%
 %%%%%%  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=[
1111806325.9727   1.11180633e+009   6.10865238e-001   -2.59005264e-002   5.02452415e+000   -1.83568212e-003   -1.09496828e-005   -2.40538946e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   4.76074219e-004   0.00000000e+000   -7.51055218e-003   -7.51055218e-003   
1111806326.1726   1.99986458e-001   6.10865238e-001   -5.82830698e-002   5.03071754e+000   -5.42081545e-003   -1.09496828e-005   -5.28513047e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   3.17382812e-004   0.00000000e+000   -7.66924359e-003   -7.66924359e-003   
1111806326.3726   1.99986219e-001   6.10865238e-001   -8.71193648e-002   5.03965525e+000   -1.05153109e-002   -1.09496828e-005   -7.65931043e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   9.20410156e-003   0.00000000e+000   1.21747516e-003   1.21747516e-003   
1111806326.5726   1.99986219e-001   6.10865238e-001   -1.11663341e-001   5.05112629e+000   -1.70538050e-002   -1.09496828e-005   -9.45985862e-002   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   4.76074219e-004   0.00000000e+000   -7.44815716e-003   -7.44815716e-003   
1111806326.7726   1.99986458e-001   6.10865238e-001   -1.44338134e-001   5.06493589e+000   -2.48703749e-002   -1.09496828e-005   -1.19456809e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   -1.26953125e-002   0.00000000e+000   -2.06819389e-002   -2.06819389e-002   
1111806326.9726   1.99986219e-001   6.10865238e-001   -1.69506866e-001   5.08090425e+000   -3.39723423e-002   -1.09496828e-005   -1.35523574e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   3.33251953e-003   0.00000000e+000   -4.65410687e-003   -4.65410687e-003   
1111806327.1726   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.09886541e+000   -4.42651024e-002   -1.09496828e-005   -1.53499876e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   5.71289062e-003   0.00000000e+000   -2.27373578e-003   -2.27373578e-003   
1111806327.3726   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.11866614e+000   -5.59344800e-002   -1.09496828e-005   -1.69136272e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   1.26953125e-003   0.00000000e+000   -6.65470012e-003   -6.65470012e-003   
1111806327.5726   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.14016501e+000   -6.81888366e-002   -1.09496828e-005   -1.81080249e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   2.22167969e-003   0.00000000e+000   -5.76494671e-003   -5.76494671e-003   
1111806327.7725   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.16323146e+000   -8.12818125e-002   -1.09496828e-005   -1.94819745e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   1.31713867e-002   0.00000000e+000   5.24715534e-003   5.24715534e-003   
1111806327.9825   2.09985733e-001   6.10865238e-001   -1.91986218e-001   5.18774498e+000   -9.53094197e-002   -1.09496828e-005   -2.05252094e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   -2.38037109e-003   0.00000000e+000   -1.03669975e-002   -1.03669975e-002   
1111806328.1725   1.89986944e-001   6.10865238e-001   -1.91986218e-001   5.21359430e+000   -1.09988630e-001   -1.09496828e-005   -2.19304201e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -1.58691406e-003   0.00000000e+000   -9.51114544e-003   -9.51114544e-003   
1111806328.3725   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.24067673e+000   -1.25480517e-001   -1.09496828e-005   -2.31653266e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -8.04902203e-003   0.00000000e+000   -1.11083984e-003   0.00000000e+000   -9.15986188e-003   -9.15986188e-003   
1111806328.5725   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.26889745e+000   -1.41566331e-001   -1.09496828e-005   -2.40498729e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   3.33251953e-003   0.00000000e+000   -4.59171184e-003   -4.59171184e-003   
1111806328.7725   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.29816896e+000   -1.58251090e-001   -1.09496828e-005   -2.47770224e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   -3.80859375e-003   0.00000000e+000   -1.17952202e-002   -1.17952202e-002   
1111806328.9725   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.32841046e+000   -1.75488747e-001   -1.09496828e-005   -2.58090372e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -1.11083984e-002   0.00000000e+000   -1.90326298e-002   -1.90326298e-002   
1111806329.1724   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.35954738e+000   -1.93236792e-001   -1.09496828e-005   -2.64871344e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   5.87158203e-003   0.00000000e+000   -2.11504437e-003   -2.11504437e-003   
1111806329.3724   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.39151088e+000   -2.10635157e-001   -1.09496828e-005   -2.72312269e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   7.77587891e-003   0.00000000e+000   -2.10747495e-004   -2.10747495e-004   
1111806329.5724   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.42423740e+000   -2.29289273e-001   -1.09496828e-005   -2.77345341e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -9.52148438e-004   0.00000000e+000   -8.87637981e-003   -8.87637981e-003   
