diff --git a/ExampleData_BasicUsage/00000.BIN b/ExampleData/00000.BIN
similarity index 100%
rename from ExampleData_BasicUsage/00000.BIN
rename to ExampleData/00000.BIN
diff --git a/ExampleData/00000_CalBattAndTherm.csv b/ExampleData/00000_CalBattAndTherm.csv
new file mode 100644
index 0000000..db84b06
--- /dev/null
+++ b/ExampleData/00000_CalBattAndTherm.csv
@@ -0,0 +1,110 @@
+Packet number,Battery voltage (V),Thermometer (degrees C)
+112,4.130371,32.59766
+209,4.131836,33.05469
+306,4.135254,32.88281
+403,4.133545,33.11328
+501,4.135254,33.28516
+598,4.131836,33.33984
+695,4.131836,33.11328
+792,4.131836,33.22656
+890,4.131836,33.33984
+987,4.131836,33.22656
+1084,4.131836,33.45703
+1181,4.125488,33.625
+1279,4.131836,33.625
+1376,4.131836,33.625
+1473,4.133545,33.96875
+1570,4.133545,33.625
+1668,4.133545,33.68359
+1765,4.131836,33.68359
+1862,4.131836,33.91406
+1959,4.131836,33.85547
+2057,4.131836,33.96875
+2154,4.128662,33.74219
+2251,4.127197,33.79688
+2348,4.128662,33.91406
+2446,4.135254,33.91406
+2543,4.133545,33.96875
+2640,4.133545,34.02734
+2737,4.133545,33.96875
+2835,4.131836,33.79688
+2932,4.131836,33.91406
+3029,4.133545,33.96875
+3126,4.130371,34.02734
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+3321,4.130371,33.96875
+3418,4.131836,33.96875
+3515,4.131836,33.79688
+3613,4.133545,33.91406
+3710,4.135254,33.85547
+3807,4.133545,34.08203
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+4002,4.131836,34.08203
+4099,4.133545,34.19922
+4196,4.128662,34.19922
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+4585,4.131836,34.02734
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+4877,4.133545,34.19922
+4974,4.133545,34.08203
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+5169,4.128662,34.08203
+5266,4.130371,34.25391
+5363,4.131836,34.02734
+5460,4.130371,34.02734
+5558,4.130371,34.14063
+5655,4.133545,34.14063
+5752,4.131836,33.91406
+5849,4.133545,34.25391
+5947,4.133545,34.37109
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+6141,4.130371,34.14063
+6238,4.128662,34.37109
+6336,4.128662,34.08203
+6433,4.131836,34.42578
+6530,4.130371,34.08203
+6627,4.130371,34.3125
+6725,4.130371,34.25391
+6822,4.130371,34.42578
+6919,4.130371,34.14063
+7016,4.133545,34.25391
+7114,4.130371,34.19922
+7211,4.130371,33.91406
+7308,4.130371,34.14063
+7405,4.131836,34.3125
+7503,4.130371,34.02734
+7600,4.130371,34.42578
+7697,4.131836,34.14063
+7794,4.130371,34.14063
+7892,4.130371,34.48438
+7989,4.130371,33.91406
+8086,4.128662,34.14063
+8183,4.128662,34.53906
+8281,4.131836,34.42578
+8378,4.135254,34.53906
+8475,4.131836,34.42578
+8572,4.130371,34.25391
+8670,4.130371,34.42578
+8767,4.130371,34.25391
+8864,4.130371,34.42578
+8961,4.130371,34.37109
+9059,4.128662,34.3125
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+9253,4.128662,34.25391
+9350,4.133545,34.42578
+9448,4.131836,34.19922
+9545,4.131836,34.3125
+9642,4.131836,34.25391
+9739,4.130371,34.37109
+9837,4.130371,34.25391
+9934,4.130371,34.37109
+10031,4.130371,34.37109
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+10226,4.128662,34.37109
+10323,4.133545,34.48438
+10420,4.130371,34.42578
+10517,4.131836,34.53906
+10615,4.131836,34.37109
diff --git a/ExampleData/00000_CalInertialAndMag.csv b/ExampleData/00000_CalInertialAndMag.csv
new file mode 100644
index 0000000..a3d2fdd
--- /dev/null
+++ b/ExampleData/00000_CalInertialAndMag.csv
@@ -0,0 +1,6960 @@
+Packet number,Gyroscope X (deg/s),Gyroscope Y (deg/s),Gyroscope Z (deg/s),Accelerometer X (g),Accelerometer Y (g),Accelerometer Z (g),Magnetometer X (G),Magnetometer Y (G),Magnetometer Z (G)
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diff --git a/ExampleData/00000_Commands.csv b/ExampleData/00000_Commands.csv
new file mode 100644
index 0000000..4cede3e
--- /dev/null
+++ b/ExampleData/00000_Commands.csv
@@ -0,0 +1,2 @@
+Packet number,Command code,Command message
+10687,3,Sleep.
diff --git a/ExampleData/00000_DateTime.csv b/ExampleData/00000_DateTime.csv
new file mode 100644
index 0000000..ae4cb8e
--- /dev/null
+++ b/ExampleData/00000_DateTime.csv
@@ -0,0 +1,30 @@
+Packet number,Year,Month,Day,Hours,Minutes,Seconds
+0,2000,1,1,0,6,55
+111,2000,1,1,0,6,55
+500,2000,1,1,0,6,56
+889,2000,1,1,0,6,57
+1278,2000,1,1,0,6,58
+1667,2000,1,1,0,6,59
+2056,2000,1,1,0,7,0
+2445,2000,1,1,0,7,1
+2834,2000,1,1,0,7,2
+3223,2000,1,1,0,7,3
+3612,2000,1,1,0,7,4
+4001,2000,1,1,0,7,5
+4390,2000,1,1,0,7,6
+4779,2000,1,1,0,7,7
+5168,2000,1,1,0,7,8
+5557,2000,1,1,0,7,9
+5946,2000,1,1,0,7,10
+6335,2000,1,1,0,7,11
+6724,2000,1,1,0,7,12
+7113,2000,1,1,0,7,13
+7502,2000,1,1,0,7,14
+7891,2000,1,1,0,7,15
+8280,2000,1,1,0,7,16
+8669,2000,1,1,0,7,17
+9058,2000,1,1,0,7,18
+9447,2000,1,1,0,7,19
+9836,2000,1,1,0,7,20
+10225,2000,1,1,0,7,21
+10614,2000,1,1,0,7,22
diff --git a/ExampleData/00000_EulerAngles.csv b/ExampleData/00000_EulerAngles.csv
new file mode 100644
index 0000000..6990858
--- /dev/null
+++ b/ExampleData/00000_EulerAngles.csv
@@ -0,0 +1,3481 @@
+Packet number,Roll | Phi | X (degrees), Pitch | Theta | Y (degrees), Yaw | Psi | Z (degrees)
+114,-0.241274,-0.04910734,-0.06983987
+117,-0.7377208,-0.1442557,-0.1354606
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+129,-1.275673,-0.2599829,-1.987217
+132,-1.439819,-0.2452398,-2.256414
+135,-1.638347,-0.2847258,-2.297456
+138,-1.846278,-0.3833252,-2.29542
+141,-2.040154,-0.459459,-2.422873
+144,-2.189365,-0.5153421,-2.435269
+147,-2.334674,-0.6241164,-2.299511
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+153,-2.541872,-0.6477812,-2.074096
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+159,-2.53979,-0.6750237,-2.35686
+162,-2.53642,-0.6521221,-2.430903
+165,-2.667009,-0.6368798,-2.259073
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+295,-3.120846,-0.6240634,-4.017503
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diff --git a/ExampleData/00000_Quaternion.csv b/ExampleData/00000_Quaternion.csv
new file mode 100644
index 0000000..33b99a4
--- /dev/null
+++ b/ExampleData/00000_Quaternion.csv
@@ -0,0 +1,3481 @@
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diff --git a/ExampleData/00000_Registers.csv b/ExampleData/00000_Registers.csv
new file mode 100644
index 0000000..7bc3ed2
--- /dev/null
+++ b/ExampleData/00000_Registers.csv
@@ -0,0 +1,111 @@
+Packet number,Address,Value,Fixed-point value,Name
+1,0,7,NaN,FirmwareVersionMajorNum
+2,1,0,NaN,FirmwareVersionMinorNum
+3,2,17134,NaN,DeviceID
+4,3,2,NaN,ButtonMode
+5,4,19872,621,BatterySensitivity
+6,5,0,0,BatteryBias
+7,6,17920,280,ThermometerSensitivity
+8,7,42536,-23000,ThermometerBias
+9,8,3,NaN,GyroscopeFullScale
+10,9,2083,16.27344,GyroscopeSensitivityX
+11,10,2088,16.3125,GyroscopeSensitivityY
+12,11,2077,16.22656,GyroscopeSensitivityZ
+13,12,3269,3269,GyroscopeSampledPlus200dpsX
+14,13,3255,3255,GyroscopeSampledPlus200dpsY
+15,14,3246,3246,GyroscopeSampledPlus200dpsZ
+16,15,62293,-3243,GyroscopeSampledMinus200dpsX
+17,16,62265,-3271,GyroscopeSampledMinus200dpsY
+18,17,62290,-3246,GyroscopeSampledMinus200dpsZ
+19,18,146,18.25,GyroscopeBiasAt25degCX
+20,19,16,2,GyroscopeBiasAt25degCY
+21,20,65398,-17.25,GyroscopeBiasAt25degCZ
+22,21,64087,-0.7075195,GyroscopeBiasTempSensitivityX
+23,22,62943,-1.266113,GyroscopeBiasTempSensitivityY
+24,23,4628,2.259766,GyroscopeBiasTempSensitivityZ
+25,24,3642,14.22656,GyroscopeSample1Temp
+26,25,208,26,GyroscopeSample1BiasX
