%
 %%%%%%  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=[
993707062.2725   993707062.27   -2.6005e+000   -1.9199e-001   3.3463e+000   -1.5688e-002   0.0000e+000   -2.2415e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5870e-001   5.2901e-004   -7.8252e-004   5.2901e-004   1.5845e-001   1.5507e-001   
993707062.4724   0.20   -2.6005e+000   -1.9199e-001   3.3721e+000   -3.0224e-002   0.0000e+000   -2.0688e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5859e-001   1.0576e-003   -1.3574e-003   5.2863e-004   1.5829e-001   1.5499e-001   
993707062.6624   0.19   -2.6005e+000   -1.9199e-001   3.3960e+000   -4.3538e-002   0.0000e+000   -1.9086e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   1.5859e-003   -1.2936e-003   5.2825e-004   1.5877e-001   1.5551e-001   
993707062.8624   0.20   -2.6005e+000   -1.9199e-001   3.4181e+000   -5.5879e-002   0.0000e+000   -1.7612e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   2.1139e-003   -4.6312e-004   5.2805e-004   1.6007e-001   1.5689e-001   
993707063.0624   0.20   -2.6005e+000   -1.9199e-001   3.4384e+000   -6.7217e-002   0.0000e+000   -1.6230e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   2.6420e-003   5.4297e-004   5.2805e-004   1.6160e-001   1.5850e-001   
993707063.2624   0.20   -2.6005e+000   -1.9199e-001   3.4572e+000   -7.7733e-002   0.0000e+000   -1.4984e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   3.1704e-003   1.0700e-003   5.2844e-004   1.6277e-001   1.5970e-001   
993707063.4624   0.20   -2.6005e+000   -1.9199e-001   3.4745e+000   -8.7387e-002   0.0000e+000   -1.3841e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   3.6989e-003   4.3118e-004   5.2844e-004   1.6266e-001   1.5957e-001   
993707063.6624   0.20   -2.6005e+000   -1.9199e-001   3.4905e+000   -9.6348e-002   0.0000e+000   -1.2761e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5859e-001   4.2275e-003   2.3955e-004   5.2863e-004   1.6306e-001   1.5996e-001   
993707063.8623   0.20   -2.6005e+000   -1.9199e-001   3.5053e+000   -1.0457e-001   0.0000e+000   -1.1783e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5859e-001   4.7561e-003   -1.9164e-004   5.2863e-004   1.6315e-001   1.6006e-001   
993707064.0623   0.20   -2.6005e+000   -1.9199e-001   3.5189e+000   -1.1220e-001   0.0000e+000   -1.0904e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5859e-001   5.2848e-003   -4.3118e-004   5.2863e-004   1.6344e-001   1.6037e-001   
993707064.2623   0.20   -2.6005e+000   -1.9199e-001   3.5315e+000   -1.1931e-001   0.0000e+000   -1.0089e-001   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   5.8130e-003   -9.2625e-004   5.2825e-004   1.6336e-001   1.6023e-001   
993707064.4723   0.21   -2.6005e+000   -1.9199e-001   3.5431e+000   -1.2581e-001   0.0000e+000   -9.3112e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   6.3411e-003   -9.2625e-004   5.2805e-004   1.6383e-001   1.6070e-001   
993707064.6623   0.19   -2.6005e+000   -1.9199e-001   3.5539e+000   -1.3182e-001   0.0000e+000   -8.5999e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   6.8687e-003   -1.0061e-003   5.2767e-004   1.6416e-001   1.6101e-001   
993707064.8623   0.20   -2.6005e+000   -1.9199e-001   3.5638e+000   -1.3736e-001   0.0000e+000   -7.9368e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   7.3964e-003   -1.1179e-004   5.2767e-004   1.6559e-001   1.6242e-001   
