%
 %%%%%%  Log File  %%%%%%
 
% Signal Names:
 
time = 1;
myTime = 2;
cPsi = 3;
cDeltaR = 4;
tPsi = 5;
psiProp = 6;
psiInt = 7;
psiRate = 8;
speedCmd = 9;
omegaCmd = 10;
cDepth = 11;
tDepth = 12;
dIntegral = 13;
mDepthRateTerm = 14;
cTheta = 15;
pitchProp = 16;
pitchInt = 17;
pitchRate = 18;
pitchIntInp = 19;
cDeltaEBL = 20;
cDeltaE = 21;

 dataDC=[
1109103933.2717   1.10910393e+009   6.10865238e-001   -2.94283584e-002   5.12992423e+000   -1.83568212e-003   -1.09496828e-005   -2.75817266e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.42339522e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.58208663e-003   8.58208663e-003   
1109103933.4617   1.99986458e-001   6.10865238e-001   -5.90582449e-002   5.13611762e+000   -5.36591242e-003   -1.09496828e-005   -5.36813828e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.42339522e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.58208663e-003   8.58208663e-003   
1109103933.6616   1.99986219e-001   6.10865238e-001   -8.60814954e-002   5.14505533e+000   -1.05150391e-002   -1.09496828e-005   -7.55555066e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.42339522e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.42339522e-003   8.42339522e-003   
1109103933.8616   1.99986219e-001   6.10865238e-001   -1.16020979e-001   5.15652637e+000   -1.70535332e-002   -1.09496828e-005   -9.89564964e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.42339522e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.58208663e-003   8.58208663e-003   
1109103934.0616   1.99986458e-001   6.10865238e-001   -1.42011793e-001   5.17033598e+000   -2.50342686e-002   -1.09496828e-005   -1.16966575e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103934.2616   1.99986219e-001   6.10865238e-001   -1.71538435e-001   5.18630434e+000   -3.41362360e-002   -1.09496828e-005   -1.37391250e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   8.48579085e-003   
1109103934.4716   2.09985495e-001   6.10865238e-001   -1.91986218e-001   5.20426549e+000   -4.44289961e-002   -1.09496828e-005   -1.52462279e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103934.6616   1.89987183e-001   6.10865238e-001   -1.91986218e-001   5.22406622e+000   -5.57154114e-002   -1.09496828e-005   -1.69551311e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103934.8616   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.24556509e+000   -6.79697680e-002   -1.09496828e-005   -1.81495288e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103935.0616   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.26863155e+000   -8.11176470e-002   -1.09496828e-005   -1.97309980e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103935.2615   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.29314506e+000   -9.50903512e-002   -1.09496828e-005   -2.07327289e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103935.4615   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.31899439e+000   -1.09824465e-001   -1.09496828e-005   -2.19926759e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.48579085e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.64448226e-003   8.64448226e-003   
1109103935.6615   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.34607681e+000   -1.25261448e-001   -1.09496828e-005   -2.29993110e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.54818649e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.70687789e-003   8.70687789e-003   
1109103935.8615   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.37429754e+000   -1.41292359e-001   -1.09496828e-005   -2.39461132e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.54818649e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.70687789e-003   8.70687789e-003   
1109103936.0615   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.40356905e+000   -1.58032022e-001   -1.09496828e-005   -2.49430380e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.54818649e-003   0.00000000e+000   3.17382812e-004   0.00000000e+000   8.86556930e-003   8.86556930e-003   
1109103936.2615   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.43381055e+000   -1.75214775e-001   -1.09496828e-005   -2.56222696e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.54818649e-003   0.00000000e+000   3.17382812e-004   0.00000000e+000   8.86556930e-003   8.86556930e-003   
1109103936.4615   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.46494747e+000   -1.92962820e-001   -1.09496828e-005   -2.65078864e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.54818649e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.70687789e-003   8.70687789e-003   
1109103936.6614   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.49691097e+000   -2.11127381e-001   -1.09496828e-005   -2.70652112e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103936.8614   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.52963749e+000   -2.29726866e-001   -1.09496828e-005   -2.78382939e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   8.61058212e-003   
1109103937.0614   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.56306837e+000   -2.48782468e-001   -1.09496828e-005   -2.82087289e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103937.2614   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.59714945e+000   -2.68154057e-001   -1.09496828e-005   -2.90934358e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103937.4614   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.63183076e+000   -2.87867497e-001   -1.09496828e-005   -2.92715886e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   -1.58691406e-004   0.00000000e+000   8.45189071e-003   8.45189071e-003   
1109103937.6614   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.66706613e+000   -3.07951660e-001   -1.09496828e-005   -3.00123231e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103937.8614   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.70281297e+000   -3.28272729e-001   -1.09496828e-005   -3.02810576e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103938.0613   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.73903196e+000   -3.48917554e-001   -1.09496828e-005   -3.08068943e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103938.2613   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.77568680e+000   -3.69810812e-001   -1.09496828e-005   -3.11566119e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103938.4713   2.09985495e-001   6.10865238e-001   -1.91986218e-001   5.81274398e+000   -3.90878770e-001   -1.09496828e-005   -3.14363426e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103938.6613   1.89986944e-001   6.10865238e-001   -1.91986218e-001   5.85017256e+000   -4.12213060e-001   -1.09496828e-005   -3.18350438e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103938.8613   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.88794398e+000   -4.33687871e-001   -1.09496828e-005   -3.20642097e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103939.0613   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.92603190e+000   -4.55397983e-001   -1.09496828e-005   -3.24162336e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103939.2613   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.96441197e+000   -4.77274626e-001   -1.09496828e-005   -3.25400551e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   8.61058212e-003   
1109103939.4612   1.99986458e-001   6.10865238e-001   -1.91986218e-001   6.00306174e+000   -4.99304994e-001   -1.09496828e-005   -3.29975670e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.76927353e-003   8.76927353e-003   
1109103939.6612   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.04196047e+000   -5.21477269e-001   -1.09496828e-005   -3.29186553e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   8.67297715e-003   
1109103939.8612   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.08108902e+000   -5.43780541e-001   -1.09496828e-005   -3.34045284e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.83166855e-003   8.83166855e-003   
1109103940.0612   1.99986458e-001   6.10865238e-001   -1.91986218e-001   6.12042971e+000   -5.66259640e-001   -1.09496828e-005   -3.33980878e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   8.67297715e-003   
1109103940.2612   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.15996625e+000   -5.88795465e-001   -1.09496828e-005   -3.37305661e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   1.58691406e-004   0.00000000e+000   8.83166855e-003   8.83166855e-003   
1109103940.4612   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.19968357e+000   -6.11434335e-001   -1.09496828e-005   -3.37597189e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   8.67297715e-003   
1109103940.6612   1.99986458e-001   6.10865238e-001   -1.91986218e-001   6.23956776e+000   -6.34168329e-001   -1.09496828e-005   -3.39845769e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   8.67297715e-003   
1109103940.8612   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.27960601e+000   -6.56990132e-001   -1.09496828e-005   -3.40117613e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   8.67297715e-003   
1109103941.0611   1.99986219e-001   6.10865238e-001   -1.91986218e-001   3.66011667e-002   -6.79892993e-001   -1.09496828e-005   -3.41948939e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.67297715e-003   0.00000000e+000   -1.58691406e-004   0.00000000e+000   8.51428574e-003   8.51428574e-003   
1109103941.2711   2.09985733e-001   6.10865238e-001   -1.91986218e-001   7.69129000e-002   -7.02925312e-001   -1.09496828e-005   -3.42857253e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   8.61058212e-003   8.61058212e-003   

];