+27,26,126,15.75,GyroscopeSample1BiasY
+28,27,65203,-41.625,GyroscopeSample1BiasZ
+29,28,8569,33.47266,GyroscopeSample2Temp
+30,29,99,12.375,GyroscopeSample2BiasX
+31,30,65467,-8.625,GyroscopeSample2BiasY
+32,31,15,1.875,GyroscopeSample2BiasZ
+33,32,2,NaN,AccelerometerFullScale
+34,33,4049,253.0625,AccelerometerSensitivityX
+35,34,4108,256.75,AccelerometerSensitivityY
+36,35,4148,259.25,AccelerometerSensitivityZ
+37,36,64280,-4.90625,AccelerometerBiasX
+38,37,64888,-2.53125,AccelerometerBiasY
+39,38,64600,-3.65625,AccelerometerBiasZ
+40,39,3971,248.1875,AccelerometerSampledPlus1gX
+41,40,4068,254.25,AccelerometerSampledPlus1gY
+42,41,4090,255.625,AccelerometerSampledPlus1gZ
+43,42,61408,-258,AccelerometerSampledMinus1gX
+44,43,61387,-259.3125,AccelerometerSampledMinus1gY
+45,44,61329,-262.9375,AccelerometerSampledMinus1gZ
+46,45,3,NaN,MagnetometerFullScale
+47,46,6289,393.0625,MagnetometerSensitivityX
+48,47,6428,401.75,MagnetometerSensitivityY
+49,48,6314,394.625,MagnetometerSensitivityZ
+50,49,1050,4.101563,MagnetometerBiasX
+51,50,65080,-1.78125,MagnetometerBiasY
+52,51,2661,10.39453,MagnetometerBiasZ
+53,52,90,0.04394531,MagnetometerHardIronBiasX
+54,53,282,0.1376953,MagnetometerHardIronBiasY
+55,54,65386,-0.07324219,MagnetometerHardIronBiasZ
+56,55,2,NaN,AlgorithmMode
+57,56,1024,0.5,AlgorithmKp
+58,57,0,0,AlgorithmKi
+59,58,20480,10,AlgorithmInitKp
+60,59,6144,3,AlgorithmInitPeriod
+61,60,409,0.199707,AlgorithmMinValidMag
+62,61,1433,0.699707,AlgorithmMaxValidMag
+63,62,32767,0.9999695,AlgorithmTareQuat0
+64,63,0,0,AlgorithmTareQuat1
+65,64,0,0,AlgorithmTareQuat2
+66,65,0,0,AlgorithmTareQuat3
+67,66,1,NaN,SensorDataMode
+68,67,1,NaN,DateTimeDataRate
+69,68,3,NaN,BatteryAndThermometerDataRate
+70,69,9,NaN,InertialAndMagneticDataRate
+71,70,8,NaN,QuaternionDataRate
+72,71,2,NaN,SDcardNewFileName
+73,72,14336,3.5,BatteryShutdownVoltage
+74,73,0,NaN,SleepTimer
+75,74,0,NaN,MotionTrigWakeUp
+76,75,1,NaN,BluetoothPower
+77,76,0,NaN,AuxiliaryPortMode
+78,77,4,NaN,DigitalIOdirection
+79,78,0,NaN,DigitalIOdataRate
+80,79,1,NaN,AnalogueInputDataMode
+81,80,9,NaN,AnalogueInputDataRate
+82,81,19859,1241.188,AnalogueInputSensitivity
+83,82,0,0,AnalogueInputBias
+84,83,20,NaN,PWMoutputFrequency
+85,84,1,NaN,ADXL345busDataMode
+86,85,9,NaN,ADXL345busDataRate
+87,86,16384,256,ADXL345AsensitivityX
+88,87,16384,256,ADXL345AsensitivityY
+89,88,16384,256,ADXL345AsensitivityZ
+90,89,0,0,ADXL345AbiasX
+91,90,0,0,ADXL345AbiasY
+92,91,0,0,ADXL345AbiasZ
+93,92,16384,256,ADXL345BsensitivityX
+94,93,16384,256,ADXL345BsensitivityY
+95,94,16384,256,ADXL345BsensitivityZ
+96,95,0,0,ADXL345BbiasX
+97,96,0,0,ADXL345BbiasY
+98,97,0,0,ADXL345BbiasZ
+99,98,16384,256,ADXL345CsensitivityX
+100,99,16384,256,ADXL345CsensitivityY
+101,100,16384,256,ADXL345CsensitivityZ
+102,101,0,0,ADXL345CbiasX
+103,102,0,0,ADXL345CbiasY
+104,103,0,0,ADXL345CbiasZ
+105,104,16384,256,ADXL345DsensitivityX
+106,105,16384,256,ADXL345DsensitivityY
+107,106,16384,256,ADXL345DsensitivityZ
+108,107,0,0,ADXL345DbiasX
+109,108,0,0,ADXL345DbiasY
+110,109,0,0,ADXL345DbiasZ
diff --git a/ExampleData/00000_RotationMatrix.csv b/ExampleData/00000_RotationMatrix.csv
new file mode 100644
index 0000000..94ee3f5
--- /dev/null
+++ b/ExampleData/00000_RotationMatrix.csv
@@ -0,0 +1,3481 @@
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+10641,0.9880941,-0.1504279,0.03227503,0.1478209,0.9863971,0.07190214,-0.04265208,-0.06627515,0.9968895
+10644,0.988106,-0.1500025,0.03384567,0.1472712,0.9864445,0.07237574,-0.04424343,-0.06653041,0.9968029
+10647,0.9880993,-0.1497078,0.03531502,0.1468353,0.9864387,0.0733334,-0.04581469,-0.0672752,0.9966819
+10650,0.9881039,-0.1492943,0.03690528,0.1462667,0.9864468,0.07435567,-0.04750597,-0.06807311,0.9965487
+10653,0.9881144,-0.1489336,0.03806449,0.1457762,0.9864394,0.07541007,-0.0487794,-0.06896487,0.9964259
+10656,0.9880945,-0.1489109,0.03866631,0.1456644,0.9863824,0.07636726,-0.04951167,-0.06982575,0.9963299
+10659,0.9880611,-0.1491752,0.03850017,0.1458766,0.9862514,0.07764266,-0.0495532,-0.07109942,0.9962377
+10662,0.9880541,-0.1495358,0.03725984,0.1462428,0.9860626,0.07933215,-0.04860353,-0.07293546,0.9961517
+10665,0.9880841,-0.1496876,0.03582316,0.1464463,0.9859418,0.08044991,-0.0473619,-0.07424511,0.9961147
+10668,0.9881567,-0.1499355,0.0326435,0.1469382,0.985882,0.08028466,-0.04422017,-0.07453725,0.9962372
+10671,0.9882195,-0.1501685,0.02952291,0.1474438,0.9858841,0.07932724,-0.04101862,-0.07403976,0.9964113
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+10677,0.9881775,-0.1513999,0.02414641,0.1491299,0.9857578,0.07772684,-0.03557035,-0.07320698,0.9966821
+10680,0.988128,-0.1520917,0.02170675,0.1500151,0.9856613,0.07724857,-0.03314437,-0.07307513,0.9967756
+10683,0.9880435,-0.1529226,0.01961835,0.1510071,0.9855356,0.07692014,-0.0310974,-0.07303794,0.9968443
+10686,0.9879109,-0.1540046,0.01773539,0.1522226,0.9853443,0.07697337,-0.02932972,-0.07334311,0.9968754
diff --git a/ExampleData_BasicUsage/00000_CalBattTherm.csv b/ExampleData_BasicUsage/00000_CalBattTherm.csv
deleted file mode 100644
index 02f2181..0000000
--- a/ExampleData_BasicUsage/00000_CalBattTherm.csv
+++ /dev/null
@@ -1,110 +0,0 @@
-Packet Number,Battery voltage (V),Thermometer (˚C)
-112,4.130371,32.59766
-273,4.131836,33.05469
-434,4.135254,32.88281
-595,4.133545,33.11328
-757,4.135254,33.28516
-918,4.131836,33.33984
-1079,4.131836,33.11328
-1240,4.131836,33.22656
-1402,4.131836,33.33984
-1563,4.131836,33.22656
-1724,4.131836,33.45703
-1885,4.125488,33.625
-2047,4.131836,33.625
-2208,4.131836,33.625
-2369,4.133545,33.96875
-2530,4.133545,33.625
-2692,4.133545,33.68359
-2853,4.131836,33.68359
-3014,4.131836,33.91406
-3175,4.131836,33.85547
-3337,4.131836,33.96875
-3498,4.128662,33.74219
-3659,4.127197,33.79688
-3820,4.128662,33.91406
-3982,4.135254,33.91406
-4143,4.133545,33.96875
-4304,4.133545,34.02734
-4465,4.133545,33.96875
-4627,4.131836,33.79688
-4788,4.131836,33.91406
-4949,4.133545,33.96875
-5110,4.130371,34.02734
-5272,4.123779,33.96875
-5433,4.130371,33.96875
-5594,4.131836,33.96875
-5755,4.131836,33.79688
-5917,4.133545,33.91406
-6078,4.135254,33.85547
-6239,4.133545,34.08203
-6400,4.131836,33.96875
-6562,4.131836,34.08203
-6723,4.133545,34.19922
-6884,4.128662,34.19922
-7045,4.131836,33.96875
-7207,4.130371,33.96875
-7368,4.131836,33.96875
-7529,4.131836,34.02734
-7690,4.131836,34.02734
-7852,4.133545,33.96875
-8013,4.133545,34.19922
-8174,4.133545,34.08203
-8335,4.130371,34.08203
-8497,4.128662,34.08203
-8658,4.130371,34.25391
-8819,4.131836,34.02734
-8980,4.130371,34.02734
-9142,4.130371,34.14063
-9303,4.133545,34.14063
-9464,4.131836,33.91406
-9625,4.133545,34.25391
-9787,4.133545,34.37109
-9948,4.133545,34.25391
-10109,4.130371,34.14063
-10270,4.128662,34.37109
-10432,4.128662,34.08203
-10593,4.131836,34.42578
-10754,4.130371,34.08203
-10915,4.130371,34.3125
-11077,4.130371,34.25391
-11238,4.130371,34.42578
-11399,4.130371,34.14063
-11560,4.133545,34.25391
-11722,4.130371,34.19922
-11883,4.130371,33.91406
-12044,4.130371,34.14063
-12205,4.131836,34.3125
-12367,4.130371,34.02734
-12528,4.130371,34.42578
-12689,4.131836,34.14063
-12850,4.130371,34.14063
-13012,4.130371,34.48438
-13173,4.130371,33.91406
-13334,4.128662,34.14063
-13495,4.128662,34.53906
-13657,4.131836,34.42578
-13818,4.135254,34.53906
-13979,4.131836,34.42578
-14140,4.130371,34.25391
