#!/bin/python

import matplotlib as mpl

import matplotlib.pyplot as plt

import matplotlib.cbook as cbook

import numpy as np

import math

data = np.genfromtxt('MagFuse.txt', delimiter=' ', skip_header=1,

skip_footer=1, names=['time', 'IMX', 'VMX', 'IMY', 'VMY', 'IMZ', 'VMZ'])

fig = plt.figure()

ax1 = fig.add_subplot(311)

SMX = pow(data['VMX'],0.5)

ax1.set_title("Magnetometer Innovations")

ax1.set_xlabel('time (s)')

ax1.set_ylabel('X')

#ax1.set_ylim([-0.0025,0.0025])

ax1.plot(data['time'], data['IMX'], color='b', label='Mag X')

ax1.plot(data['time'], SMX, color='r')

ax1.plot(data['time'], -SMX, color='r')

ax2 = fig.add_subplot(312)

SMY = pow(data['VMY'],0.5)

ax2.set_xlabel('time (s)')

ax2.set_ylabel('Y')

#ax2.set_ylim([-0.0025,0.0025])

ax2.plot(data['time'], data['IMY'], color='b', label='Mag Y')

ax2.plot(data['time'], SMY, color='r')

ax2.plot(data['time'], -SMY, color='r')

ax3 = fig.add_subplot(313)

SMZ = pow(data['VMZ'],0.5)

ax3.set_xlabel('time (s)')

ax2.set_ylabel('Y')

#ax3.set_ylim([-0.0025,0.0025])

ax3.plot(data['time'], data['IMZ'], color='b', label='Mag Z')

ax3.plot(data['time'], SMZ, color='r')

ax3.plot(data['time'], -SMZ, color='r')

plt.show()