Format for time series data with non-trivial sampled data

Question

I have a data stream that I would like to share with some data scientists.

It is a regularly captured time series with some fields that are simple scalars, booleans. Each sample has a UTC time and fractional seconds since start of capture.

Also captured is a 3d spline that varies in size. These splines are also regularly sampled.

Additionally, there are some other multi dimensional fields as well ([x,y,z,pitch,yaw,roll]).

For simple data sets I would normally use CSV. However due to the nature of the more complex data I need a more appropriate format.

What are my options for formats that would allow easy loading into Matlab or other common data science tools?