function [times, inputL, inputR, DCL, DCR, wx, wy, wz, wzavg, accelx, ...
    accely, accelz, bemfL, bemfR, steeringOut, vbat] = ...
    importORTelem(filename, Cx, Cy, Cz, Dx, Dy, Dz)
%  importOrTelem(filename, calibs)  Imports telemtry data recorded from the
%  OctoRoACH robot, saved into a CSV file in the expected format. The
%  arguments provided are the filename, and a 6-vector of the accelerometer
%  calibrations, in the format: [Cx Cy Cz Dx Dy Dz], such that:
%  XLx = ((AccelX - Dx)/Cx)^2 , where XLx has the units of G's, and AccelX
%  has the units of raw integer output, as recorded from the ADXL345.

% Current format:
% time | Llegs | Rlegs | DCL | DCR | GyroX | GyroY | GyroZ | GryoZAvg |
%        AccelX | AccelY |AccelZ | LBEMF | RBEMF | SteerOut | Vbatt
% 16 columns total
format = '%n %n %n %n %n %n %n %n %n %n %n %n %n %n %n %n';

fid = fopen(filename,'r');

%Import CSV data, and automatically skip header lines
C = textscan(fid,format,'delimiter',',','commentstyle','%');
D = cell2mat(C);

if any(isnan(D))
    error('Imported data seems to contain a NaN. You are probably importing something with the wrong number of columns. Aborting.');
end

% To convert gyro counts to deg/sec
count2deg = 1/14.3750;

% Unpack the rows of D
times = D(:,1);              % microseconds
inputL = D(:,2);             % raw counts, max = vbat
inputR = D(:,3);             % raw counts, max = vbat
DCL = D(:,4);                % PWM counts, max = 3999 (see AP for details)
DCR = D(:,5);                % PWM counts, max = 3999 (see AP for details)
wx = D(:,6) * count2deg;     % degrees / second
wy = D(:,7) * count2deg;     % degrees / second
wz = D(:,8) * count2deg;     % degrees / second
wzavg = D(:,9) * count2deg;  % degrees / second
accelx = D(:,10);            % raw counts, converted to G's below
accely = D(:,11);            % raw counts, converted to G's below
accelz = D(:,12);            % raw counts, converted to G's below
bemfL = D(:,13);             % ADC counts, max = vbat
bemfR = D(:,14);             % ADC counts, max = vbat
steeringOut = D(:,15);       % raw counts, no max
vbat = D(:,16);              % ADC counts

% Apply important calibrations to accel data before returning:
accelx = ((accelx - Dx)/Cx);
accely = ((accely - Dy)/Cy);
accelz = ((accelz - Dz)/Cz).^2 ;

% Cleanup
dims = size(D);
disp(['Got ', num2str(dims(1)), ' samples'])
fclose(fid);