%
 %%%%%%  Log File  %%%%%%
 
% Signal Names:
 
time = 1;
mPos_x = 2;
mPos_y = 3;
mDepth = 4;
mGpsNorth = 5;
mGpsEast = 6;
mGpsValid = 7;
mPhi = 8;
mTheta = 9;
mPsi = 10;
mOmega_x = 11;
mOmega_y = 12;
mOmega_z = 13;
mPsaRange = 14;
mAltitude = 15;
mWaterSpeed = 16;
nfix = 17;
efix = 18;
filter_north = 19;
filter_east = 20;
filter_depth = 21;
north_current = 22;
east_current = 23;
speed_bias = 24;
heading_bias = 25;

 dataNav=[
976659217.3663      4067605.77       589267.82   -1.861e-001            0.00            0.00   0   -3.605e-002   -3.787e-002   4.598e+000   1.262e-002   7.494e-002   -2.876e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659219.5662      4067605.50       589265.25   0.000e+000            0.00            0.00   0   -1.218e-002   -2.301e-003   4.638e+000   6.280e-002   -7.510e-003   4.922e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659221.7660      4067605.33       589262.68   7.445e-002            0.00            0.00   0   -9.079e-002   8.379e-002   4.638e+000   -7.478e-002   3.156e-002   -1.886e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659223.9659      4067605.09       589260.12   0.000e+000            0.00            0.00   0   6.491e-002   -4.286e-002   4.629e+000   2.477e-003   -1.647e-001   4.874e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659226.1657      4067604.82       589257.56   -1.861e-001            0.00            0.00   0   -9.741e-002   -2.109e-003   4.613e+000   6.280e-002   -4.818e-002   5.081e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659228.3656      4067604.55       589255.00   0.000e+000            0.00            0.00   0   -4.314e-003   6.999e-002   4.583e+000   -1.471e-001   -5.201e-002   -1.462e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659230.5654      4067604.16       589252.46   -5.584e-002            0.00            0.00   0   -3.547e-002   -6.970e-002   4.572e+000   1.285e-001   1.096e-001   -2.173e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659232.7653      4067603.70       589249.92   -1.117e-001            0.00            0.00   0   -4.238e-002   1.496e-002   4.516e+000   -1.046e-001   -6.871e-003   5.113e-003   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659234.9651      4067603.18       589247.40   -1.117e-001            0.00            0.00   0   -1.150e-003   -2.291e-002   4.499e+000   8.565e-002   4.738e-002   -1.023e-002   9.900e+001   1.000e+003   1.172e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659237.1650      4067603.08       589246.94   0.000e+000            0.00            0.00   0   -7.191e-002   -5.110e-002   4.405e+000   -1.087e-001   -1.758e-002   -9.667e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659239.3648      4067603.08       589246.94   -3.723e-001            0.00            0.00   0   7.181e-002   -5.772e-002   4.408e+000   2.309e-002   5.305e-002   -4.354e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659241.5647      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   -9.654e-002   -5.752e-004   4.391e+000   2.141e-002   6.751e-002   3.012e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659243.7645      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   4.487e-002   -9.770e-002   4.369e+000   -3.859e-002   7.111e-003   3.515e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659245.9644      4067603.08       589246.94   1.474e-001            0.00            0.00   0   -9.146e-002   -4.027e-002   4.350e+000   1.122e-001   8.029e-002   7.846e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659248.1642      4067603.08       589246.94   -2.993e-001            0.00            0.00   0   -5.273e-003   1.917e-002   4.345e+000   -1.347e-001   -1.534e-002   -3.060e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659250.3641      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   1.141e-002   -7.037e-002   4.348e+000   2.148e-001   -1.901e-002   7.207e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659252.5639      4067603.08       589246.94   7.445e-002            0.00            0.00   0   -1.347e-001   1.246e-003   4.350e+000   -1.582e-001   5.800e-002   -1.007e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659254.7638      4067603.08       589246.94   -9.460e-002            0.00            0.00   0   6.730e-002   -3.835e-004   4.359e+000   1.051e-001   2.637e-003   2.637e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659256.9636      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   -8.140e-002   8.245e-003   4.380e+000   -3.124e-002   1.098e-001   2.565e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659259.1635      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   2.167e-002   -4.218e-003   4.365e+000   1.295e-001   4.474e-003   3.995e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659261.3633      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   -9.348e-002   -4.535e-002   4.409e+000   -1.627e-001   -3.923e-002   9.268e-003   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659263.5632      4067603.08       589246.94   7.445e-002            0.00            0.00   0   7.440e-002   4.324e-002   4.465e+000   6.983e-002   3.995e-004   5.345e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659265.7630      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   -1.380e-001   -2.100e-002   4.406e+000   4.961e-002   -4.554e-002   -2.844e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659267.9629      4067603.08       589246.94   -1.861e-001            0.00            0.00   0   5.954e-002   -4.151e-002   4.445e+000   -1.448e-001   -7.326e-002   3.915e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659270.1627      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   -2.713e-002   2.176e-002   4.474e+000   1.174e-001   -1.033e-001   -1.838e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659272.3625      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   -1.047e-001   -4.516e-002   4.387e+000   -6.072e-003   -4.083e-002   1.107e-001   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659274.5624      4067603.08       589246.94   -1.117e-001            0.00            0.00   0   4.449e-002   -3.854e-002   4.422e+000   -2.086e-001   -7.079e-002   -8.421e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659276.7622      4067603.08       589246.94   -1.691e-001            0.00            0.00   0   -3.394e-002   -2.272e-002   4.477e+000   1.540e-001   -1.198e-002   2.541e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659278.9621      4067603.08       589246.94   0.000e+000            0.00            0.00   0   -5.896e-002   -4.679e-002   4.451e+000   -2.748e-002   -2.245e-002   4.842e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659281.1619      4067603.08       589246.94   -1.861e-001            0.00            0.00   0   4.314e-003   -2.972e-002   4.446e+000   8.725e-002   -9.380e-002   2.645e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659283.3618      4067603.08       589246.94   1.303e-001            0.00            0.00   0   -9.022e-002   4.870e-002   4.454e+000   -1.500e-001   4.674e-002   8.229e-003   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659285.5616      4067603.08       589246.94   -2.993e-001            0.00            0.00   0   2.991e-002   -5.628e-002   4.438e+000   6.320e-002   -6.711e-002   -4.874e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659287.7615      4067603.08       589246.94   -9.460e-002            0.00            0.00   0   -6.280e-002   -2.828e-002   4.480e+000   7.670e-003   1.432e-001   4.634e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659289.9613      4067603.08       589246.94   -9.460e-002            0.00            0.00   0   -5.283e-002   1.352e-002   4.476e+000   9.987e-003   5.201e-002   3.036e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659292.1612      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   -2.109e-003   5.752e-004   4.489e+000   -8.677e-002   3.435e-003   -2.157e-003   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659294.3610      4067603.08       589246.94   -2.420e-001            0.00            0.00   0   -8.149e-003   -1.209e-001   4.478e+000   4.019e-002   -7.518e-002   -2.509e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659296.5609      4067603.08       589246.94   2.777e-001            0.00            0.00   0   -8.859e-002   3.749e-002   4.430e+000   2.780e-002   -5.808e-002   -3.012e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659298.7607      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   3.394e-002   3.864e-002   4.472e+000   -1.334e-001   -4.586e-002   -1.766e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659300.9606      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   -4.477e-002   -5.321e-002   4.481e+000   1.140e-001   -3.811e-002   -5.193e-003   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659303.1604      4067603.08       589246.94   2.777e-001            0.00            0.00   0   -5.388e-002   1.448e-002   4.462e+000   -5.457e-002   5.393e-002   3.036e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659305.3603      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   1.323e-002   -8.255e-002   4.455e+000   2.876e-002   -1.182e-002   5.864e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659307.5601      4067603.08       589246.94   -3.876e-002            0.00            0.00   0   -4.487e-002   4.410e-002   4.490e+000   5.992e-003   1.229e-001   1.286e-002   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
976659309.7600      4067603.08       589246.94   9.153e-002            0.00            0.00   0   -2.780e-002   3.662e-002   4.471e+000   1.015e-002   -2.716e-002   -2.397e-004   9.900e+001   1.000e+003   0.000e+000            0.00            0.00            0.00            0.00   0.000e+000   