%
 %%%%%%  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=[
980886436.8136      4073692.04       604548.55   -7.445e-002      4073692.04       604548.55   1   1.411e-001   7.382e-003   4.523e+000   5.457e-002   8.469e-003   -1.198e-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   
980886441.0133      4073692.71       604548.59   -1.303e-001      4073692.78       604548.84   1   4.008e-002   -3.691e-002   4.443e+000   5.537e-002   -8.764e-002   -1.374e-002   9.900e+001   1.000e+003   1.316e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980886445.2130      4073692.51       604548.44   -7.445e-002      4073692.60       604548.69   1   5.024e-002   2.215e-002   4.384e+000   -1.414e-002   -1.135e-002   -5.689e-002   9.900e+001   1.000e+003   1.337e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980886449.4127      4073693.19       604547.38   -1.303e-001      4073693.32       604547.64   1   1.544e-001   -6.471e-002   4.244e+000   2.141e-002   -5.345e-002   -9.587e-004   9.900e+001   1.000e+003   1.460e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
980886453.6124      4073693.14       604545.62   -1.861e-001      4073693.30       604545.86   1   1.203e-001   1.534e-002   4.098e+000   8.605e-002   -1.598e-002   -1.166e-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   
980886457.8121      4073692.30       604542.10   -7.445e-002      4073692.52       604542.30   1   1.323e-001   -7.286e-002   3.877e+000   -1.158e-001   -1.214e-002   -4.938e-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   
980886462.0118      4073690.19       604539.05   -1.861e-001      4073690.45       604539.20   1   1.627e-001   -9.875e-002   3.663e+000   8.573e-002   3.675e-003   -1.726e-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   
980886466.2115      4073688.09       604535.85   3.722e-001      4073688.93       604536.10   0   4.333e-002   -1.213e-001   3.410e+000   -4.953e-002   7.989e-005   -5.864e-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   
980886470.4113      4073683.04       604535.14   5.175e-001      4073688.93       604536.10   0   -5.110e-002   -5.273e-003   3.184e+000   -1.079e-002   1.878e-002   -5.569e-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   
980886474.6110      4073676.76       604535.67   4.467e-001      4073688.93       604536.10   0   8.820e-003   6.865e-002   2.950e+000   -4.075e-002   -1.965e-002   -5.065e-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   
980886478.8107      4073670.95       604537.99   1.452e-001      4073688.93       604536.10   0   -1.172e-001   3.902e-002   2.593e+000   -1.150e-001   -2.924e-002   -5.209e-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   
980886483.0104      4073688.74       604536.33   -1.861e-001      4073688.93       604536.10   1   7.469e-002   1.620e-002   2.245e+000   -2.029e-001   4.474e-002   -7.438e-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   
980886487.2101      4073680.83       604520.55   -3.164e-001      4073680.97       604520.28   1   1.872e-001   -2.330e-002   2.043e+000   9.667e-003   -2.533e-002   -1.095e-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   
980886491.4098      4073676.36       604522.99   -1.861e-001      4073676.56       604522.42   0   1.510e-001   2.320e-002   1.909e+000   -1.003e-001   -4.762e-002   4.794e-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   
980886495.6095      4073672.83       604527.95   -2.606e-001      4073672.92       604527.67   1   8.648e-002   3.643e-003   1.885e+000   -1.075e-001   -1.390e-002   -1.454e-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   
980886499.8092      4073669.00       604533.66   -1.154e-001      4073669.11       604533.37   1   7.449e-002   -7.114e-002   1.920e+000   -3.483e-002   -1.790e-002   -8.868e-003   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   
980886504.0090      4073664.12       604540.70   -2.606e-001      4073664.20       604540.42   1   1.258e-001   -2.451e-001   1.852e+000   -2.724e-002   -2.637e-003   -2.357e-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   
980886508.2087      4073662.62       604543.89   5.584e-001      4073663.11       604541.47   0   -1.325e-001   -7.006e-001   1.744e+000   -4.906e-002   -1.333e-001   -1.103e-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   
980886512.4084      4073661.76       604547.49   2.975e+000      4073663.11       604541.47   0   1.387e-001   -1.059e+000   1.975e+000   1.476e-001   -2.389e-002   5.497e-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   
980886516.6081      4073660.30       604549.85   6.698e+000      4073663.11       604541.47   0   1.008e-001   -1.118e+000   2.146e+000   -1.619e-001   6.312e-003   -6.471e-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   
980886520.8078      4073658.93       604552.63   1.123e+001      4073663.11       604541.47   0   -7.996e-002   -9.840e-001   1.945e+000   4.458e-002   4.139e-002   -1.358e-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   
980886525.0075      4073657.47       604556.52   1.590e+001      4073663.11       604541.47   0   6.481e-002   -7.063e-001   1.937e+000   2.037e-002   7.846e-002   5.353e-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   
980886529.2072      4073655.41       604561.65   1.964e+001      4073663.11       604541.47   0   8.648e-002   -2.951e-001   1.962e+000   1.598e-004   1.052e-001   5.033e-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   
980886533.4069      4073653.06       604567.42   2.149e+001      4073663.11       604541.47   0   8.715e-002   1.168e-001   1.951e+000   -5.113e-003   7.446e-002   1.182e-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   
980886537.6067      4073650.76       604573.06   2.199e+001      4073663.11       604541.47   0   8.926e-002   3.343e-001   1.972e+000   -5.273e-003   2.477e-002   1.294e-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   
980886541.8064      4073648.37       604578.43   2.054e+001      4073663.11       604541.47   0   9.463e-002   3.591e-001   2.005e+000   -1.055e-002   -1.766e-002   1.238e-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   
