       "5072                                          -0.004432     \n",
       "5073                                          -0.004432     \n",
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       "                      time [dynamics_manager_node_[f_ib_b]]f_{ib,x}^b_m/s^2  \\\n",
       "0     1679338479.349215031                                         0.000000   \n",
       "1     1679338479.350969553                                         0.000000   \n",
       "2     1679338479.353771448                                         0.000000   \n",
       "3     1679338479.355149746                                         0.000000   \n",
       "4     1679338479.356892586                                         0.000000   \n",
       "...                    ...                                              ...   \n",
       "5069  1679338492.258981705                                         2.450890   \n",
       "5070  1679338492.260627747                                         2.451391   \n",
       "5071  1679338492.262350798                                         2.451893   \n",
       "5072  1679338492.264566183                                         2.452396   \n",
       "5073  1679338492.357686281                                         2.654095   \n",
       "\n",
       "     [dynamics_manager_node_[f_ib_b]]f_{ib,y}^b_m/s^2  \\\n",
       "0                                            0.000000   \n",
       "1                                            0.000000   \n",
       "2                                            0.000000   \n",
       "3                                            0.000000   \n",
       "4                                            0.000000   \n",
       "...                                               ...   \n",
       "5069                                         0.003643   \n",
       "5070                                         0.003651   \n",
       "5071                                         0.003659   \n",
       "5072                                         0.003667   \n",
       "5073                                         0.004260   \n",
       "\n",
       "     [dynamics_manager_node_[f_ib_b]]f_{ib,z}^b_m/s^2  \n",
       "0                                           -9.799105  \n",
       "1                                           -9.799105  \n",
       "2                                           -9.799105  \n",
       "3                                           -9.799105  \n",
       "4                                           -9.799105  \n",
       "...                                               ...  \n",
       "5069                                        -9.433368  \n",
       "5070                                        -9.433390  \n",
       "5071                                        -9.433410  \n",
       "5072                                        -9.433428  \n",
       "5073                                        -9.434422  \n",
       "\n",
       "[5074 rows x 4 columns]"
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     },
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   ],
   "source": [
    "def read_log(log_file: Path) -> Dict[str, pd.DataFrame]:\n",
    "    log_strs = {}\n",
    "    log_dfs = {}\n",
    "    with open(log_file, \"r\") as f:\n",
    "        data_lines = [line for line in f.readlines() if \"[DAT]\" in line]\n",
    "        \n",
    "        # TODO currently use this to prevent reading useless files\n",
    "        if len(data_lines) < 20:\n",
    "            return {}\n",
    "\n",
    "        for line in data_lines:\n",
    "            stream = os.path.basename(log_file)[0: -4] + '_' + line.strip().split(' ')[3]\n",
    "            if stream not in log_strs:\n",
    "                log_strs[stream] = []\n",
    "\n",
    "            data = line.strip().split(' ')\n",
    "            time = data[0].replace(\"[\", \"\").replace(\"]\", \"\")\n",
    "            log_strs[stream].append([time] + data[4:])\n",
    "\n",
    "        for stream, data in log_strs.items():\n",
    "            names = data.pop(0)[1:]\n",
    "            units = data.pop(0)[1:]\n",
    "\n",
    "            # VectorXd y;          // Measurement vector\n",
    "            # VectorXd y_bar;      // Estimated measurement vector\n",
    "            # MatrixXd P_yy;       // Measurement covariance matrix\n",
    "            # VectorXd innovation; // Measurement innovation (error) vector\n",
    "            # VectorXd threshold;  // Measurement rejection threshold multiplier\n",
    "            # bool accepted;       // Measurement accepted or rejected\n",
