MUGIC® Datagram and Description

Accelerometer AX AY AZ	1 2 3	Acceleration: measured by the on-board accelerometer, in the local device frame, in m/s^2
Euler Angles EX EY EZ	4 5 6	Euler angles: computed by the on-board sensor from the quaternion, in (fixed) Earth-related frame, in degrees.
Gyrometer GX GY GZ	7 8 9	Gyrometer: angular velocity in the local device frame, in degrees per second.
Magnetometer MX MY MZ	10 11 12	Magnetometer: measures the components of the Earth magnetic field in the local device frame, in µT.
Quaternion QW QX QY QZ	13 14 15 16	Quaternion: provides an alternate measurement (different from Euler angles) of the rotation between the local frame and the Earth-related frame.
Battery	18	Battery level in voltage (between 3.7 volts - approx. 4.2 volts)
Sensor status (Accelerometer, Gyrometer, m (continues)	19 20 21 22	Calibration status (0=N/A, 1=weak, 2=good, 3=excellent). In general, data is not reliable and should not be used when the corresponding status is 0. Note: It is possible to calibrate the device by a sequence of movements / positions systematically exploring every orientation, until every status is at least 1, preferably 2 or 3.
Seconds	23	Seconds elapsed since the last restart of the MUGIC® device.¹
SeqNum	24	Sequence number of data message: first message has sequence number 0, and subsequent messages increment this sequence number by 1.

¹ With a reasonably steady rate, should be spaced every 25ms per consecutive messages, but can vary depending on various interactions and activity in the device (e.g. network activity). Can be regulated through the loop_delay parameter (see next section).