-14302,4.130371,34.42578
-14463,4.130371,34.25391
-14624,4.130371,34.42578
-14785,4.130371,34.37109
-14947,4.128662,34.3125
-15108,4.123779,34.42578
-15269,4.128662,34.25391
-15430,4.133545,34.42578
-15592,4.131836,34.19922
-15753,4.131836,34.3125
-15914,4.131836,34.25391
-16075,4.130371,34.37109
-16237,4.130371,34.25391
-16398,4.130371,34.37109
-16559,4.130371,34.37109
-16720,4.128662,34.14063
-16882,4.128662,34.37109
-17043,4.133545,34.48438
-17204,4.130371,34.42578
-17365,4.131836,34.53906
-17527,4.131836,34.37109
diff --git a/ExampleData_BasicUsage/00000_CalInertialMagnetic.csv b/ExampleData_BasicUsage/00000_CalInertialMagnetic.csv
deleted file mode 100644
index eabc807..0000000
--- a/ExampleData_BasicUsage/00000_CalInertialMagnetic.csv
+++ /dev/null
@@ -1,6960 +0,0 @@
-Packet Number,Gyroscope X (deg/s),Gyroscope Y (deg/s),Gyroscope Z (deg/s),Accelerometer X (g),Accelerometer Y (g),Accelerometer Z (g),Magnetometer X (G),Magnetometer Y (G),Magnetometer Z (G)
-113,-0.9375,-1.25,0.875,0.01904297,-0.05224609,0.9780273,0.2099609,0.03125,-0.4487305
-117,-0.9375,-1.25,0.875,0.01904297,-0.05224609,0.9780273,0.2099609,0.03125,-0.4487305
-118,-0.9375,-1.875,0.25,0.01904297,-0.06787109,0.9975586,0.2099609,0.03125,-0.4487305
-122,-1.3125,-2,0.125,0.02685547,-0.03271484,0.9897461,0.2148438,0.04101563,-0.4536133
-123,-1.75,-2.125,0,0.003417969,-0.03271484,0.9936523,0.2148438,0.04101563,-0.4536133
-127,-1.5625,-2.3125,-0.1875,0,-0.009277344,1.020508,0.2148438,0.04101563,-0.4536133
-128,-1.25,-2.1875,-0.0625,-0.00390625,-0.02880859,1.020508,0.2148438,0.04101563,-0.4536133
-132,-1,-1.9375,-0.0625,0.01123047,-0.03271484,1.001465,0.2148438,0.04101563,-0.4536133
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-137,-0.625,-1.3125,0,0.01513672,-0.03271484,1.001465,0.2148438,0.04101563,-0.4536133
-138,-0.875,-1.0625,0.375,0.007324219,-0.03271484,0.9819336,0.2124023,0.03857422,-0.4384766
-142,-0.8125,-0.625,0.4375,0.003417969,-0.02490234,1.005371,0.2124023,0.03857422,-0.4384766
-143,-1.1875,-0.625,0.625,-0.00390625,-0.05615234,1.012695,0.2124023,0.03857422,-0.4384766
-147,-1.4375,-0.6875,0.625,0.02294922,-0.04052734,1.009277,0.2050781,0.03125,-0.4384766
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-157,-2.6875,-1.1875,0.625,0.01904297,-0.04443359,1.005371,0.2099609,0.03857422,-0.4414063
-158,-2.875,-1.3125,0.625,0.02294922,-0.06005859,1.009277,0.2099609,0.03857422,-0.4414063
-162,-3.125,-1.375,0.875,0.007324219,-0.03271484,1.001465,0.2099609,0.03857422,-0.4414063
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-167,-2.75,-2.375,0.5625,0.03515625,-0.06005859,0.9741211,0.2021484,0.02587891,-0.4438477
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-177,-2.0625,-2.5,1.1875,0.02294922,-0.05224609,1.005371,0.2021484,0.02587891,-0.4438477
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-192,-1.625,-0.5625,0.0625,0.01904297,-0.04052734,1.001465,0.2124023,0.03125,-0.4360352
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-202,-1.6875,0.3125,-0.3125,0.003417969,-0.04833984,1.001465,0.2021484,0.02099609,-0.4438477
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-309,-1.3125,0.75,0.125,0.007324219,-0.05224609,1.020508,0.2124023,0.03125,-0.4438477
-313,-0.75,0.25,0.3125,0.01123047,-0.04833984,0.9975586,0.2124023,0.03125,-0.4438477
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-318,-0.4375,-0.3125,0.75,-0.00390625,-0.06787109,0.9897461,0.2148438,0.03857422,-0.4462891
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-328,-0.8125,0.0625,1.625,0.03076172,-0.05224609,1.005371,0.1923828,0.03369141,-0.4414063
-329,-1.0625,0,1.375,0,-0.02880859,0.9897461,0.1923828,0.03369141,-0.4414063
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diff --git a/ExampleData_BasicUsage/00000_Commands.csv b/ExampleData_BasicUsage/00000_Commands.csv
deleted file mode 100644
index d24fba5..0000000
--- a/ExampleData_BasicUsage/00000_Commands.csv
+++ /dev/null
@@ -1,2 +0,0 @@
-Packet Number,Command Code,Command Message
-17647,3,Sleep.
diff --git a/ExampleData_BasicUsage/00000_DateTime.csv b/ExampleData_BasicUsage/00000_DateTime.csv
deleted file mode 100644
index 580b275..0000000
--- a/ExampleData_BasicUsage/00000_DateTime.csv
+++ /dev/null
@@ -1,30 +0,0 @@
-Packet Number,Date/Time
-0,01 January 2000 00:06:55
-111,01 January 2000 00:06:55
-756,01 January 2000 00:06:56
-1401,01 January 2000 00:06:57
-2046,01 January 2000 00:06:58
-2691,01 January 2000 00:06:59
-3336,01 January 2000 00:07:00
-3981,01 January 2000 00:07:01
-4626,01 January 2000 00:07:02
-5271,01 January 2000 00:07:03
-5916,01 January 2000 00:07:04
-6561,01 January 2000 00:07:05
-7206,01 January 2000 00:07:06
-7851,01 January 2000 00:07:07
-8496,01 January 2000 00:07:08
-9141,01 January 2000 00:07:09
-9786,01 January 2000 00:07:10
-10431,01 January 2000 00:07:11
-11076,01 January 2000 00:07:12
-11721,01 January 2000 00:07:13
-12366,01 January 2000 00:07:14
-13011,01 January 2000 00:07:15
-13656,01 January 2000 00:07:16
-14301,01 January 2000 00:07:17
-14946,01 January 2000 00:07:18
-15591,01 January 2000 00:07:19
-16236,01 January 2000 00:07:20
-16881,01 January 2000 00:07:21
-17526,01 January 2000 00:07:22
diff --git a/ExampleData_BasicUsage/00000_EulerAngles.csv b/ExampleData_BasicUsage/00000_EulerAngles.csv
deleted file mode 100644
index 9cfe8b2..0000000
--- a/ExampleData_BasicUsage/00000_EulerAngles.csv
+++ /dev/null
@@ -1,3481 +0,0 @@
-Packet Number,Roll | Phi | X (degrees), Pitch | Theta | Y (degrees), Yaw | Psi | Z (degrees)
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diff --git a/ExampleData_BasicUsage/00000_Quaternion.csv b/ExampleData_BasicUsage/00000_Quaternion.csv
deleted file mode 100644
index 3faf790..0000000
--- a/ExampleData_BasicUsage/00000_Quaternion.csv
+++ /dev/null
@@ -1,3481 +0,0 @@
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diff --git a/ExampleData_BasicUsage/00000_Registers.csv b/ExampleData_BasicUsage/00000_Registers.csv
deleted file mode 100644
index 09ed5bb..0000000
--- a/ExampleData_BasicUsage/00000_Registers.csv
+++ /dev/null
@@ -1,111 +0,0 @@
-Packet Number,Address,Value,Float Value,Name
-1,0,7,7,FirmVersionMajorNum
-2,1,0,0,FirmVersionMinorNum
-3,2,17134,17134,DeviceID
-4,3,2,2,ButtonMode
-5,4,19872,621,BattSensitivity
-6,5,0,0,BattBias
-7,6,17920,280,ThermSensitivity
-8,7,42536,-23000,ThermBias
-9,8,3,3,GyroFullScale
-10,9,2083,16.27344,GyroSensitivityX
-11,10,2088,16.3125,GyroSensitivityY
-12,11,2077,16.22656,GyroSensitivityZ
-13,12,3269,3269,GyroSampledPlus200dpsX
-14,13,3255,3255,GyroSampledPlus200dpsY
-15,14,3246,3246,GyroSampledPlus200dpsZ
-16,15,62293,-3243,GyroSampledMinus200dpsX
-17,16,62265,-3271,GyroSampledMinus200dpsY
-18,17,62290,-3246,GyroSampledMinus200dpsZ
-19,18,146,2.28125,GyroBiasX
-20,19,16,0.25,GyroBiasY
-21,20,65398,-2.15625,GyroBiasZ
-22,21,64087,-0.1768799,GyroBiasTempSensX
-23,22,62943,-0.3165283,GyroBiasTempSensY
-24,23,4628,0.5649414,GyroBiasTempSensZ
-25,24,3642,14.22656,GyroSample1Temp
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diff --git a/ExampleData_BasicUsage/00000_RotationMatrix.csv b/ExampleData_BasicUsage/00000_RotationMatrix.csv
deleted file mode 100644
index 2474bd8..0000000
--- a/ExampleData_BasicUsage/00000_RotationMatrix.csv
+++ /dev/null
@@ -1,3481 +0,0 @@
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diff --git a/ExampleData_DataSyncronisation/00000.BIN b/ExampleData_DataSyncronisation/00000.BIN
