Convert CARMEN log file to rosbag

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This is more of a question of 'Which docs should I read'.

I have some CARMEN log files which I need to convert to rosbag. I have read about bag and msg formats, however, I do not quite understand how do I store information from the original file in the bag format.

So, for example, I have a line:

ODOM 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1202839366.707501 lakebodom 0.128184

The format for ODOM is already known, and it is:

ODOM x y theta tv rv accel

As I understand, I can store messages in bags, and messages contain entries in such format:

<type> <name>

For example, int64 var_name.

So I could probably fill the msg for this particular record with stuff like float32 x_a and so on, but how do I assign values? How do I store information that x_a is 0.000000?

I also don't understand this: bags can contain a whole lot of different records, such as chunks, connections, message data, etc., but how do I know what to use and what not to use? As of now, I can only imagine writing a lot of messages.