    "            # # Special handling for inertial_nav_node.log\n",
    "            # if \"sats\" in names\n",
    "            if \"sats\" in names:\n",
    "                sats_index = names.index(\"sats\")\n",
    "                names = names[:sats_index] + [\"num_sats\", \"y_1\", \"y_2\", \"y_3\", \"y_bar_1\", \"y_bar_2\", \"y_bar_3\", \"P_yy_1\",  \"P_yy_2\",  \"P_yy_3\",  \"P_yy_4\",  \"P_yy_5\",  \"P_yy_6\",  \"P_yy_7\",  \"P_yy_8\",  \"P_yy_9\", \"innovation_1\", \"innovation_2\", \"innovation_3\", \"threshold_1\", \"threshold_2\", \"threshold_3\", \"accepted\"] + names[sats_index + 1:]\n",
    "            if \"sats\" in units:\n",
    "                sats_index = units.index(\"sats\")\n",
    "                units = units[:sats_index] + [\"?\"]*23 + units[sats_index + 1:]\n",
    "\n",
    "            col_names = [\"time\"] + [f\"[{stream}]{name}_{unit}\" for name, unit in zip(names, units)]\n",
    "            df = pd.DataFrame(data, columns=col_names)\n",
    "            if len(df) > 0:\n",
    "                log_dfs[stream] = df\n",
    "\n",
    "    return log_dfs\n",
    "\n",
    "def read_data_collector_log(log_file: Path) -> Dict[str, pd.DataFrame]:\n",
    "    stream = 'data_collector'\n",
    "    log_df = pd.read_csv(log_file, delim_whitespace=True)\n",
    "    log_df = log_df.drop(index=0, axis=0).reset_index(drop=True)\n",
    "    columns = list(log_df.columns)\n",
    "    if len(columns) - 1 != len(data_collector_units):\n",
    "        print('data_collector_units not match error')\n",
    "        return\n",
    "    \n",
    "    columns[0] = 'time'\n",
    "    for i in range(0, len(data_collector_units)):\n",
    "            columns[i + 1] = f'[{stream}]{columns[i + 1]}_{data_collector_units[i]}'\n",
    "    log_df.columns = columns\n",
    "    \n",
    "    log_dfs = {}\n",
    "    log_dfs[stream] = log_df\n",
    "    return log_dfs\n",
    "\n",
    "\n",
    "# Read required the log files and put their contents into the log_lines dict\n",
    "# Grab required files in log folder that end in .log\n",
    "if len(log_names) == 0:\n",
    "    log_files = [log_file for log_file in Path(log_dir).iterdir() if log_file.is_file() and log_file.suffix == '.log']\n",
    "else:\n",
    "    log_files = [Path(log_dir + log_name) for log_name in log_names if Path(log_dir + log_name).is_file and Path(log_dir + log_name).suffix == '.log']\n",
    "\n",
    "log_raw_data = {}\n",
    "for log_file in log_files:\n",
    "    if os.path.basename(log_file) == 'data_collector.log':\n",
    "        log_dfs = read_data_collector_log(log_file)\n",
    "    elif os.path.basename(log_file) == 'inertial_nav_node.log': # TODO currently don't know why this can't read this file\n",
    "        # log_dfs = {}\n",
    "        log_dfs = read_log(log_file)\n",
    "    elif os.path.basename(log_file) == 'ethernet_channel_node.log': # TODO this file's format is different and I think this file is useless\n",
    "        log_dfs = {}\n",
    "    else:\n",
    "        log_dfs = read_log(log_file)\n",
    "    for stream, data in log_dfs.items():\n",
    "        log_raw_data[stream] = log_dfs[stream]\n",
    "        display(log_raw_data[stream])\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "finished processing gps_sim_node_[gps]\n",
      "finished processing pid_attitude_control_node_[roll_pid]\n",
      "finished processing pid_attitude_control_node_[pitch_pid]\n",
      "finished processing pid_attitude_control_node_[yaw_pid]\n",
      "finished processing pid_attitude_control_node_[roll_info]\n",
      "finished processing pid_attitude_control_node_[pitch_info]\n",
      "finished processing pid_attitude_control_node_[yaw_info]\n",
      "finished processing pid_attitude_control_node_[fins]\n",
      "finished processing depth_sim_node_[depth]\n",
      "finished processing data_collector\n",
      "finished processing actuators_node_[actuators]\n",
      "finished processing auv_dynamics_node_[nu]\n",
      "finished processing auv_dynamics_node_[eta]\n",
      "finished processing auv_dynamics_node_[tau]\n",
      "finished processing auv_dynamics_node_[nu_dot]\n",
      "finished processing rpm_sim_node_[rpm]\n",
      "finished processing rpm_control_node_[pid]\n",
      "finished processing rpm_control_node_[info]\n",
      "finished processing inertial_nav_node_[imu]\n",
      "finished processing inertial_nav_node_[gps]\n",
      "finished processing inertial_nav_node_[mag]\n",
      "finished processing inertial_nav_node_[x]\n",
      "finished processing inertial_nav_node_[P]\n",
      "finished processing inertial_nav_node_[depth]\n",
      "finished processing inertial_nav_node_[dvl]\n",
