%
 %%%%%%  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;
cTheta = 14;
pitchProp = 15;
pitchInt = 16;
pitchRate = 17;
pitchIntInp = 18;
cDeltaEBL = 19;
cDeltaE = 20;

 dataDC=[
998512069.9474   998512069.94   4.0143e+000   1.9199e-001   4.4928e+000   2.2318e-002   0.0000e+000   3.6909e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -1.7279e-002   -5.7596e-005   1.0210e-001   -5.7596e-005   8.4765e-002   8.4765e-002   
998512070.2674   0.33   4.0143e+000   1.9199e-001   4.4560e+000   4.7807e-002   0.0000e+000   3.5854e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -5.4105e-003   -7.5631e-005   1.4399e-001   -1.8035e-005   1.3850e-001   1.3850e-001   
998512070.4174   0.15   4.0143e+000   1.9199e-001   4.4220e+000   6.8780e-002   0.0000e+000   2.6610e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   1.1694e-002   -3.6652e-005   7.5922e-002   3.8979e-005   8.7579e-002   8.7579e-002   
998512070.6374   0.22   4.0143e+000   1.9199e-001   4.3907e+000   8.3404e-002   0.0000e+000   2.1450e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   1.3439e-002   8.1449e-006   1.8326e-002   4.4797e-005   3.1773e-002   3.1773e-002   
998512070.7674   0.13   4.0143e+000   1.9199e-001   4.3617e+000   9.7655e-002   0.0000e+000   1.9521e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   1.1868e-002   4.7706e-005   -1.8326e-002   3.9561e-005   -6.4100e-003   -6.4100e-003   
998512070.9874   0.22   4.0143e+000   1.9199e-001   4.3350e+000   1.1164e-001   0.0000e+000   1.8858e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -1.0297e-002   1.3381e-005   -3.1416e-002   -3.4325e-005   -4.1700e-002   -4.1700e-002   
998512071.1673   0.18   4.0143e+000   1.9199e-001   4.3104e+000   1.2545e-001   0.0000e+000   1.9729e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -6.9813e-003   -9.8902e-006   -3.9270e-002   -2.3271e-005   -4.6261e-002   -4.6261e-002   
998512071.3673   0.20   4.0143e+000   1.9199e-001   4.2876e+000   1.3917e-001   0.0000e+000   1.9887e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -4.0143e-003   -2.3271e-005   -3.4034e-002   -1.3381e-005   -3.8071e-002   -3.8071e-002   
998512071.5873   0.22   4.0143e+000   1.9199e-001   4.2666e+000   1.5290e-001   0.0000e+000   1.9046e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -2.0944e-003   -3.0252e-005   -2.0944e-002   -6.9813e-006   -2.3069e-002   -2.3069e-002   
998512071.7873   0.20   4.0143e+000   1.9199e-001   4.2472e+000   1.6474e-001   0.0000e+000   1.6357e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -1.3963e-003   -3.4907e-005   -7.8540e-003   -4.6542e-006   -9.2852e-003   -9.2852e-003   
998512072.0073   0.22   4.0143e+000   1.9199e-001   4.2293e+000   1.7379e-001   0.0000e+000   1.3767e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -1.2217e-003   -3.8979e-005   -2.6180e-003   -4.0724e-006   -3.8787e-003   -3.8787e-003   
998512072.1773   0.17   4.0143e+000   1.9199e-001   4.2127e+000   1.8305e-001   0.0000e+000   1.2387e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -5.2360e-004   -4.0724e-005   -5.2360e-003   -1.7453e-006   -5.8003e-003   -5.8003e-003   
998512072.3673   0.19   4.0143e+000   1.9199e-001   4.1975e+000   1.9159e-001   0.0000e+000   1.2487e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -8.7266e-004   -4.3633e-005   -1.8326e-002   -2.9089e-006   -1.9242e-002   -1.9242e-002   
998512072.5572   0.19   4.0143e+000   1.9199e-001   4.1834e+000   2.0143e-001   0.0000e+000   1.3782e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -3.6652e-003   -5.5851e-005   -3.4034e-002   -1.2217e-005   -3.7755e-002   -3.7755e-002   
998512072.7572   0.20   4.0143e+000   1.9199e-001   4.1704e+000   2.1165e-001   0.0000e+000   1.4033e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -7.3304e-003   -8.0285e-005   -4.1888e-002   -2.4435e-005   -4.9299e-002   -4.9299e-002   
998512072.9672   0.21   4.0143e+000   1.9199e-001   4.1584e+000   2.2032e-001   0.0000e+000   1.3233e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -1.1345e-002   -1.1810e-004   -4.7124e-002   -3.7815e-005   -5.8587e-002   -5.8587e-002   
998512073.1672   0.20   4.0143e+000   1.9199e-001   4.1473e+000   2.2848e-001   0.0000e+000   1.0540e-001   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   -1.5882e-002   -1.7104e-004   -5.2360e-002   -5.2942e-005   -6.8413e-002   -6.8413e-002   
998512073.3572   0.19   4.0143e+000   1.9199e-001   4.1371e+000   2.3421e-001   0.0000e+000   8.1831e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   3.9457e-002   5.2360e-001   -3.3475e-001   -1.2869e-003   -5.7596e-002   -1.1158e-003   -3.9364e-001   -2.0944e-001   
998512073.5572   0.20   4.0143e+000   1.9199e-001   4.1276e+000   2.3852e-001   0.0000e+000   6.7162e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   7.8914e-002   5.2360e-001   -3.3964e-001   1.7453e-001   -5.7596e-002   0.0000e+000   -2.2270e-001   -2.0944e-001   
998512073.7672   0.20   4.0143e+000   1.9199e-001   4.1189e+000   2.4243e-001   0.0000e+000   6.1354e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   8.7266e-002   5.2360e-001   -3.4313e-001   1.7296e-001   -3.9270e-002   0.0000e+000   -2.0944e-001   -2.0944e-001   
998512073.9571   0.20   4.0143e+000   1.9199e-001   4.1109e+000   2.4693e-001   0.0000e+000   5.8785e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   8.7266e-002   5.2360e-001   -3.4383e-001   1.5795e-001   -2.3562e-002   0.0000e+000   -2.0944e-001   -2.0944e-001   
998512074.1671   0.20   4.0143e+000   1.9199e-001   4.1034e+000   2.5109e-001   0.0000e+000   6.5007e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   8.7266e-002   5.2360e-001   -3.4313e-001   1.5681e-001   7.8540e-003   -1.1438e-003   -1.7847e-001   -1.7847e-001   
998512074.3671   0.21   4.0143e+000   1.9199e-001   4.0966e+000   2.5786e-001   0.0000e+000   8.8363e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   8.7266e-002   5.2360e-001   -3.3964e-001   1.5568e-001   4.1888e-002   -1.1321e-003   -1.4208e-001   -1.4208e-001   
998512074.5671   0.20   4.0143e+000   1.9199e-001   4.0903e+000   2.6434e-001   0.0000e+000   9.8109e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   8.7266e-002   5.2360e-001   -3.3283e-001   1.5457e-001   8.1158e-002   -1.1094e-003   -9.7110e-002   -9.7110e-002   
998512074.7771   0.20   4.0143e+000   1.9199e-001   4.0844e+000   2.7055e-001   0.0000e+000   7.4668e-002   1.4000e+000   0.0000e+000   0.0000e+000   0.0000e+000   8.7266e-002   5.2360e-001   -3.2271e-001   1.5349e-001   1.2305e-001   -1.0757e-003   -4.6174e-002   -4.6174e-002   

];