deleted file mode 100644
index fcd976f..0000000
Binary files a/ExampleData_DataSyncronisation/00000.BIN and /dev/null differ
diff --git a/ExampleData_DataSyncronisation/00000_CalInertialMagnetic.csv b/ExampleData_DataSyncronisation/00000_CalInertialMagnetic.csv
deleted file mode 100644
index 2192029..0000000
--- a/ExampleData_DataSyncronisation/00000_CalInertialMagnetic.csv
+++ /dev/null
@@ -1,8812 +0,0 @@
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diff --git a/ExampleData_DataSyncronisation/00000_Registers.csv b/ExampleData_DataSyncronisation/00000_Registers.csv
deleted file mode 100644
index 7513612..0000000
--- a/ExampleData_DataSyncronisation/00000_Registers.csv
+++ /dev/null
@@ -1,111 +0,0 @@
-Packet Number,Address,Value,Float Value,Name
-1,0,7,7,FirmVersionMajorNum
-2,1,0,0,FirmVersionMinorNum
-3,2,17135,17135,DeviceID
-4,3,2,2,ButtonMode
-5,4,19872,621,BattSensitivity
-6,5,0,0,BattBias
-7,6,17920,280,ThermSensitivity
-8,7,42536,-23000,ThermBias
-9,8,3,3,GyroFullScale
-10,9,2072,16.1875,GyroSensitivityX
-11,10,2088,16.3125,GyroSensitivityY
-12,11,2085,16.28906,GyroSensitivityZ
-13,12,3282,3282,GyroSampledPlus200dpsX
-14,13,3343,3343,GyroSampledPlus200dpsY
-15,14,3207,3207,GyroSampledPlus200dpsZ
-16,15,62343,-3193,GyroSampledMinus200dpsX
-17,16,62351,-3185,GyroSampledMinus200dpsY
-18,17,62227,-3309,GyroSampledMinus200dpsZ
-19,18,402,50.25,GyroBiasAt25degCX
-20,19,868,108.5,GyroBiasAt25degCY
-21,20,64982,-69.25,GyroBiasAt25degCZ
-22,21,64016,-0.7421875,GyroBiasTempSensX
-23,22,56806,-4.262695,GyroBiasTempSensY
-24,23,5217,2.547363,GyroBiasTempSensZ
-25,24,2633,10.28516,GyroSample1Temp
-26,25,490,61.25,GyroSample1BiasX
-27,26,1370,171.25,GyroSample1BiasY
-28,27,64682,-106.75,GyroSample1BiasZ
-29,28,8323,32.51172,GyroSample2Temp
-30,29,358,44.75,GyroSample2BiasX
-31,30,612,76.5,GyroSample2BiasY
-32,31,65135,-50.125,GyroSample2BiasZ
-33,32,2,2,AccelFullScale
-34,33,4068,254.25,AccelSensitivityX
-35,34,4048,253,AccelSensitivityY
-36,35,4049,253.0625,AccelSensitivityZ
-37,36,936,3.65625,AccelBiasX
-38,37,63416,-8.28125,AccelBiasY
-39,38,63872,-6.5,AccelBiasZ
-40,39,4127,257.9375,AccelSampledPlus1gX
-41,40,3916,244.75,AccelSampledPlus1gY
-42,41,3945,246.5625,AccelSampledPlus1gZ
-43,42,61526,-250.625,AccelSampledMinus1gX
-44,43,61355,-261.3125,AccelSampledMinus1gY
-45,44,61383,-259.5625,AccelSampledMinus1gZ
-46,45,3,3,MagFullScale
-47,46,6114,382.125,MagSensitivityX
-48,47,6243,390.1875,MagSensitivityY
-49,48,6180,386.25,MagSensitivityZ
-50,49,1431,5.589844,MagBiasX
-51,50,64358,-4.601563,MagBiasY
-52,51,1891,7.386719,MagBiasZ
-53,52,29,0.01416016,MagHardIronBiasX
-54,53,381,0.1860352,MagHardIronBiasY
-55,54,65335,-0.09814453,MagHardIronBiasZ
-56,55,2,2,AlgorithmMode
-57,56,1024,0.5,AlgorithmKp
-58,57,0,0,AlgorithmKi
-59,58,20480,10,AlgorithmInitKp
-60,59,6144,3,AlgorithmInitPeriod
-61,60,409,0.199707,AlgorithmMinValidMag
-62,61,1433,0.699707,AlgorithmMaxValidMag
-63,62,32767,0.9999695,AlgorithmTareQuat0
-64,63,0,0,AlgorithmTareQuat1
-65,64,0,0,AlgorithmTareQuat2
-66,65,0,0,AlgorithmTareQuat3
-67,66,1,1,SensorDataMode
-68,67,1,1,DateTimeOutputRate
-69,68,3,3,BattThermOutputRate
-70,69,9,9,InertialMagOutputRate
-71,70,8,8,QuatOutputRate
-72,71,4,4,SDcardNewFileName
-73,72,14336,3.5,BattShutdownVoltage
-74,73,0,0,SleepTimer
-75,74,0,0,MotionTrigWakeUp
-76,75,1,1,BluetoothPower
-77,76,0,0,AuxiliaryPortMode
-78,77,4,4,DigitalIOdirection
-79,78,0,0,DigitalIOoutputRate
-80,79,1,1,AnalogueInputDataMode
-81,80,9,9,AnalogueInputDataRate
-82,81,19859,1241.188,AnalogueInputSensitivity
-83,82,0,0,AnalogueInputBias
-84,83,20,20,PWMoutputFrequency
-85,84,1,1,ADXL345busDataMode
-86,85,9,9,ADXL345busDataRate
-87,86,16384,256,ADXL345AsensitivityX
-88,87,16384,256,ADXL345AsensitivityY
-89,88,16384,256,ADXL345AsensitivityZ
-90,89,0,0,ADXL345AbiasX
-91,90,0,0,ADXL345AbiasY
-92,91,0,0,ADXL345AbiasZ
-93,92,16384,256,ADXL345BsensitivityX
-94,93,16384,256,ADXL345BsensitivityY
-95,94,16384,256,ADXL345BsensitivityZ
-96,95,0,0,ADXL345BbiasX
-97,96,0,0,ADXL345BbiasY
-98,97,0,0,ADXL345BbiasZ
-99,98,16384,256,ADXL345CsensitivityX
-100,99,16384,256,ADXL345CsensitivityY
-101,100,16384,256,ADXL345CsensitivityZ
-102,101,0,0,ADXL345CbiasX
-103,102,0,0,ADXL345CbiasY
-104,103,0,0,ADXL345CbiasZ
-105,104,16384,256,ADXL345DsensitivityX
-106,105,16384,256,ADXL345DsensitivityY
-107,106,16384,256,ADXL345DsensitivityZ
-108,107,0,0,ADXL345DbiasX
-109,108,0,0,ADXL345DbiasY
-110,109,0,0,ADXL345DbiasZ
diff --git a/ExampleData_DataSyncronisation/10000.BIN b/ExampleData_DataSyncronisation/10000.BIN
deleted file mode 100644
index 9a27f4b..0000000
Binary files a/ExampleData_DataSyncronisation/10000.BIN and /dev/null differ
diff --git a/ExampleData_DataSyncronisation/10000_CalInertialMagnetic.csv b/ExampleData_DataSyncronisation/10000_CalInertialMagnetic.csv
deleted file mode 100644
index a62db68..0000000
--- a/ExampleData_DataSyncronisation/10000_CalInertialMagnetic.csv
+++ /dev/null
@@ -1,6809 +0,0 @@
-Packet Number,Gyroscope X (deg/s),Gyroscope Y (deg/s),Gyroscope Z (deg/s),Accelerometer X (g),Accelerometer Y (g),Accelerometer Z (g),Magnetometer X (G),Magnetometer Y (G),Magnetometer Z (G)
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diff --git a/ExampleData_DataSyncronisation/10000_Registers.csv b/ExampleData_DataSyncronisation/10000_Registers.csv
deleted file mode 100644
index 9b5ce0c..0000000
--- a/ExampleData_DataSyncronisation/10000_Registers.csv
+++ /dev/null
@@ -1,111 +0,0 @@
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-2,1,0,0,FirmVersionMinorNum
-3,2,17134,17134,DeviceID
-4,3,2,2,ButtonMode
-5,4,19872,621,BattSensitivity
-6,5,0,0,BattBias
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-9,8,3,3,GyroFullScale
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-20,19,16,2,GyroBiasAt25degCY
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-25,24,3642,14.22656,GyroSample1Temp
-26,25,208,26,GyroSample1BiasX
-27,26,126,15.75,GyroSample1BiasY
-28,27,65203,-41.625,GyroSample1BiasZ
-29,28,8569,33.47266,GyroSample2Temp
-30,29,99,12.375,GyroSample2BiasX
-31,30,65467,-8.625,GyroSample2BiasY
-32,31,15,1.875,GyroSample2BiasZ
-33,32,2,2,AccelFullScale
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-55,54,65386,-0.07324219,MagHardIronBiasZ
-56,55,2,2,AlgorithmMode
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-58,57,0,0,AlgorithmKi
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-65,64,0,0,AlgorithmTareQuat2
-66,65,0,0,AlgorithmTareQuat3
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-95,94,16384,256,ADXL345BsensitivityZ
-96,95,0,0,ADXL345BbiasX
-97,96,0,0,ADXL345BbiasY
-98,97,0,0,ADXL345BbiasZ
-99,98,16384,256,ADXL345CsensitivityX
-100,99,16384,256,ADXL345CsensitivityY
-101,100,16384,256,ADXL345CsensitivityZ
-102,101,0,0,ADXL345CbiasX
-103,102,0,0,ADXL345CbiasY
-104,103,0,0,ADXL345CbiasZ
-105,104,16384,256,ADXL345DsensitivityX
-106,105,16384,256,ADXL345DsensitivityY
-107,106,16384,256,ADXL345DsensitivityZ
-108,107,0,0,ADXL345DbiasX
-109,108,0,0,ADXL345DbiasY
-110,109,0,0,ADXL345DbiasZ
diff --git a/Example_BasicUsage.m b/ExampleScript.m
similarity index 55%
rename from Example_BasicUsage.m
rename to ExampleScript.m
index 52aa726..6e4184c 100644
--- a/Example_BasicUsage.m
+++ b/ExampleScript.m
@@ -1,4 +1,4 @@
-%% Example_BasicUsage.m
+%% ExampleScript.m
  