980886546.0061      4073645.74       604583.87   1.857e+001      4073663.11       604541.47   0   8.657e-002   2.253e-001   2.031e+000   -5.832e-003   -4.386e-002   3.595e-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   
980886550.2058      4073642.98       604589.47   1.687e+001      4073663.11       604541.47   0   8.878e-002   8.686e-002   2.026e+000   -8.788e-004   -3.132e-002   8.868e-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   
980886554.4055      4073640.18       604595.11   1.642e+001      4073663.11       604541.47   0   9.089e-002   4.890e-003   2.037e+000   -5.593e-003   -1.710e-002   5.433e-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   
980886558.6052      4073637.32       604600.73   1.586e+001      4073663.11       604541.47   0   8.399e-002   1.985e-002   2.051e+000   -5.673e-003   7.430e-003   6.392e-004   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   
980886562.8049      4073634.41       604606.31   1.579e+001      4073663.11       604541.47   0   7.756e-002   7.679e-002   2.038e+000   -9.108e-003   7.910e-003   7.031e-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   
980886567.0046      4073631.65       604611.93   1.523e+001      4073663.11       604541.47   0   1.078e-001   1.402e-001   2.038e+000   4.634e-003   8.149e-003   8.868e-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   
980886571.2044      4073628.67       604617.42   1.459e+001      4073663.11       604541.47   0   9.300e-002   1.424e-001   2.084e+000   -1.182e-002   -2.956e-003   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   
980886575.4041      4073625.61       604622.89   1.346e+001      4073663.11       604541.47   0   8.792e-002   1.243e-001   2.080e+000   -9.667e-003   -1.127e-002   4.554e-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   
980886579.6038      4073622.58       604628.39   1.256e+001      4073663.11       604541.47   0   8.715e-002   7.862e-002   2.068e+000   -7.989e-003   -1.846e-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   
980886583.8135      4073619.54       604633.96   1.195e+001      4073663.11       604541.47   0   9.281e-002   5.014e-002   2.081e+000   -4.474e-003   -6.951e-003   4.794e-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   
980886588.0132      4073616.41       604639.46   1.163e+001      4073663.11       604541.47   0   7.708e-002   5.053e-002   2.078e+000   -1.438e-003   4.234e-003   -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   
980886592.2129      4073613.43       604645.04   1.133e+001      4073663.11       604541.47   0   9.089e-002   6.960e-002   2.056e+000   -3.435e-003   1.758e-003   1.302e-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   
980886596.4126      4073610.44       604650.60   1.074e+001      4073663.11       604541.47   0   1.011e-001   8.140e-002   2.078e+000   -5.433e-003   -7.270e-003   7.191e-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   
980886600.6123      4073607.35       604656.10   1.011e+001      4073663.11       604541.47   0   9.261e-002   8.101e-002   2.082e+000   9.587e-004   3.356e-003   4.155e-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   
980886604.8120      4073604.21       604661.58   9.416e+000      4073663.11       604541.47   0   8.303e-002   5.963e-002   2.090e+000   -1.342e-002   -9.108e-003   4.554e-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   
980886609.0118      4073601.16       604667.05   8.969e+000      4073663.11       604541.47   0   9.329e-002   5.216e-002   2.076e+000   2.876e-003   -4.314e-003   7.191e-004   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   
980886613.2115      4073598.09       604672.55   8.839e+000      4073663.11       604541.47   0   9.127e-002   3.145e-002   2.078e+000   4.314e-003   -1.047e-002   8.309e-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   
980886617.4112      4073595.02       604678.04   8.539e+000      4073663.11       604541.47   0   9.961e-002   4.496e-002   2.100e+000   2.716e-003   5.513e-003   -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   
980886621.6109      4073591.81       604683.46   8.111e+000      4073663.11       604541.47   0   6.625e-002   5.158e-002   2.088e+000   -3.276e-003   4.714e-003   3.276e-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   
980886625.8106      4073588.88       604688.98   7.647e+000      4073663.11       604541.47   0   1.072e-001   6.567e-002   2.064e+000   6.312e-003   -5.593e-004   9.268e-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   
980886630.0103      4073585.74       604694.44   7.201e+000      4073663.11       604541.47   0   7.929e-002   5.110e-002   2.105e+000   -1.526e-002   -1.174e-002   1.119e-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   
980886634.2100      4073582.71       604699.97   6.698e+000      4073663.11       604541.47   0   8.044e-002   4.784e-002   2.034e+000   -1.438e-003   -1.446e-002   5.433e-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   
980886638.4097      4073579.85       604705.56   6.139e+000      4073663.11       604541.47   0   1.162e-001   3.624e-002   2.076e+000   6.232e-003   -4.554e-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   
980886642.6095      4073576.66       604710.96   6.212e+000      4073663.11       604541.47   0   7.593e-002   3.547e-002   2.102e+000   -1.158e-002   2.077e-002   8.709e-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   
980886646.8092      4073573.59       604716.40   5.823e+000      4073663.11       604541.47   0   1.363e-001   2.350e-001   2.101e+000   1.917e-002   4.778e-002   4.953e-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   
980886651.0089      4073570.36       604721.46   4.704e+000      4073663.11       604541.47   0   7.900e-002   3.764e-001   2.153e+000   -1.438e-002   3.675e-002   1.949e-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   
980886655.2086      4073567.30       604726.28   2.100e+000      4073663.11       604541.47   0   9.942e-002   4.081e-001   2.140e+000   -1.806e-002   -2.533e-002   -1.150e-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   

];