      "finished processing ahrs_sim_node_[theta_n_b]\n",
      "finished processing ahrs_sim_node_[f_ib_b]\n",
      "finished processing ahrs_sim_node_[w_ib_b]\n",
      "finished processing ahrs_sim_node_[m_b]\n",
      "finished processing imu_sim_node_[f_ib_b]\n",
      "finished processing imu_sim_node_[w_ib_b]\n",
      "finished processing lbl_range_sim_node_[beacon_0]\n",
      "finished processing dynamics_manager_node_[nu]\n",
      "finished processing dynamics_manager_node_[nu_dot]\n",
      "finished processing dynamics_manager_node_[eta]\n",
      "finished processing dynamics_manager_node_[eta_dot]\n",
      "finished processing dynamics_manager_node_[p_b]\n",
      "finished processing dynamics_manager_node_[w_ib_b]\n",
      "finished processing dynamics_manager_node_[f_ib_b]\n"
     ]
    },
    {
     "data": {
      "text/html": [
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>time</th>\n",
       "      <th>[dvl_sim_node_[v_eb_b]]v_x_m/s</th>\n",
       "      <th>[dvl_sim_node_[v_eb_b]]v_y_m/s</th>\n",
       "      <th>[dvl_sim_node_[v_eb_b]]v_z_/ms</th>\n",
       "      <th>[gps_sim_node_[gps]]lat_rad</th>\n",
       "      <th>[gps_sim_node_[gps]]lon_rad</th>\n",
       "      <th>[gps_sim_node_[gps]]alt_m</th>\n",
       "      <th>[gps_sim_node_[gps]]ground\\_speed_m/s</th>\n",
       "      <th>[gps_sim_node_[gps]]track\\_angle_rad</th>\n",
       "      <th>[gps_sim_node_[gps]]fix\\_quality_NA</th>\n",
       "      <th>...</th>\n",
       "      <th>[dynamics_manager_node_[p_b]]alt0_m</th>\n",
       "      <th>[dynamics_manager_node_[p_b]]lat_rad</th>\n",
       "      <th>[dynamics_manager_node_[p_b]]lon_rad</th>\n",
       "      <th>[dynamics_manager_node_[p_b]]alt_m</th>\n",
       "      <th>[dynamics_manager_node_[w_ib_b]]\\omega_{ib,x}^b_rad/s</th>\n",
       "      <th>[dynamics_manager_node_[w_ib_b]]\\omega_{ib,y}^b_rad/s</th>\n",
       "      <th>[dynamics_manager_node_[w_ib_b]]\\omega_{ib,z}^b_rad/s</th>\n",
       "      <th>[dynamics_manager_node_[f_ib_b]]f_{ib,x}^b_m/s^2</th>\n",
       "      <th>[dynamics_manager_node_[f_ib_b]]f_{ib,y}^b_m/s^2</th>\n",
       "      <th>[dynamics_manager_node_[f_ib_b]]f_{ib,z}^b_m/s^2</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>1679338481.5774896</td>\n",
       "      <td>-0.007655670</td>\n",
       "      <td>0.037512149</td>\n",
       "      <td>0.005548887</td>\n",
       "      <td>0.646784061</td>\n",
       "      <td>-1.406986771</td>\n",
       "      <td>0.7</td>\n",
       "      <td>0.0000</td>\n",
       "      <td>0.0000</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.000041</td>\n",
       "      <td>-0.000041</td>\n",
       "      <td>-0.000044</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-9.799105</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1679338481.6774895</td>\n",
       "      <td>-0.008301768</td>\n",
       "      <td>-0.023045217</td>\n",
       "      <td>0.007149922</td>\n",
       "      <td>0.646783447</td>\n",
       "      <td>-1.406986154</td>\n",
       "      <td>-0.1</td>\n",
       "      <td>0.0009</td>\n",
       "      <td>0.7854</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.000041</td>\n",
       "      <td>-0.000049</td>\n",
       "      <td>-0.000044</td>\n",
       "      <td>0.004193</td>\n",
       "      <td>-0.000000</td>\n",
       "      <td>-9.799106</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1679338481.7774894</td>\n",
       "      <td>-0.011318949</td>\n",
       "      <td>-0.014492343</td>\n",
       "      <td>0.000547967</td>\n",
       "      <td>0.646783903</td>\n",
       "      <td>-1.406986399</td>\n",
       "      <td>-1.0</td>\n",
       "      <td>0.0045</td>\n",
       "      <td>0.7854</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783695</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.000041</td>\n",
       "      <td>-0.000092</td>\n",
       "      <td>-0.000044</td>\n",
       "      <td>0.013219</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>-9.799106</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1679338481.8774893</td>\n",
       "      <td>0.013882067</td>\n",
       "      <td>0.000875285</td>\n",
       "      <td>0.005572290</td>\n",
       "      <td>0.646783993</td>\n",
       "      <td>-1.406987014</td>\n",
       "      <td>0.1</td>\n",
       "      <td>0.0139</td>\n",
       "      <td>0.7853</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783696</td>\n",
       "      <td>-1.406986268</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.000042</td>\n",
       "      <td>-0.000215</td>\n",