 addpath('ximu_matlab_library');     % include library
 close all;                          % close all figures
@@ -6,40 +6,40 @@
 clc;                                % clear the command terminal
  
 %% Import and plot data
- 
-xIMUdata = xIMUdataClass('ExampleData_BasicUsage\00000');
+
+xIMUdata = xIMUdataClass('ExampleData\00000');
 xIMUdata.Plot();
  
 %% View properties of the objects by typing their name
  
 xIMUdata
-xIMUdata.CalInertialMagneticData
+xIMUdata.CalInertialAndMagneticData
  
 %% Example use of data
  
 disp(strcat('Data was collected on: ''', xIMUdata.DateTimeData.String{1}, ''''));
-disp(sprintf('Total time of data: %f seconds', xIMUdata.CalInertialMagneticData.NumPackets * xIMUdata.CalInertialMagneticData.SamplePeriod));
+disp(sprintf('Total time of data: %f seconds', xIMUdata.CalInertialAndMagneticData.NumPackets * xIMUdata.CalInertialAndMagneticData.SamplePeriod));
 disp(strcat('Final command was: ''', xIMUdata.CommandData.Message{end}, ''''));
  
 %% Example calculation using data: Strength of Earth's magnetic field
  
-mx = xIMUdata.CalInertialMagneticData.Magnetometer.X;
-my = xIMUdata.CalInertialMagneticData.Magnetometer.Y;
-mz = xIMUdata.CalInertialMagneticData.Magnetometer.Z;
+mx = xIMUdata.CalInertialAndMagneticData.Magnetometer.X;
+my = xIMUdata.CalInertialAndMagneticData.Magnetometer.Y;
+mz = xIMUdata.CalInertialAndMagneticData.Magnetometer.Z;
 disp(sprintf('Earth''s magnetic field strength: %f G', mean(sqrt(mx.^2 + my.^2 + mz.^2))));
  
 %% Example calculation using data: Remove gravity from accelerometer data
  
-indxSel = mod(1:length(xIMUdata.CalInertialMagneticData.Time), 2);              % other index selected; e.g. [1 0 1 0 1 0 1 0 1 ...]
-accMtr = [xIMUdata.CalInertialMagneticData.Accelerometer.X(indxSel == 1), ...
-          xIMUdata.CalInertialMagneticData.Accelerometer.Y(indxSel == 1), ...
-          xIMUdata.CalInertialMagneticData.Accelerometer.Z(indxSel == 1)];      % accelerometer data reduced from 256 Hz to 128 Hz (equal to rotation matrix data)
+indxSel = mod(1:length(xIMUdata.CalInertialAndMagneticData.Time), 2);               % other index selected; e.g. [1 0 1 0 1 0 1 0 1 ...]
+accMtr = [xIMUdata.CalInertialAndMagneticData.Accelerometer.X(indxSel == 1), ...
+          xIMUdata.CalInertialAndMagneticData.Accelerometer.Y(indxSel == 1), ...
+          xIMUdata.CalInertialAndMagneticData.Accelerometer.Z(indxSel == 1)];       % accelerometer data reduced from 256 Hz to 128 Hz (equal to rotation matrix data)
 linAcc = zeros(length(accMtr), 3);
 for i = 1:length(accMtr)
-    transRot = xIMUdata.RotationMatrixData.RotationMatrix(:,:,i)';              % transpose of matrix describes Earth relative to sensor frame
-    linAcc(i,:) = accMtr(i,:) - transRot(:,3)';                                 % 3rd column of rotation matrix describes Earth z-axis (gravity) in sensor frame
+    transRot = xIMUdata.RotationMatrixData.RotationMatrix(:,:,i)';                  % transpose of matrix describes Earth relative to sensor frame
+    linAcc(i,:) = accMtr(i,:) - transRot(:,3)';                                     % 3rd column of rotation matrix describes Earth z-axis (gravity) in sensor frame
 end
-figure('Name', 'Linear acceleration');
+figure('Name', 'Linear Acceleration');
 hold on;
 plot(xIMUdata.RotationMatrixData.Time, linAcc(:,1), 'r');
 plot(xIMUdata.RotationMatrixData.Time, linAcc(:,2), 'g');
diff --git a/Example_DataSyncronisation.m b/Example_DataSyncronisation.m
deleted file mode 100644
index ab8c146..0000000
--- a/Example_DataSyncronisation.m
+++ /dev/null
@@ -1,65 +0,0 @@
-%% Example_DataSyncronisation.m
- 
-addpath('ximu_matlab_library'); % include library
-close all;                      % close all figures
-clear;                          % clear all variables
-clc;                            % clear the command terminal
- 
-%% Synopsis
- 
-% Synchronisation requires that an event effecting all x-IMUs can be
-% observed in the data of each x-IMU.  ExampleData_DataSyncronisation
-% contains data logged from 2 x-IMUs sitting on a desk.  The desk was
-% tapped 5 times at the start of the dataset and 5 times again at the end
-% of the dataset.
-%
-% The SyncroniseData function is used to synchronise the data from the
-% separate x-IMUs by specifying the time of the first tap observed within
-% each x-IMU's data (as StartEvent).
-%
-% Minor drift between the clocks of each x-IMU may mean that data initially
-% synchronised becomes out of sync after an extended period of time.  This
-% can be corrected by specifying the time of the last tap observed within
-% each x-IMU's data (as EndEvent).
- 
-%% Import data from directory
- 
-xIMUdataStruct = ImportDirectory('ExampleData_DataSyncronisation')
- 
-%% Manually synchronise data
-
-% Inspect unsynchronised plots for values of startTimes and endTimes
-xIMUdataStruct.ID_42EE.CalInertialMagneticData.Plot();
-xIMUdataStruct.ID_42EF.CalInertialMagneticData.Plot();
-
-% Specify event times and synchronise data
-startTimes = [3.227 8.949];                 % observed times first tap prior to synchronisation
-endTimes = [24.08 29.8];                   % observed times last tap prior to synchronisation (not necessary here)
-xIMUdataStruct = SyncroniseData(xIMUdataStruct, 'StartEvent', startTimes, 'EndEvent', endTimes);
- 
-%% Plot synchronised data
-
-figure('Name', 'Synchronised Accelerometer Data');
-ax(1) = subplot(2,1,1);
-hold on;
-plot(xIMUdataStruct.ID_42EE.CalInertialMagneticData.Time, xIMUdataStruct.ID_42EE.CalInertialMagneticData.Accelerometer.X, 'r');
-plot(xIMUdataStruct.ID_42EE.CalInertialMagneticData.Time, xIMUdataStruct.ID_42EE.CalInertialMagneticData.Accelerometer.Y, 'g');
-plot(xIMUdataStruct.ID_42EE.CalInertialMagneticData.Time, xIMUdataStruct.ID_42EE.CalInertialMagneticData.Accelerometer.Z, 'b');
-legend('X', 'Y', 'Z');
-xlabel('TIme (s)');
-ylabel(strcat('Acceleration (g)'));
-title('x-IMU 42EE - Accelerometer');
-hold off;
-ax(2) = subplot(2,1,2);
-hold on;
-plot(xIMUdataStruct.ID_42EF.CalInertialMagneticData.Time, xIMUdataStruct.ID_42EF.CalInertialMagneticData.Accelerometer.X, 'r');
-plot(xIMUdataStruct.ID_42EF.CalInertialMagneticData.Time, xIMUdataStruct.ID_42EF.CalInertialMagneticData.Accelerometer.Y, 'g');
-plot(xIMUdataStruct.ID_42EF.CalInertialMagneticData.Time, xIMUdataStruct.ID_42EF.CalInertialMagneticData.Accelerometer.Z, 'b');
-legend('X', 'Y', 'Z');
-xlabel('Time (s)');
-ylabel(strcat('Acceleration (g)'));
-title('x-IMU 42EF - Accelerometer');
-hold off;
-linkaxes(ax,'x');
- 
-%% End of script
\ No newline at end of file
diff --git a/ximu_matlab_library/BattThermDataBaseClass.m b/ximu_matlab_library/BatteryAndThermometerDataBaseClass.m
similarity index 92%
rename from ximu_matlab_library/BattThermDataBaseClass.m
rename to ximu_matlab_library/BatteryAndThermometerDataBaseClass.m
index 6caeed8..d1db53b 100644
--- a/ximu_matlab_library/BattThermDataBaseClass.m
+++ b/ximu_matlab_library/BatteryAndThermometerDataBaseClass.m
@@ -1,4 +1,4 @@
-classdef BattThermDataBaseClass < TimeSeriesDataBaseClass
+classdef BatteryAndThermometerDataBaseClass < TimeSeriesDataBaseClass
 
