**Author**
Travis Burgers
Raven Industries
September 2020
travis.burgers@ravenind.com

**Dataset information**
R4045andRoGatordata.mat
Matlab .mat file

**Data notes**
This file contains the data acquired for each experimental test run in this study. Each of the experimental datasets was input into Matlab from a parsed CAN file and saved into one .mat file.

Each table in R4045andRoGatordata.mat includes the data from one run. Table names are described in "Boom leveling comparison output data.xlsx". Generally, the name includes the system name, the track, the speed (in mph) and the run number (1-3). The XRT runs on the RoGator were given an "R" prefix to differentiate them from those run on the R4045.

The comments in the BoomLevelingComparison.m Matlab script sometimes provide details on variable usage.

Each table includes the following variables: 
Timesec - time (seconds)
MsgCount1sec - not used
Longitude (degrees) from GPS
Altitude (m) from GPS
LeftWingOffsetZ1 - sensor vertical offset of left outside sensor (in)
LeftWingOffsetZ2 - sensor vertical offset of left inside sensor (in)
ChassisRollPosition - chassis roll angle (degrees)
LeftWingOffsetX1 - sensor horizontal offset of left outside sensor from center of boom (in) - input in software, which may not be the actual distance
LeftWingOffsetX2 - sensor horizontal offset of left inside sensor from center of boom (in) - input in software, which may not be the actual distance
LeftWingActualGroundDistance1 - measured distance from radar to ground of left outside sensor (in)
LeftWingActualGroundDistance2 - measured distance from radar to ground of left inside sensor (in)
ChassisYawPosition - chassis yaw angle (degrees)
ChassisPitchPosition - chassis pitch angle (degrees)
RightWingOffsetX1 - sensor horizontal offset of right outside sensor from center of boom (in) - input in software, which may not be the actual distance
RightWingOffsetX2 - sensor horizontal offset of right outside sensor from center of boom (in) - input in software, which may not be the actual distance
RightWingActualGroundDistance1 - measured distance from radar to ground of right outside sensor (in)
RightWingActualGroundDistance2 - measured distance from radar to ground of right inside sensor (in)
Speed - sprayer speed measured by sprayer (mph)
RightWingOffsetZ1 - sensor vertical offset of right outside sensor (in)
RightWingOffsetZ2 - sensor vertical offset of right inside sensor (in)
Latitude (degrees) from GPS
GNSSCOG - GNSS course-over-ground (degrees), not used
GNSSSOG - GNSS speed-over-ground, not used