%
 %%%%%%  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=[
980792286.9054      4074225.16       605254.13   3.824e-002      4074225.16       605254.13   1   1.022e-001   1.553e-002   4.354e+000   -9.931e-002   1.145e-001   4.658e-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   
980792289.0952      4074225.85       605254.28   1.117e-001      4074225.90       605254.41   1   9.348e-002   -4.008e-002   4.370e+000   1.087e-002   -8.900e-002   4.842e-002   9.900e+001   1.000e+003   6.992e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792291.2951      4074226.00       605254.29   2.419e-001      4074226.09       605254.56   1   -3.988e-002   1.237e-002   4.408e+000   -3.036e-003   3.364e-002   1.806e-002   9.900e+001   1.000e+003   1.419e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792293.4949      4074226.16       605254.14   3.164e-001      4074226.27       605254.41   1   2.972e-002   -2.876e-004   4.332e+000   -8.149e-003   -1.437e-001   -4.874e-003   9.900e+001   1.000e+003   1.440e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792295.6948      4074225.50       605251.78   1.117e-001      4074226.45       605253.96   0   3.317e-002   2.387e-002   4.261e+000   -7.510e-002   -2.972e-002   -5.233e-002   9.900e+001   1.000e+003   1.440e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792297.8946      4074225.26       605250.28   3.722e-001      4074226.62       605252.92   0   1.080e-001   -3.509e-002   4.240e+000   7.726e-002   4.442e-002   -1.414e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792300.0945      4074225.47       605250.31   5.407e-001      4074226.80       605252.62   0   -7.018e-002   -3.835e-004   4.158e+000   -1.414e-002   -4.330e-002   -6.663e-002   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792302.2943      4074223.69       605247.55   6.328e-001      4074226.80       605252.62   0   -4.640e-002   3.777e-002   4.119e+000   -4.474e-003   3.196e-002   -6.032e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792304.4942      4074221.69       605244.97   3.722e-001      4074226.80       605252.62   0   -1.346e-001   -9.012e-003   4.008e+000   -2.637e-003   -2.605e-002   -2.181e-002   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792306.6940      4074226.58       605252.41   3.824e-002      4074226.80       605252.62   1   1.725e-001   -1.965e-002   3.913e+000   9.220e-002   -4.370e-002   -2.397e-003   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792308.8939      4074227.66       605247.23   3.824e-002      4074228.59       605247.99   0   7.047e-002   -1.390e-002   3.839e+000   -2.301e-002   6.080e-002   4.234e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792311.0937      4074227.73       605246.59   4.281e-001      4074228.21       605246.95   0   -8.705e-002   0.000e+000   3.780e+000   -1.111e-001   -1.761e-001   1.366e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792313.2936      4074227.29       605243.95   -1.759e-002      4074227.81       605244.28   0   1.474e-001   -7.075e-002   3.708e+000   -1.033e-001   -2.501e-002   -3.172e-002   9.900e+001   1.000e+003   1.542e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792315.4934      4074224.95       605242.55   9.492e-001      4074227.81       605244.28   0   -9.990e-002   -2.349e-002   3.656e+000   -1.374e-002   2.740e-002   -6.583e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792317.6933      4074221.97       605241.03   8.747e-001      4074227.81       605244.28   0   -4.976e-002   1.697e-002   3.595e+000   1.198e-002   2.317e-003   -5.649e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792319.8931      4074218.97       605239.68   1.118e+000      4074227.81       605244.28   0   -8.092e-002   6.308e-002   3.536e+000   -2.269e-002   2.525e-002   -3.715e-002   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792322.0930      4074215.85       605238.59   1.043e+000      4074227.81       605244.28   0   -8.159e-002   7.401e-002   3.435e+000   -1.678e-003   2.477e-003   -2.892e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792324.2928      4074212.68       605237.66   5.025e-001      4074227.81       605244.28   0   -1.572e-002   7.900e-002   3.430e+000   1.127e-002   1.654e-002   2.157e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792326.4927      4074209.51       605236.81   3.722e-001      4074227.81       605244.28   0   1.304e-002   4.985e-003   3.380e+000   -2.293e-002   -4.027e-002   -4.554e-003   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792328.6925      4074225.90       605233.09   -1.759e-002      4074226.19       605233.15   1   1.317e-001   2.013e-003   3.331e+000   1.663e-001   2.397e-002   3.044e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792330.8924      4074221.49       605232.54   3.164e-001      4074222.67       605232.74   0   -7.143e-002   1.035e-002   3.317e+000   -2.119e-001   -1.080e-001   2.836e-002   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792333.0922      4074220.18       605230.57   1.861e-001      4074221.35       605230.83   0   9.664e-002   -3.087e-002   3.365e+000   1.553e-001   3.364e-002   2.764e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792335.2921      4074217.28       605228.44   1.861e-001      4074218.74       605228.78   0   -1.113e-001   -3.758e-002   3.373e+000   -5.273e-002   3.635e-002   3.196e-004   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792337.4919      4074213.61       605226.67   -7.444e-002      4074213.91       605226.76   1   1.255e-001   -1.345e-001   3.416e+000   3.867e-002   4.890e-002   5.273e-003   9.900e+001   1.000e+003   1.583e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792339.6918      4074210.40       605225.17   6.328e-001      4074212.42       605225.73   0   -6.155e-002   -4.727e-002   3.432e+000   4.930e-002   -9.028e-003   1.638e-002   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792341.8916      4074207.28       605224.20   3.164e-001      4074212.42       605225.73   0   8.792e-002   -5.542e-002   3.441e+000   -5.273e-002   -2.021e-002   2.956e-003   9.900e+001   1.000e+003   1.481e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792344.0915      4074204.16       605223.19   4.281e-001      4074212.42       