binary ascii conversion of novatel IMU data
imr file structure : https://docs.novatel.com/Waypoint/Content/Data_Formats/IMR_File.htm
output:
Time Gyro_X Gyro_Y Gyro_Z Accel_X Accel_Y Accel_Z
390039.152268 -3.19724 0.08329 0.42469 -0.38602 0.33630 9.81521
390039.154268 -2.86998 0.05710 0.48474 -0.40374 0.34184 9.81151
390039.156268 -2.53532 0.01431 0.54658 -0.41385 0.34688 9.81064
Time: gps seconds of week [s]
Gyro_[XYZ]: gyro measurements [deg/s]
Accel_[XYZ]: acceleration measurements [m/s^2]