There are nine files in this dierectory (inclding this one). data_viewer_log.txt -- snapshot of all sensors at a given time. easily readable. gyro_data.txt -- 1kHz gyro data labjack_data.txt -- ~2Hz labjack data lidar1_data.txt -- ~1kH forward facing lidar data lidar2_data.txt -- ~1kH rear facing lidar data GyroReader.cpp -- Robert Cooper's ROOT macro to read gyro data LabJackReader.cpp -- Robert Cooper's ROOT macro to read lab jack data LidarReader.cpp -- Robert Cooper's ROOT macro to read lidar data Refer also to RLCooper's AEM Special Presentation on May 4, 2015. Documentation from Robert Cooper: All, I took the raw .txt files and converted each to a .root file for easier plotting, etc. I took the raw Hall probe measurements and performed the correction for Vdd != 5.000 V (e.g., B1_X is the correction of the raw B1_X0, and so forth). A small subtlety of the gyro_data is that the rate is the instantaneous rate for that time and sample at 1 kHz. The integrated angle is the total integrated angle over 10 samples or if the instantaneous rate is larger than some threshold (0.5 deg / s ?). The lidar data sometimes does not have a distance for a given time sample. I set these to 0. The ROOT code I used is also attached. It contains the Hall probe offsets used (as shown in the human-readable file).