     %% Abstract public 'read-only' properties
     properties (Abstract, SetAccess = private)
@@ -30,11 +30,11 @@
             else
                 % Define text dependent on Raw or Cal
                 if(strcmp(RawOrCal, 'Raw'))
-                    figName = 'RawBattTherm';
+                    figName = 'RawBattAndTherm';
                     batteryUnits = 'lsb';
                     thermometerUnits = 'lsb';
                 elseif(strcmp(RawOrCal, 'Cal'))
-                    figName = 'CalBattTherm';
+                    figName = 'CalBattAndTherm';
                     batteryUnits = 'V';
                     thermometerUnits = '^\circC';
                 else
diff --git a/ximu_matlab_library/CalInertialMagneticDataClass.m b/ximu_matlab_library/CalBatteryAndThermometerDataClass.m
similarity index 72%
rename from ximu_matlab_library/CalInertialMagneticDataClass.m
rename to ximu_matlab_library/CalBatteryAndThermometerDataClass.m
index b9787cb..20b69e0 100644
--- a/ximu_matlab_library/CalInertialMagneticDataClass.m
+++ b/ximu_matlab_library/CalBatteryAndThermometerDataClass.m
@@ -1,13 +1,13 @@
-classdef CalInertialMagneticDataClass < InertialMagneticDataBaseClass
+classdef CalBatteryAndThermometerDataClass < BatteryAndThermometerDataBaseClass
 
     %% Public 'read-only' properties
     properties (SetAccess = private)
-        FileNameAppendage = '_CalInertialMagnetic.csv';
+        FileNameAppendage = '_CalBattAndTherm.csv';
     end
 
     %% Public methods
     methods (Access = public)
-        function obj = CalInertialMagneticDataClass(varargin)
+        function obj = CalBatteryAndThermometerDataClass(varargin)
             fileNamePrefix = varargin{1};
             for i = 2:2:nargin
                 if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
diff --git a/ximu_matlab_library/CalBattThermDataClass.m b/ximu_matlab_library/CalInertialAndMagneticDataClass.m
similarity index 72%
rename from ximu_matlab_library/CalBattThermDataClass.m
rename to ximu_matlab_library/CalInertialAndMagneticDataClass.m
index 0ccf893..0c14b2d 100644
--- a/ximu_matlab_library/CalBattThermDataClass.m
+++ b/ximu_matlab_library/CalInertialAndMagneticDataClass.m
@@ -1,13 +1,13 @@
-classdef CalBattThermDataClass < BattThermDataBaseClass
+classdef CalInertialAndMagneticDataClass < InertialAndMagneticDataBaseClass
 
     %% Public 'read-only' properties
     properties (SetAccess = private)
-        FileNameAppendage = '_CalBattTherm.csv';
+        FileNameAppendage = '_CalInertialAndMag.csv';
     end
 
     %% Public methods
     methods (Access = public)
-        function obj = CalBattThermDataClass(varargin)
+        function obj = CalInertialAndMagneticDataClass(varargin)
             fileNamePrefix = varargin{1};
             for i = 2:2:nargin
                 if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
diff --git a/ximu_matlab_library/DateTimeDataClass.m b/ximu_matlab_library/DateTimeDataClass.m
index 4dfd194..5057745 100644
--- a/ximu_matlab_library/DateTimeDataClass.m
+++ b/ximu_matlab_library/DateTimeDataClass.m
@@ -17,11 +17,8 @@
                 else error('Invalid argument.');
                 end
             end              
-            data = obj.ImportCSVmixed(fileNamePrefix, '%d %s');
-            obj.Vector = zeros(obj.NumPackets, 6);
-            for i = 1:obj.NumPackets
-                obj.Vector(i,:) = obj.ExtarctVector(char(data{2}(i)));
-            end
+            data = obj.ImportCSVnumeric(fileNamePrefix);
+            obj.Vector = data(:,2:7);
             obj.String = cellstr(datestr(obj.Vector));
             obj.Serial = datenum(obj.Vector);
             obj.SampleRate = obj.SampleRate;	% call set method to create time vector
@@ -30,31 +27,4 @@
             error('This method is unimplemented.');
         end        
     end
-
-    %% Private methods
-    methods (Access = protected)
-        function vector = ExtarctVector(obj, dateTime)
-            dateTimeSplit = regexpi(dateTime, ' ', 'split');
-            timeSplit = regexpi(dateTimeSplit{4}, ':', 'split');
-            vector(1) = str2double(dateTimeSplit{3});
-            switch(dateTimeSplit{2})
-                case('January'), vector(2) = 1;
-                case('February'), vector(2) = 2;
-                case('March'), vector(2) = 3;
-                case('April'), vector(2) = 4;
-                case('May'), vector(2) = 5;
-                case('June'), vector(2) = 6;
-                case('July'), vector(2) = 7;
-                case('August'), vector(2) = 8;
-                case('September'), vector(2) = 9;
-                case('October'), vector(2) = 10;
-                case('November'), vector(2) = 11;
-                case('December'), vector(2) = 12;
-            end
-            vector(3) = str2double(dateTimeSplit{1});
-            vector(4) = str2double(timeSplit{1});
-            vector(5) = str2double(timeSplit{2});
-            vector(6) = str2double(timeSplit{3});
-        end
-    end
 end
\ No newline at end of file
diff --git a/ximu_matlab_library/DigitalIODataClass.m b/ximu_matlab_library/DigitalIODataClass.m
index eae6f3e..0175394 100644
--- a/ximu_matlab_library/DigitalIODataClass.m
+++ b/ximu_matlab_library/DigitalIODataClass.m
@@ -1,21 +1,15 @@
-classdef DigitalIODataClass < TimeSeriesDataBaseClass
+classdef DigitalIOdataClass < TimeSeriesDataBaseClass
 
     %% Public 'read-only' properties
     properties (SetAccess = private)
         FileNameAppendage = '_DigitalIO.csv';
-        AX0 = struct('Direction', [], 'State', []);
-        AX1 = struct('Direction', [], 'State', []);
-        AX2 = struct('Direction', [], 'State', []);
-        AX3 = struct('Direction', [], 'State', []);
-        AX4 = struct('Direction', [], 'State', []);
-        AX5 = struct('Direction', [], 'State', []);
-        AX6 = struct('Direction', [], 'State', []);
-        AX7 = struct('Direction', [], 'State', []);
+        Direction = struct('AX0', [], 'AX1', [], 'AX2', [], 'AX3', [], 'AX4', [], 'AX5', [], 'AX6', [], 'AX7', []);
+        State = struct('AX0', [], 'AX1', [], 'AX2', [], 'AX3', [], 'AX4', [], 'AX5', [], 'AX6', [], 'AX7', []);
     end
 
