> For the complete documentation index, see [llms.txt](https://mugic-motion.gitbook.io/mugic-r-documentation/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://mugic-motion.gitbook.io/mugic-r-documentation/about-mugic-r/mugic-r-datagram-and-description.md).

# MUGIC® Datagram and Description

<table data-header-hidden><thead><tr><th width="205">FIELD</th><th width="140">Index</th><th>Meaning/Unit</th></tr></thead><tbody><tr><td><p><strong>Accelerometer</strong></p><p>AX AY AZ</p></td><td>1 2 3</td><td>Acceleration: measured by the on-board accelerometer, in the local device frame, in m/s^2</td></tr><tr><td><p><strong>Euler Angles</strong></p><p>EX EY EZ</p></td><td>4 5 6</td><td>Euler angles: computed by the on-board sensor from the <a href="https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles">quaternion</a>, in (fixed) Earth-related frame, in degrees.</td></tr><tr><td><p><strong>Gyrometer</strong></p><p>GX GY GZ</p></td><td>7 8 9</td><td>Gyrometer: angular velocity in the local device frame, in degrees per second.</td></tr><tr><td><p><strong>Magnetometer</strong></p><p>MX MY MZ</p></td><td>10 11 12</td><td>Magnetometer: measures the components of the Earth magnetic field in the local device frame, in µT.</td></tr><tr><td><p><strong>Quaternion</strong></p><p>QW QX QY QZ</p></td><td>13 14 15 16</td><td><a href="https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles">Quaternion</a>: provides an alternate measurement (different from Euler angles) of the rotation between the local frame and the Earth-related frame.</td></tr><tr><td><strong>Battery</strong></td><td>18</td><td>Battery level in voltage (between 3.7 volts - approx. 4.2 volts)</td></tr><tr><td><p><strong>Sensor status</strong> </p><p>(Accelerometer, Gyrometer, m (continues)</p></td><td>19 20 21 22</td><td><p>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.</p><p>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.</p></td></tr><tr><td><strong>Seconds</strong><br><br></td><td>23</td><td>Seconds elapsed since the last restart of the MUGIC® device.¹ </td></tr><tr><td><strong>SeqNum</strong></td><td>24</td><td>Sequence number of data message: first message has sequence number 0, and subsequent messages increment this sequence number by 1.</td></tr></tbody></table>

{% hint style="info" %}
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).
{% endhint %}