%
 %%%%%%  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=[
993525240.1143      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525240.3042      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525240.4942      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525240.6942      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525240.8942      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525241.1042      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525241.2942      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525241.4942      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525241.7041      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525241.8941      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525242.0941      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525242.2941      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525242.5141      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525242.6941      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525242.8941      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525243.0941      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525243.2940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525243.4940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525243.6940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525243.8940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525244.0940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525244.2940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525244.4940      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525244.6939      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525244.8939      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525245.0939      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525245.2939      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525245.4939      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525245.6939      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525245.9039      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525246.0938      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525246.3038      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525246.4938      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993525246.6938      4067388.80       600674.20   0.0000e+000      4067388.80       600674.20   1   0.0000e+000   0.0000e+000   8.7266e-002   0.0000e+000   0.0000e+000   0.0000e+000   2.1000e+002   2.1000e+002   0.0000e+000            0.00            0.00      4067388.80       600674.20   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   

];