       "      <td>-0.000047</td>\n",
       "      <td>0.026544</td>\n",
       "      <td>0.000003</td>\n",
       "      <td>-9.799100</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1679338481.9774892</td>\n",
       "      <td>0.012339300</td>\n",
       "      <td>-0.006966742</td>\n",
       "      <td>0.021806358</td>\n",
       "      <td>0.646783243</td>\n",
       "      <td>-1.406985920</td>\n",
       "      <td>1.6</td>\n",
       "      <td>0.0308</td>\n",
       "      <td>0.7852</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646783697</td>\n",
       "      <td>-1.406986266</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.000043</td>\n",
       "      <td>-0.000380</td>\n",
       "      <td>-0.000064</td>\n",
       "      <td>0.042818</td>\n",
       "      <td>0.000013</td>\n",
       "      <td>-9.799074</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>97</th>\n",
       "      <td>1679338491.2774804</td>\n",
       "      <td>2.008560277</td>\n",
       "      <td>0.007270895</td>\n",
       "      <td>0.010876432</td>\n",
       "      <td>0.646791366</td>\n",
       "      <td>-1.406982881</td>\n",
       "      <td>11.8</td>\n",
       "      <td>1.9959</td>\n",
       "      <td>0.2541</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646791187</td>\n",
       "      <td>-1.406982679</td>\n",
       "      <td>12.65</td>\n",
       "      <td>0.001668</td>\n",
       "      <td>-0.000642</td>\n",
       "      <td>-0.005176</td>\n",
       "      <td>2.658568</td>\n",
       "      <td>0.004218</td>\n",
       "      <td>-9.430273</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>98</th>\n",
       "      <td>1679338491.3774803</td>\n",
       "      <td>1.996284870</td>\n",
       "      <td>0.004255184</td>\n",
       "      <td>0.012688062</td>\n",
       "      <td>0.646791598</td>\n",
       "      <td>-1.406982432</td>\n",
       "      <td>12.0</td>\n",
       "      <td>1.9962</td>\n",
       "      <td>0.2523</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646791307</td>\n",
       "      <td>-1.406982640</td>\n",
       "      <td>12.87</td>\n",
       "      <td>0.001535</td>\n",
       "      <td>-0.000111</td>\n",
       "      <td>-0.005051</td>\n",
       "      <td>2.657379</td>\n",
       "      <td>0.004520</td>\n",
       "      <td>-9.431609</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>99</th>\n",
       "      <td>1679338491.4774802</td>\n",
       "      <td>1.995551461</td>\n",
       "      <td>0.025063072</td>\n",
       "      <td>0.000508805</td>\n",
       "      <td>0.646791594</td>\n",
       "      <td>-1.406983279</td>\n",
       "      <td>12.7</td>\n",
       "      <td>1.9966</td>\n",
       "      <td>0.2496</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646791448</td>\n",
       "      <td>-1.406982594</td>\n",
       "      <td>13.13</td>\n",
       "      <td>0.001501</td>\n",
       "      <td>0.000128</td>\n",
       "      <td>-0.005095</td>\n",
       "      <td>2.658482</td>\n",
       "      <td>0.004021</td>\n",
       "      <td>-9.432056</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>100</th>\n",
       "      <td>1679338491.57748</td>\n",
       "      <td>2.023046036</td>\n",
       "      <td>0.004535207</td>\n",
       "      <td>0.016991917</td>\n",
       "      <td>0.646790978</td>\n",
       "      <td>-1.406982431</td>\n",
       "      <td>12.3</td>\n",
       "      <td>1.9968</td>\n",
       "      <td>0.2475</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646791577</td>\n",
       "      <td>-1.406982552</td>\n",
       "      <td>13.36</td>\n",
       "      <td>0.001476</td>\n",
       "      <td>0.000137</td>\n",
       "      <td>-0.005496</td>\n",
       "      <td>2.658851</td>\n",
       "      <td>0.004459</td>\n",
       "      <td>-9.431953</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>101</th>\n",
       "      <td>1679338491.67748</td>\n",
       "      <td>1.990702483</td>\n",
       "      <td>-0.030034106</td>\n",
       "      <td>0.007816921</td>\n",
       "      <td>0.646792144</td>\n",
       "      <td>-1.406982113</td>\n",
       "      <td>14.3</td>\n",
       "      <td>1.9971</td>\n",
       "      <td>0.2442</td>\n",
       "      <td>1</td>\n",
       "      <td>...</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.646791717</td>\n",
       "      <td>-1.406982507</td>\n",
       "      <td>13.62</td>\n",
       "      <td>0.001437</td>\n",
       "      <td>0.000081</td>\n",
       "      <td>-0.005974</td>\n",
       "      <td>2.659513</td>\n",
       "      <td>0.003806</td>\n",
