<?xml version="1.0"?>

<!-- Example usage: <dash><dash>generic=file,out,50,fgfs.imu,insgns-imu -->

<PropertyList>

 <generic>

  <output>
    <binary_mode>true</binary_mode>
    <binary_footer>none</binary_footer>

    <chunk>
      <name>time (sec)</name>
      <type>double</type>
      <node>/sim/time/elapsed-sec</node>
    </chunk>

    <chunk>
      <name>roll rate ("p" rad/sec)</name>
      <type>float</type>
      <node>/orientation/p-body</node>
    </chunk>

    <chunk>
      <name>pitch rate ("q" rad/sec)</name>
      <type>float</type>
      <node>/orientation/q-body</node>
    </chunk>

    <chunk>
      <name>yaw rate ("r" rad/sec)</name>
      <type>float</type>
      <node>/orientation/r-body</node>
    </chunk>

    <chunk>
      <name>X accel (body axis) (mps)</name>
      <type>float</type>
      <node>/accelerations/pilot/x-accel-fps_sec</node>
      <factor>0.3048</factor>  <!-- feet to meter -->
    </chunk>

    <chunk>
      <name>Y accel (body axis) (mps)</name>
      <type>float</type>
      <node>/accelerations/pilot/y-accel-fps_sec</node>
      <factor>0.3048</factor>  <!-- feet to meter -->
    </chunk>

    <chunk>
      <name>Z accel (body axis) (mps)</name>
      <type>float</type>
      <node>/accelerations/pilot/z-accel-fps_sec</node>
      <factor>0.3048</factor>  <!-- feet to meter -->
    </chunk>

    <!-- air data appended to IMU data for convenience -->
    <chunk>
      <name>Indicated airspeed (kt)</name>
      <type>float</type>
      <node>/velocities/airspeed-kt</node>
    </chunk>

    <chunk>
      <name>Local Pressure (inhg)</name>
      <type>float</type>
      <node>/environment/pressure-inhg</node>
    </chunk>

    <!-- attitude "truth" also appended for the purposes of allowing -->
    <!-- the filter to evaluate how well it's doing -->
    <chunk>
      <name>roll truth (deg)</name>
      <type>float</type>
      <node>/orientation/roll-deg</node>
    </chunk>

    <chunk>
      <name>pitch truth (deg)</name>
      <type>float</type>
      <node>/orientation/pitch-deg</node>
    </chunk>

    <chunk>
      <name>heading truth (deg)</name>
      <type>float</type>
      <node>/orientation/heading-deg</node>
    </chunk>

  </output>

 </generic>

</PropertyList>