     %% Public methods
     methods (Access = public)
-        function obj = DigitalIODataClass(varargin)
+        function obj = DigitalIOdataClass(varargin)
             fileNamePrefix = varargin{1};
             for i = 2:2:nargin
                 if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
@@ -23,22 +17,22 @@
                 end
             end
             data = obj.ImportCSVnumeric(fileNamePrefix);
-            obj.AX0.Direction = data(:,2);
-            obj.AX1.Direction  = data(:,3);
-            obj.AX2.Direction  = data(:,4);
-            obj.AX3.Direction  = data(:,5);
-            obj.AX4.Direction  = data(:,6);
-            obj.AX5.Direction  = data(:,7);
-            obj.AX6.Direction  = data(:,8);
-            obj.AX7.Direction  = data(:,9);
-            obj.AX0.State = data(:,10);
-            obj.AX1.State  = data(:,11);
-            obj.AX2.State  = data(:,12);
-            obj.AX3.State  = data(:,13);
-            obj.AX4.State  = data(:,14);
-            obj.AX5.State  = data(:,15);
-            obj.AX6.State  = data(:,16);
-            obj.AX7.State  = data(:,17);
+            obj.Direction.AX0 = data(:,2);
+            obj.Direction.AX1  = data(:,3);
+            obj.Direction.AX2  = data(:,4);
+            obj.Direction.AX3  = data(:,5);
+            obj.Direction.AX4  = data(:,6);
+            obj.Direction.AX5  = data(:,7);
+            obj.Direction.AX6  = data(:,8);
+            obj.Direction.AX7  = data(:,9);
+            obj.State.AX0 = data(:,10);
+            obj.State.AX1  = data(:,11);
+            obj.State.AX2  = data(:,12);
+            obj.State.AX3  = data(:,13);
+            obj.State.AX4  = data(:,14);
+            obj.State.AX5  = data(:,15);
+            obj.State.AX6  = data(:,16);
+            obj.State.AX7  = data(:,17);
             obj.SampleRate = obj.SampleRate;    % call set method to create time vector
         end
         function fig = Plot(obj)
@@ -57,14 +51,14 @@
                 % Plot data
                 fig =  figure('Name', 'DigitalIO');
                 hold on;
-                plot(time, obj.AX0.State, 'r');
-                plot(time, obj.AX1.State, 'g');
-                plot(time, obj.AX2.State, 'b');
-                plot(time, obj.AX3.State, 'k');
-                plot(time, obj.AX4.State, ':r');
-                plot(time, obj.AX5.State, ':g');
-                plot(time, obj.AX6.State, ':b');
-                plot(time, obj.AX7.State, ':k');
+                plot(time, obj.State.AX0, 'r');
+                plot(time, obj.State.AX1, 'g');
+                plot(time, obj.State.AX2, 'b');
+                plot(time, obj.State.AX3, 'k');
+                plot(time, obj.State.AX4, ':r');
+                plot(time, obj.State.AX5, ':g');
+                plot(time, obj.State.AX6, ':b');
+                plot(time, obj.State.AX7, ':k');
                 title('Digital I/O');
                 xlabel(xLabel);
                 ylabel('State (Binary)');
diff --git a/ximu_matlab_library/InertialMagneticDataBaseClass.m b/ximu_matlab_library/InertialAndMagneticDataBaseClass.m
similarity index 95%
rename from ximu_matlab_library/InertialMagneticDataBaseClass.m
rename to ximu_matlab_library/InertialAndMagneticDataBaseClass.m
index e86ab45..45c4f0b 100644
--- a/ximu_matlab_library/InertialMagneticDataBaseClass.m
+++ b/ximu_matlab_library/InertialAndMagneticDataBaseClass.m
@@ -1,4 +1,4 @@
-classdef InertialMagneticDataBaseClass < TimeSeriesDataBaseClass
+classdef InertialAndMagneticDataBaseClass < TimeSeriesDataBaseClass
 
     %% Abstract public 'read-only' properties
     properties (Abstract, SetAccess = private)
@@ -38,12 +38,12 @@
             else
                 % Define text dependent on Raw or Cal
                 if(strcmp(RawOrCal, 'Raw'))
-                    figName = 'RawInertialMagnetic';
+                    figName = 'RawInertialAndMag';
                     gyroscopeUnits = 'lsb';
                     accelerometerUnits = 'lsb';
                     magnetometerUnits = 'lsb';
                 elseif(strcmp(RawOrCal, 'Cal'))
-                    figName = 'CalInertialMagnetic';
+                    figName = 'CalInertialAndMag';
                     gyroscopeUnits = '^\circ/s';
                     accelerometerUnits = 'g';
                     magnetometerUnits = 'G';
diff --git a/ximu_matlab_library/RawInertialMagneticDataClass.m b/ximu_matlab_library/RawBatteryAndThermometerDataClass.m
similarity index 72%
rename from ximu_matlab_library/RawInertialMagneticDataClass.m
rename to ximu_matlab_library/RawBatteryAndThermometerDataClass.m
index b82e3b0..3763f3f 100644
--- a/ximu_matlab_library/RawInertialMagneticDataClass.m
+++ b/ximu_matlab_library/RawBatteryAndThermometerDataClass.m
@@ -1,13 +1,13 @@
-classdef RawInertialMagneticDataClass < InertialMagneticDataBaseClass
+classdef RawBatteryAndThermometerDataClass < BatteryAndThermometerDataBaseClass
 
     %% Public 'read-only' properties
     properties (SetAccess = private)
-        FileNameAppendage = '_RawInertialMagnetic.csv';
+        FileNameAppendage = '_RawBattAndTherm.csv';
     end
 
     %% Public methods
     methods (Access = public)
-        function obj = RawInertialMagneticDataClass(varargin)
+        function obj = RawBatteryAndThermometerDataClass(varargin)
             fileNamePrefix = varargin{1};
             for i = 2:2:nargin
                 if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
diff --git a/ximu_matlab_library/RawBattThermDataClass.m b/ximu_matlab_library/RawInertialAndMagneticDataClass.m
similarity index 72%
rename from ximu_matlab_library/RawBattThermDataClass.m
rename to ximu_matlab_library/RawInertialAndMagneticDataClass.m
index c34bc73..dc6bd70 100644
--- a/ximu_matlab_library/RawBattThermDataClass.m
+++ b/ximu_matlab_library/RawInertialAndMagneticDataClass.m
@@ -1,13 +1,13 @@
-classdef RawBattThermDataClass < BattThermDataBaseClass
+classdef RawInertialAndMagneticDataClass < InertialAndMagneticDataBaseClass
 
     %% Public 'read-only' properties
     properties (SetAccess = private)
-        FileNameAppendage = '_RawBattTherm.csv';
+        FileNameAppendage = '_RawInertialAndMag.csv';
     end
 
     %% Public methods
     methods (Access = public)
-        function obj = RawBattThermDataClass(varargin)
+        function obj = RawInertialAndMagneticDataClass(varargin)
             fileNamePrefix = varargin{1};
             for i = 2:2:nargin
                 if  strcmp(varargin{i}, 'SampleRate'), obj.SampleRate = varargin{i+1};
diff --git a/ximu_matlab_library/SyncroniseData.m b/ximu_matlab_library/SyncroniseData.m
index ca97524..033f579 100644
--- a/ximu_matlab_library/SyncroniseData.m
+++ b/ximu_matlab_library/SyncroniseData.m
@@ -3,56 +3,70 @@
     %% Apply arguments
     xIMUdata = varargin{1};
     xIMUdataObjs = struct2cell(xIMUdata);
-    StartEvent = [];
-    EndEvent = [];
+    StartEventTimes = [];
+    EndEventTimes = [];
+    UseAX0fallingEdge = false;
     for i = 2:2:(nargin)
-        if strcmp(varargin{i}, 'StartEvent'), StartEvent = varargin{i+1};
-        elseif strcmp(varargin{i}, 'EndEvent'), EndEvent = varargin{i+1};
+        if strcmp(varargin{i}, 'StartEventTimes'), StartEventTimes = varargin{i+1};
+        elseif strcmp(varargin{i}, 'EndEventTimes'), EndEventTimes = varargin{i+1};
+        elseif strcmp(varargin{i}, 'UseAX0fallingEdge'), UseAX0fallingEdge = varargin{i+1};
         else error('Invalid argument.');
         end
     end
+    
+    %% Use AX0 falling edge of auxiliary port in Digital I/O mode
+    if(UseAX0fallingEdge)
+        for i = 1:numel(xIMUdataObjs)
+            fallingEdgeIndexes = [0; diff(xIMUdataObjs{i}.DigitalIOdata.State.AX0)] == -1;
+            fallingEdgeTimes = xIMUdataObjs{i}.DigitalIOdata.Time(fallingEdgeIndexes);
+            StartEventTimes = [StartEventTimes; fallingEdgeTimes(1)];
+            if(numel(fallingEdgeTimes) > 1)
+                EndEventTimes = [EndEventTimes; fallingEdgeTimes(end)];
+            end
+        end 
+    end  
 