       "      <td>-9.431532</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>102 rows × 268 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                   time [dvl_sim_node_[v_eb_b]]v_x_m/s  \\\n",
       "0    1679338481.5774896                   -0.007655670   \n",
       "1    1679338481.6774895                   -0.008301768   \n",
       "2    1679338481.7774894                   -0.011318949   \n",
       "3    1679338481.8774893                    0.013882067   \n",
       "4    1679338481.9774892                    0.012339300   \n",
       "..                  ...                            ...   \n",
       "97   1679338491.2774804                    2.008560277   \n",
       "98   1679338491.3774803                    1.996284870   \n",
       "99   1679338491.4774802                    1.995551461   \n",
       "100    1679338491.57748                    2.023046036   \n",
       "101    1679338491.67748                    1.990702483   \n",
       "\n",
       "    [dvl_sim_node_[v_eb_b]]v_y_m/s [dvl_sim_node_[v_eb_b]]v_z_/ms  \\\n",
       "0                      0.037512149                    0.005548887   \n",
       "1                     -0.023045217                    0.007149922   \n",
       "2                     -0.014492343                    0.000547967   \n",
       "3                      0.000875285                    0.005572290   \n",
       "4                     -0.006966742                    0.021806358   \n",
       "..                             ...                            ...   \n",
       "97                     0.007270895                    0.010876432   \n",
       "98                     0.004255184                    0.012688062   \n",
       "99                     0.025063072                    0.000508805   \n",
       "100                    0.004535207                    0.016991917   \n",
       "101                   -0.030034106                    0.007816921   \n",
       "\n",
       "    [gps_sim_node_[gps]]lat_rad [gps_sim_node_[gps]]lon_rad  \\\n",
       "0                   0.646784061                -1.406986771   \n",
       "1                   0.646783447                -1.406986154   \n",
       "2                   0.646783903                -1.406986399   \n",
       "3                   0.646783993                -1.406987014   \n",
       "4                   0.646783243                -1.406985920   \n",
       "..                          ...                         ...   \n",
       "97                  0.646791366                -1.406982881   \n",
       "98                  0.646791598                -1.406982432   \n",
       "99                  0.646791594                -1.406983279   \n",
       "100                 0.646790978                -1.406982431   \n",
       "101                 0.646792144                -1.406982113   \n",
       "\n",
       "    [gps_sim_node_[gps]]alt_m [gps_sim_node_[gps]]ground\\_speed_m/s  \\\n",
       "0                         0.7                                0.0000   \n",
       "1                        -0.1                                0.0009   \n",
       "2                        -1.0                                0.0045   \n",
       "3                         0.1                                0.0139   \n",
       "4                         1.6                                0.0308   \n",
       "..                        ...                                   ...   \n",
       "97                       11.8                                1.9959   \n",
       "98                       12.0                                1.9962   \n",
       "99                       12.7                                1.9966   \n",
       "100                      12.3                                1.9968   \n",
       "101                      14.3                                1.9971   \n",
       "\n",
       "    [gps_sim_node_[gps]]track\\_angle_rad [gps_sim_node_[gps]]fix\\_quality_NA  \\\n",
       "0                                 0.0000                                   1   \n",
       "1                                 0.7854                                   1   \n",
       "2                                 0.7854                                   1   \n",
       "3                                 0.7853                                   1   \n",
       "4                                 0.7852                                   1   \n",
       "..                                   ...                                 ...   \n",
       "97                                0.2541                                   1   \n",
