How can I monitor disk io? sar from sysstat | iotop | dstat

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My personal favorite is the sar command from sysstat. By default, it gives output like this:
09:25:01 AM     CPU     %user     %nice   %system   %iowait    %steal     %idle
09:35:01 AM     all      0.11      0.00      0.01      0.00      0.00     99.88
09:45:01 AM     all      0.12      0.00      0.01      0.00      0.00     99.86
09:55:01 AM     all      0.09      0.00      0.01      0.00      0.00     99.90
10:05:01 AM     all      0.10      0.00      0.01      0.02      0.01     99.86
Average:        all      0.19      0.00      0.02      0.00      0.01     99.78
The %iowait is the time spent waiting on I/O. Using the Debian package, you must enable the stat collector via the /etc/default/sysstat config file after package installation.
To see current utilization broken out by device, you can use the iostat command, also from the sysstat package:
$ iostat -x 1
Linux 3.5.2-x86_64-linode26 (linode)    11/08/2012      _x86_64_        (4 CPU)

avg-cpu:  %user   %nice %system %iowait  %steal   %idle
           0.84    0.00    0.08    1.22    0.07   97.80

Device:         rrqm/s   wrqm/s     r/s     w/s   rsec/s   wsec/s avgrq-sz avgqu-sz   await  svctm  %util
xvda              0.09     1.02    2.58    0.49   112.79    12.11    40.74     0.15   48.56   3.88   1.19
xvdb              1.39     0.43    4.03    1.82    43.33    18.43    10.56     0.66  112.73



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