     %% Modify start times to synchronise start of window
-    if(numel(StartEvent) ~= numel(xIMUdataObjs))
-        error('Length of StartEvent vector must equal number of xIMUdataClass objects');
+    if(numel(StartEventTimes) ~= numel(xIMUdataObjs))
+        error('Length of StartEventTimes vector must equal number of xIMUdataClass objects');
     end
     for i = 1:numel(xIMUdataObjs)
-        try h = xIMUdataObjs{i}.DateTimeData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.RawBattThermData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.CalBattThermData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.RawInertialMagneticData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.CalInertialMagneticData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.QuaternionData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.RotationMatrixData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.EulerAnglesData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.DigitalIOData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.RawAnalogueInputData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.CalAnalogueInputData; h.StartTime = -StartEvent(i); catch e, end        
-        try h = xIMUdataObjs{i}.RawADXL345busData; h.StartTime = -StartEvent(i); catch e, end
-        try h = xIMUdataObjs{i}.CalADXL345busData; h.StartTime = -StartEvent(i); catch e, end
+        try h = xIMUdataObjs{i}.DateTimeData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawBatteryAndThermometerData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalBatteryAndThermometerData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawInertialAndMagneticData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalInertialAndMagneticData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.QuaternionData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RotationMatrixData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.EulerAnglesData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.DigitalIOdata; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.RawAnalogueInputData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalAnalogueInputData; h.StartTime = -StartEventTimes(i); catch e, end        
+        try h = xIMUdataObjs{i}.RawADXL345busData; h.StartTime = -StartEventTimes(i); catch e, end
+        try h = xIMUdataObjs{i}.CalADXL345busData; h.StartTime = -StartEventTimes(i); catch e, end
     end
 
     %% Modify sample rate to synchronise end of window
-    if(numel(EndEvent) == 0)
+    if(numel(EndEventTimes) == 0)
         return;
     end
-    if(numel(EndEvent) ~= numel(xIMUdataObjs))
-        error('Length of EndEvent vector must equal number of xIMUdataClass objects');
+    if(numel(EndEventTimes) ~= numel(xIMUdataObjs))
+        error('Length of EndEventTimes vector must equal number of xIMUdataClass objects');
     end
-    scalers = (EndEvent - StartEvent) * (1/((EndEvent(1)-StartEvent(1))));
+    scalers = (EndEventTimes - StartEventTimes) * (1/((EndEventTimes(1)-StartEventTimes(1))));
     for i = 2:numel(xIMUdataObjs)
-        try h = xIMUdataObjs{i}.DateTimeData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.RawBattThermData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.CalBattThermData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.RawInertialMagneticData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.CalInertialMagneticData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = -StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.QuaternionData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.RotationMatrixData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.EulerAnglesData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.DigitalIOData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.RawAnalogueInputData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.CalAnalogueInputData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.RawADXL345busData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end
-        try h = xIMUdataObjs{i}.CalADXL345busData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEvent(i)/scalers(i); catch e, end        
+        try h = xIMUdataObjs{i}.DateTimeData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawBatteryAndThermometerData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalBatteryAndThermometerData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawInertialAndMagneticData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalInertialAndMagneticData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = -StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.QuaternionData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RotationMatrixData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.EulerAnglesData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.DigitalIOdata; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawAnalogueInputData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalAnalogueInputData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.RawADXL345busData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end
+        try h = xIMUdataObjs{i}.CalADXL345busData; h.SampleRate = scalers(i)*h.SampleRate; h.StartTime = StartEventTimes(i)/scalers(i); catch e, end        
     end
 end
diff --git a/ximu_matlab_library/xIMUdataClass.m b/ximu_matlab_library/xIMUdataClass.m
index 1287acb..630f932 100644
--- a/ximu_matlab_library/xIMUdataClass.m
+++ b/ximu_matlab_library/xIMUdataClass.m
@@ -7,14 +7,14 @@
         CommandData = [];
         RegisterData = [];
         DateTimeData = [];
-        RawBattThermData = [];
-        CalBattThermData = [];
-        RawInertialMagneticData = [];
-        CalInertialMagneticData = [];
+        RawBatteryAndThermometerData = [];
+        CalBatteryAndThermometerData = [];
+        RawInertialAndMagneticData = [];
+        CalInertialAndMagneticData = [];
         QuaternionData = [];
         RotationMatrixData = [];
         EulerAnglesData = [];
-        DigitalIOData = [];
+        DigitalIOdata = [];
         RawAnalogueInputData = [];
         CalAnalogueInputData = [];
         PWMoutputData = [];        
@@ -32,14 +32,14 @@
             try obj.CommandData = CommandDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.RegisterData = RegisterDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.DateTimeData = DateTimeDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
-            try obj.RawBattThermData = RawBattThermDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
-            try obj.CalBattThermData = CalBattThermDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
-            try obj.RawInertialMagneticData = RawInertialMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
-            try obj.CalInertialMagneticData = CalInertialMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RawBatteryAndThermometerData = RawBatteryAndThermometerDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CalBatteryAndThermometerData = CalBatteryAndThermometerDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.RawInertialAndMagneticData = RawInertialAndMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.CalInertialAndMagneticData = CalInertialAndMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.QuaternionData = QuaternionDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.EulerAnglesData = EulerAnglesDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.RotationMatrixData = RotationMatrixDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
-            try obj.DigitalIOData = DigitalIODataClass(obj.FileNamePrefix); dataImported = true; catch e, end
+            try obj.DigitalIOdata = DigitalIOdataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.RawAnalogueInputData = RawAnalogueInputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.CalAnalogueInputData = CalAnalogueInputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
             try obj.PWMoutputData = PWMoutputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
@@ -51,14 +51,14 @@
 
             % Apply SampleRate from register data
             try h = obj.DateTimeData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(67)); catch e, end
-            try h = obj.RawBattThermData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
-            try h = obj.CalBattThermData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
-            try h = obj.RawInertialMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
-            try h = obj.CalInertialMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
+            try h = obj.RawBatteryAndThermometerData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
+            try h = obj.CalBatteryAndThermometerData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
+            try h = obj.RawInertialAndMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
+            try h = obj.CalInertialAndMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
             try h = obj.QuaternionData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
             try h = obj.RotationMatrixData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
             try h = obj.EulerAnglesData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
-            try h = obj.DigitalIOData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(78)); catch e, end
+            try h = obj.DigitalIOdata; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(78)); catch e, end
             try h = obj.RawAnalogueInputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(80)); catch e, end
             try h = obj.CalAnalogueInputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(80)); catch e, end
             try h = obj.PWMoutputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(83)); catch e, end
@@ -70,17 +70,17 @@
                 if strcmp(varargin{i}, 'DateTimeSampleRate')
                     try h = obj.DateTimeData; h.SampleRate = varargin{i+1}; catch e, end                
                     elseif strcmp(varargin{i}, 'BattThermSampleRate')
-                    try h = obj.RawBattThermData; h.SampleRate = varargin{i+1}; catch e, end
-                    try h = obj.CalBattThermData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.RawBatteryAndThermometerData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.CalBatteryAndThermometerData; h.SampleRate = varargin{i+1}; catch e, end
                 elseif strcmp(varargin{i}, 'InertialMagneticSampleRate')
-                    try h = obj.RawInertialMagneticData; h.SampleRate = varargin{i+1}; catch e, end
-                    try h = obj.CalInertialMagneticData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.RawInertialAndMagneticData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.CalInertialAndMagneticData; h.SampleRate = varargin{i+1}; catch e, end
                 elseif strcmp(varargin{i}, 'QuaternionSampleRate')
                     try h = obj.QuaternionData; h.SampleRate = varargin{i+1}; catch e, end
                     try h = obj.RotationMatrixData.SampleRate; h.SampleRate = varargin{i+1}; catch e, end
                     try h = obj.EulerAnglesData; h.SampleRate = varargin{i+1}; catch e, end
                 elseif strcmp(varargin{i}, 'DigitalIOSampleRate')
-                    try h = obj.DigitalIOData; h.SampleRate = varargin{i+1}; catch e, end
+                    try h = obj.DigitalIOdata; h.SampleRate = varargin{i+1}; catch e, end
                 elseif strcmp(varargin{i}, 'AnalogueInputSampleRate')
                     try h = obj.RawAnalogueInputData; h.SampleRate = varargin{i+1}; catch e, end
                     try h = obj.CalAnalogueInputData; h.SampleRate = varargin{i+1}; catch e, end                    
@@ -93,14 +93,14 @@
             end
         end
         function obj = Plot(obj)
-            try obj.RawBattThermData.Plot(); catch e, end
-            try obj.CalBattThermData.Plot(); catch e, end
-            try obj.RawInertialMagneticData.Plot(); catch e, end
-            try obj.CalInertialMagneticData.Plot(); catch e, end
+            try obj.RawBatteryAndThermometerData.Plot(); catch e, end
+            try obj.CalBatteryAndThermometerData.Plot(); catch e, end
+            try obj.RawInertialAndMagneticData.Plot(); catch e, end
+            try obj.CalInertialAndMagneticData.Plot(); catch e, end
             try obj.QuaternionData.Plot(); catch e, end
             try obj.EulerAnglesData.Plot(); catch e, end
             try obj.RotationMatrixDataClass.Plot(); catch e, end
-            try obj.DigitalIOData.Plot(); catch e, end
+            try obj.DigitalIOdata.Plot(); catch e, end
             try obj.RawAnalogueInputData.Plot(); catch e, end
             try obj.CalAnalogueInputData.Plot(); catch e, end            
             try obj.RawADXL345busData.Plot(); catch e, end