       "98                                0.2523                                   1   \n",
       "99                                0.2496                                   1   \n",
       "100                               0.2475                                   1   \n",
       "101                               0.2442                                   1   \n",
       "\n",
       "     ... [dynamics_manager_node_[p_b]]alt0_m  \\\n",
       "0    ...                                0.00   \n",
       "1    ...                                0.00   \n",
       "2    ...                                0.00   \n",
       "3    ...                                0.00   \n",
       "4    ...                                0.00   \n",
       "..   ...                                 ...   \n",
       "97   ...                                0.00   \n",
       "98   ...                                0.00   \n",
       "99   ...                                0.00   \n",
       "100  ...                                0.00   \n",
       "101  ...                                0.00   \n",
       "\n",
       "    [dynamics_manager_node_[p_b]]lat_rad [dynamics_manager_node_[p_b]]lon_rad  \\\n",
       "0                            0.646783695                         -1.406986268   \n",
       "1                            0.646783695                         -1.406986268   \n",
       "2                            0.646783695                         -1.406986268   \n",
       "3                            0.646783696                         -1.406986268   \n",
       "4                            0.646783697                         -1.406986266   \n",
       "..                                   ...                                  ...   \n",
       "97                           0.646791187                         -1.406982679   \n",
       "98                           0.646791307                         -1.406982640   \n",
       "99                           0.646791448                         -1.406982594   \n",
       "100                          0.646791577                         -1.406982552   \n",
       "101                          0.646791717                         -1.406982507   \n",
       "\n",
       "    [dynamics_manager_node_[p_b]]alt_m  \\\n",
       "0                                 0.00   \n",
       "1                                 0.00   \n",
       "2                                 0.00   \n",
       "3                                 0.00   \n",
       "4                                 0.00   \n",
       "..                                 ...   \n",
       "97                               12.65   \n",
       "98                               12.87   \n",
       "99                               13.13   \n",
       "100                              13.36   \n",
       "101                              13.62   \n",
       "\n",
       "    [dynamics_manager_node_[w_ib_b]]\\omega_{ib,x}^b_rad/s  \\\n",
       "0                                             0.000041      \n",
       "1                                             0.000041      \n",
       "2                                             0.000041      \n",
       "3                                             0.000042      \n",
       "4                                             0.000043      \n",
       "..                                                 ...      \n",
       "97                                            0.001668      \n",
       "98                                            0.001535      \n",
       "99                                            0.001501      \n",
       "100                                           0.001476      \n",
       "101                                           0.001437      \n",
       "\n",
       "    [dynamics_manager_node_[w_ib_b]]\\omega_{ib,y}^b_rad/s  \\\n",
       "0                                            -0.000041      \n",
       "1                                            -0.000049      \n",
       "2                                            -0.000092      \n",
       "3                                            -0.000215      \n",
       "4                                            -0.000380      \n",
       "..                                                 ...      \n",
       "97                                           -0.000642      \n",
       "98                                           -0.000111      \n",
       "99                                            0.000128      \n",
       "100                                           0.000137      \n",
       "101                                           0.000081      \n",
       "\n",