1111806329.7724   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.45766828e+000   -2.48344875e-001   -1.09496828e-005   -2.84370004e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -8.04902203e-003   0.00000000e+000   -9.20410156e-003   0.00000000e+000   -1.72531236e-002   -1.72531236e-002   
1111806329.9724   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.49174937e+000   -2.67771095e-001   -1.09496828e-005   -2.88029085e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   4.28466797e-003   0.00000000e+000   -3.63956341e-003   -3.63956341e-003   
1111806330.1724   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.52643067e+000   -2.87539438e-001   -1.09496828e-005   -2.95621159e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   2.69775391e-003   0.00000000e+000   -5.28887250e-003   -5.28887250e-003   
1111806330.3724   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.56166604e+000   -3.07623600e-001   -1.09496828e-005   -2.98048036e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.86183574e-003   0.00000000e+000   6.34765625e-004   0.00000000e+000   -7.22707012e-003   -7.22707012e-003   
1111806330.5723   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.59741289e+000   -3.27999301e-001   -1.09496828e-005   -3.03848174e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   -7.92423137e-003   
1111806330.7723   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.63363188e+000   -3.48644126e-001   -1.09496828e-005   -3.07861423e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.86183574e-003   0.00000000e+000   6.03027344e-003   0.00000000e+000   -1.83156230e-003   -1.83156230e-003   
1111806330.9723   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.67028672e+000   -3.69537384e-001   -1.09496828e-005   -3.13018756e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   2.53906250e-003   0.00000000e+000   -5.44756390e-003   -5.44756390e-003   
1111806331.1723   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.70734389e+000   -3.90659973e-001   -1.09496828e-005   -3.16438621e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -8.25195313e-003   0.00000000e+000   -1.61761845e-002   -1.61761845e-002   
1111806331.3723   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.74477247e+000   -4.11611301e-001   -1.09496828e-005   -3.19803075e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   9.52148438e-003   0.00000000e+000   1.59725300e-003   1.59725300e-003   
1111806331.5723   1.99986458e-001   6.10865238e-001   -1.91986218e-001   5.78254390e+000   -4.33141015e-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   -7.98662640e-003   0.00000000e+000   6.98242188e-003   0.00000000e+000   -1.00420453e-003   -1.00420453e-003   
1111806331.7723   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.82063182e+000   -4.54851128e-001   -1.09496828e-005   -3.23332258e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -1.58691406e-004   0.00000000e+000   -8.08292278e-003   -8.08292278e-003   
1111806331.9823   2.09985495e-001   6.10865238e-001   -1.91986218e-001   5.85901189e+000   -4.76727770e-001   -1.09496828e-005   -3.24985512e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   3.80859375e-003   0.00000000e+000   -4.17803265e-003   -4.17803265e-003   
1111806332.1722   1.89987183e-001   6.10865238e-001   -1.91986218e-001   5.89766166e+000   -4.98758138e-001   -1.09496828e-005   -3.27900475e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   1.22192383e-002   0.00000000e+000   4.29500691e-003   4.29500691e-003   
1111806332.3722   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.93656039e+000   -5.20930413e-001   -1.09496828e-005   -3.31261748e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -8.04902203e-003   0.00000000e+000   -1.25366211e-002   0.00000000e+000   -2.05856431e-002   -2.05856431e-002   
1111806332.5722   1.99986219e-001   6.10865238e-001   -1.91986218e-001   5.97568893e+000   -5.43233685e-001   -1.09496828e-005   -3.31555050e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -8.25195313e-003   0.00000000e+000   -1.61761845e-002   -1.61761845e-002   
1111806332.7722   1.99986458e-001   6.10865238e-001   -1.91986218e-001   6.01502963e+000   -5.65712513e-001   -1.09496828e-005   -3.36056073e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.98662640e-003   0.00000000e+000   1.90429688e-003   0.00000000e+000   -6.08232953e-003   -6.08232953e-003   
1111806332.9722   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.05456616e+000   -5.88193706e-001   -1.09496828e-005   -3.34607907e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -3.17382812e-003   0.00000000e+000   -1.10980595e-002   -1.10980595e-002   
1111806333.1722   1.99986219e-001   6.10865238e-001   -1.91986218e-001   6.09428348e+000   -6.10887208e-001   -1.09496828e-005   -3.39464865e-001   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   0.00000000e+000   -7.92423137e-003   0.00000000e+000   -8.56933594e-003   0.00000000e+000   -1.64935673e-002   -1.64935673e-002   

];