605225.73   0   7.104e-002   -7.766e-002   3.481e+000   3.739e-002   -4.330e-002   2.645e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792346.2913      4074201.07       605222.16   3.546e-001      4074212.42       605225.73   0   -3.423e-002   -1.449e-001   3.437e+000   -8.093e-002   -2.077e-002   -7.430e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792348.4912      4074197.98       605221.13   5.025e-001      4074212.42       605225.73   0   1.153e-001   -1.735e-001   3.493e+000   8.261e-002   1.598e-003   -7.750e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792350.6910      4074194.91       605220.17   1.118e+000      4074212.42       605225.73   0   -1.111e-001   -2.689e-001   3.427e+000   -9.651e-002   -4.754e-002   1.262e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792352.8909      4074191.89       605219.26   1.304e+000      4074212.42       605225.73   0   3.595e-002   -4.106e-001   3.420e+000   6.687e-002   -6.807e-002   -2.397e-004   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792355.0907      4074189.04       605218.49   2.123e+000      4074212.42       605225.73   0   5.053e-002   -5.543e-001   3.362e+000   -9.076e-002   -9.092e-002   -5.209e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792357.2906      4074186.42       605218.09   3.630e+000      4074212.42       605225.73   0   -3.308e-001   -7.330e-001   3.259e+000   -1.863e-001   -6.024e-002   -3.531e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792359.4904      4074184.15       605217.84   4.728e+000      4074212.42       605225.73   0   -2.664e-001   -8.502e-001   3.261e+000   1.897e-001   -3.651e-002   1.406e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792361.6903      4074182.07       605217.51   6.292e+000      4074212.42       605225.73   0   1.430e-001   -8.736e-001   3.331e+000   1.524e-001   3.915e-003   4.115e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792363.8901      4074180.01       605217.05   8.712e+000      4074212.42       605225.73   0   1.220e-001   -8.655e-001   3.405e+000   -3.100e-002   2.501e-002   4.706e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792366.0900      4074177.90       605216.28   1.052e+001      4074212.42       605225.73   0   8.581e-002   -7.611e-001   3.543e+000   3.667e-002   5.369e-002   1.806e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792368.2898      4074175.57       605215.26   1.268e+001      4074212.42       605225.73   0   1.448e-002   -6.346e-001   3.561e+000   -4.730e-002   5.744e-002   1.270e-002   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792370.4897      4074173.03       605214.06   1.501e+001      4074212.42       605225.73   0   1.754e-002   -4.861e-001   3.596e+000   2.948e-002   6.679e-002   3.435e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792372.6895      4074170.30       605212.73   1.639e+001      4074212.42       605225.73   0   1.400e-002   -3.466e-001   3.597e+000   -2.884e-002   5.425e-002   1.198e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792374.8894      4074167.46       605211.33   1.784e+001      4074212.42       605225.73   0   1.889e-002   -2.382e-001   3.596e+000   -6.392e-004   3.715e-002   -5.752e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792377.0892      4074164.54       605209.93   1.884e+001      4074212.42       605225.73   0   1.476e-002   -1.764e-001   3.582e+000   -4.474e-003   7.989e-003   -2.716e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792379.2891      4074161.58       605208.55   1.979e+001      4074212.42       605225.73   0   1.975e-002   -1.546e-001   3.574e+000   -8.549e-003   -4.714e-003   -2.557e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792381.4889      4074158.61       605207.21   2.011e+001      4074212.42       605225.73   0   8.533e-003   -1.755e-001   3.557e+000   -1.310e-002   -2.341e-002   -6.631e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792383.6888      4074155.63       605205.95   2.069e+001      4074212.42       605225.73   0   -3.164e-003   -2.323e-001   3.534e+000   -1.278e-003   -3.547e-002   -2.716e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792385.8886      4074152.69       605204.74   2.071e+001      4074212.42       605225.73   0   2.684e-002   -3.024e-001   3.528e+000   4.474e-003   -3.547e-002   -1.917e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792388.0885      4074149.78       605203.60   2.177e+001      4074212.42       605225.73   0   1.985e-002   -3.794e-001   3.501e+000   -1.774e-002   -3.252e-002   -1.678e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792390.2883      4074146.93       605202.58   2.266e+001      4074212.42       605225.73   0   1.112e-002   -4.405e-001   3.476e+000   3.675e-003   -2.613e-002   5.113e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792392.4882      4074144.13       605201.60   2.367e+001      4074212.42       605225.73   0   2.358e-002   -4.674e-001   3.483e+000   6.871e-003   -1.039e-002   4.394e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792394.6880      4074141.36       605200.58   2.518e+001      4074212.42       605225.73   0   2.771e-002   -4.621e-001   3.506e+000   -1.678e-003   5.033e-003   4.234e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792396.8879      4074138.58       605199.51   2.632e+001      4074212.42       605225.73   0   2.263e-002   -4.320e-001   3.507e+000   -4.394e-003   1.358e-002   8.389e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792399.0877      4074135.75       605198.43   2.758e+001      4074212.42       605225.73   0   2.109e-002   -3.789e-001   3.503e+000   -4.953e-003   3.260e-002   6.551e-003   9.900e+001   1.000e+003   1.501e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792401.2876      4074132.82       605197.30   2.909e+001      4074212.42       605225.73   0   3.816e-002   -2.590e-001   3.520e+000   1.071e-002   6.495e-002   9.667e-003   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980792403.4874      4074129.77       605196.03   3.047e+001      4074212.42       605225.73   0   5.954e-002   -7.890e-002   3.554e+000   3.036e-003   8.709e-002   1.127e-002   9.900e+001   1.000e+003   1.522e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   

];
