README for TestExamples
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The files in this folder are a set of simulated vehicle runs over
the monterey canyon map given in canyonDataUTMG3.grd.
Each test run generates a file of kearfott/ins poses, dataKft_testX.txt,
as well as a file of measurements, dataMeas_testX.txt.

dataKft_testX.txt is a Mx22 matrix.  The columns contain:
[time _ _ _ _ _ North East Depth Phi Theta Psi _ _ _ _ _ _ _ _ _ _];

dataMeas_testX.txt is a Px62 matrix.  The columns contain:
[dataType time -------dataVector--------]

if dataType = 1 (DVL), then:
dataVector = [1x21 dvl vec, 1x39 zeros];
if dataType = 2 (Multibeam), then:
dataVector = [along-track_1 cross-track_1 altitude_1 -- altitude_20];
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The tests correspond to the following settings:

test#	N_ins  N_meas   f_ins	f_dvl	f_mb  DVLmeas? MBmeas?	trajectory
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Tests 1-6 use the Canyon520m site *.grd file.

1	2001	303	10	2	--	Y	N	starts outside, crosses
								map at 45 deg angle,
							   	constant altitude = 15m,
								exits map at end.

2	2001	303	10	--	2	N	Y	starts outside, crosses
								map at 45 deg angle,
								constant altitude = 15m,
								exits map at end.

3	201 	456	1	3	--	Y	N	starts outside, crosses
								map at 45 deg angle,
							        constant altitude = 15m,
								exits map at end.

4	2001	606	10	4	1	Y	Y	starts outside, crosses
								map at 45 deg angle,
								constant altitude = 15m,
								exits map at end.

5	7074	1412	previously used real dvl measurements and trajectory

6 	425	425	previously used real multibeam measurements and trajectory

Tests 7-10 use the clamfieldSouth site *.grd file.

7      	801     315	 2	1       --	Y	N	starts outside, crosses
								map at 45 deg angle,
							   	constant altitude = 15m,
								exits map at end.
  	  		  
8      	801     316	 2	1       --	Y	N	starts outside, crosses
								map at 135 deg angle,
							   	constant altitude = 15m,
								exits map at end.
  	  		  
9      	801     304	 2	1       --	Y	N	starts outside, crosses
								map with sine function,
							   	constant altitude = 15m.

10     	801     173	 2	1       --	Y	N	starts outside, crosses
								in and out of map with 
								oscillatory function,
							   	constant altitude = 15m.