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\begin{document}

\begin{labcover}
\labtitle{Introduction to the Alog Toolbox}
\vspace{0.1in}
\labdate{June 2018}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering, CSAIL}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
\end{labcover}

\wikidoc{file=IvPTools.AlogIntro}
\wikidoc{auth=mikerb@mit.edu}

%=================================================================
\section{Overview}
%=================================================================
\label{sec_alog_intro}

The Alog Toolbox provides a number of utilities for post-mission analysis
and/or editing of mission log files. They all assume the \var{.alog} file
format produced by \app{pLogger}. There are two groups of tools:

%=================================================================
\section*{Graphical}

\begin{packed_itemize}[2]

\item \app{alogview}: A graphical tool for rendering multiple vehicle
  trajectories, time-series plots for any logged numerical data,
  objective functions produced from helm behaviors, helm summary
  reports for any iteration in any vehicle, and interleaved variable
  histories for any logged MOOS variable. Figure \ref{fig_alv_all}
  shows the primary data windows on the left and a few optional pop-up
  windows on the right.
\end{packed_itemize}

\vspace{0.1in}
\begin{figure}[H]
  \centering 
  \includegraphics[width=0.98\textwidth]{figures/alv_all.png}
  \caption{{\bf The \vvar{alogview} tool}: used for post-mission
    rendering of alog files from one or more vehicles and stepping
    op-area and time.}
\label{fig_alv_all}
\end{figure}


%=================================================================
\section*{Command Line}

\begin{packed_itemize}[2]

\item \app{alogscan}: Generates a summary report on the contents of a
  given .alog file. The report lists each logged MOOS variable, which
  app(s) publish it, the min/max publish time and total number of
  character and lines for the variable.

\item \app{aloggrep}: Create a new MOOS .alog file by retaining only
  the given MOOS variables or sources, named on the command line, from
  a given .alog file.

\item \app{alogrm}: Remove the entries matching the given MOOS
  variables or sources from the given .alog file and generate a new
  .alog file.

\item \app{alogclip}: Create a new MOOS .alog file from a given .alog
  file by removing entries outside a given time window.

\item \app{aloghelm}: Perform one of several optional helm reports
  based on helm output logged in the given .alog file. 

\item \app{alogiter}: Analyzes the \var{ITER\_GAP} and \var{ITER\_LEN}
  information provided by all applications recorded in the given alog
  file.

\item \app{alogsort}: Create a new MOOS .alog file by sorting the alog
  entries based on their timestamps.

\item \app{alogsplit}: Split the given alog file into a directory,
  within which each MOOS variable is split into its own file
  containing only that variable. The split will also create a
  summary.klog file with summary information. This is essentially the
  operation done at the outset of launching the alogview applicaton.
\end{packed_itemize}


\end{document}

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