       "    [dynamics_manager_node_[w_ib_b]]\\omega_{ib,z}^b_rad/s  \\\n",
       "0                                            -0.000044      \n",
       "1                                            -0.000044      \n",
       "2                                            -0.000044      \n",
       "3                                            -0.000047      \n",
       "4                                            -0.000064      \n",
       "..                                                 ...      \n",
       "97                                           -0.005176      \n",
       "98                                           -0.005051      \n",
       "99                                           -0.005095      \n",
       "100                                          -0.005496      \n",
       "101                                          -0.005974      \n",
       "\n",
       "    [dynamics_manager_node_[f_ib_b]]f_{ib,x}^b_m/s^2  \\\n",
       "0                                           0.000000   \n",
       "1                                           0.004193   \n",
       "2                                           0.013219   \n",
       "3                                           0.026544   \n",
       "4                                           0.042818   \n",
       "..                                               ...   \n",
       "97                                          2.658568   \n",
       "98                                          2.657379   \n",
       "99                                          2.658482   \n",
       "100                                         2.658851   \n",
       "101                                         2.659513   \n",
       "\n",
       "    [dynamics_manager_node_[f_ib_b]]f_{ib,y}^b_m/s^2  \\\n",
       "0                                           0.000000   \n",
       "1                                          -0.000000   \n",
       "2                                           0.000000   \n",
       "3                                           0.000003   \n",
       "4                                           0.000013   \n",
       "..                                               ...   \n",
       "97                                          0.004218   \n",
       "98                                          0.004520   \n",
       "99                                          0.004021   \n",
       "100                                         0.004459   \n",
       "101                                         0.003806   \n",
       "\n",
       "    [dynamics_manager_node_[f_ib_b]]f_{ib,z}^b_m/s^2  \n",
       "0                                          -9.799105  \n",
       "1                                          -9.799106  \n",
       "2                                          -9.799106  \n",
       "3                                          -9.799100  \n",
       "4                                          -9.799074  \n",
       "..                                               ...  \n",
       "97                                         -9.430273  \n",
       "98                                         -9.431609  \n",
       "99                                         -9.432056  \n",
       "100                                        -9.431953  \n",
       "101                                        -9.431532  \n",
       "\n",
       "[102 rows x 268 columns]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "log_df = None\n",
    "log_df_created = False\n",
    "log_min_time = max([float(raw_df.at[0, 'time']) for _, raw_df in log_raw_data.items()])\n",
    "log_max_time = min([float(raw_df.at[len(raw_df) - 1, 'time']) for _, raw_df in log_raw_data.items()])\n",
    "\n",
    "for stream, raw_df in log_raw_data.items():\n",
    "    log_time = log_min_time\n",
    "    parsed_df = pd.DataFrame(columns=raw_df.columns)\n",
    "    cur_row = 0\n",
    "    \n",
    "    while log_time < log_max_time:\n",
    "        while float(raw_df.at[cur_row, 'time']) >= log_time and log_time < log_max_time:\n",
    "            log_time += log_time_window\n",
    "            parsed_df.loc[len(parsed_df)] = [str(log_time)] + list(raw_df.loc[cur_row][1:])\n",
    "        else:\n",
    "            cur_row += 1\n",
    "    \n",
    "    if log_df_created:\n",
    "        log_df = pd.concat([log_df, parsed_df.drop('time', axis=1)], axis=1)\n",
    "        print(f'finished processing {stream}')\n",
    "    else:\n",
    "        log_df = parsed_df\n",
    "        log_df_created = True\n",
    "\n",
    "display(log_df)\n",
    "log_df.to_csv(log_dst_csv_name, index=False)"
   ]
  }
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