993707065.0723   0.21   -2.6005e+000   -1.9199e-001   3.5729e+000   -1.4248e-001   0.0000e+000   -7.3226e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   7.9243e-003   8.9431e-004   5.2786e-004   1.6718e-001   1.6399e-001   
993707065.2622   0.19   -2.6005e+000   -1.9199e-001   3.5813e+000   -1.4726e-001   0.0000e+000   -6.7502e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   8.4523e-003   7.3461e-004   5.2805e-004   1.6760e-001   1.6445e-001   
993707065.4622   0.20   -2.6005e+000   -1.9199e-001   3.5891e+000   -1.5157e-001   0.0000e+000   -6.2176e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   8.9806e-003   1.1179e-004   5.2825e-004   1.6757e-001   1.6441e-001   
993707065.6622   0.20   -2.6005e+000   -1.9199e-001   3.5963e+000   -1.5560e-001   0.0000e+000   -5.7232e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   9.5086e-003   -2.7149e-004   5.2805e-004   1.6765e-001   1.6449e-001   
993707065.8622   0.20   -2.6005e+000   -1.9199e-001   3.6030e+000   -1.5926e-001   0.0000e+000   -5.2724e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   1.0037e-002   4.7909e-005   5.2805e-004   1.6850e-001   1.6535e-001   
993707066.0622   0.20   -2.6005e+000   -1.9199e-001   3.6091e+000   -1.6269e-001   0.0000e+000   -4.8574e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   1.0565e-002   3.1940e-004   5.2805e-004   1.6930e-001   1.6620e-001   
993707066.2622   0.20   -2.6005e+000   -1.9199e-001   3.6147e+000   -1.6581e-001   0.0000e+000   -4.4771e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   1.1093e-002   4.9506e-004   5.2825e-004   1.7006e-001   1.6701e-001   
993707066.4622   0.20   -2.6005e+000   -1.9199e-001   3.6200e+000   -1.6868e-001   0.0000e+000   -4.1258e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   1.1621e-002   -1.1179e-004   5.2825e-004   1.6998e-001   1.6694e-001   
993707066.6622   0.20   -2.6005e+000   -1.9199e-001   3.6248e+000   -1.7132e-001   0.0000e+000   -3.7945e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   1.2149e-002   -9.7416e-004   5.2805e-004   1.6959e-001   1.6658e-001   
993707066.8621   0.20   -2.6005e+000   -1.9199e-001   3.6292e+000   -1.7381e-001   0.0000e+000   -3.4980e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   1.2677e-002   -1.1179e-003   5.2767e-004   1.6986e-001   1.6689e-001   
993707067.0721   0.21   -2.6005e+000   -1.9199e-001   3.6333e+000   -1.7606e-001   0.0000e+000   -3.2192e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   1.3205e-002   -8.4640e-004   5.2767e-004   1.7066e-001   1.6772e-001   
993707067.2621   0.19   -2.6005e+000   -1.9199e-001   3.6371e+000   -1.7818e-001   0.0000e+000   -2.9803e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   1.3732e-002   7.9849e-005   5.2767e-004   1.7211e-001   1.6922e-001   
993707067.4621   0.20   -2.6005e+000   -1.9199e-001   3.6406e+000   -1.8009e-001   1.5675e-002   -2.7573e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   1.4260e-002   1.2137e-003   5.2786e-004   1.7383e-001   1.7118e-001   
993707067.6621   0.20   -2.6005e+000   -1.9199e-001   3.6439e+000   -1.8184e-001   1.5380e-002   -2.5522e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   1.4788e-002   1.2936e-003   5.2825e-004   1.7456e-001   1.7190e-001   
993707067.8621   0.20   -2.6005e+000   -1.9199e-001   3.6468e+000   -1.8351e-001   1.5114e-002   -2.3586e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   1.5317e-002   6.5476e-004   5.2844e-004   1.7450e-001   1.7185e-001   
993707068.0621   0.20   -2.6005e+000   -1.9199e-001   3.6496e+000   -1.8500e-001   1.4750e-002   -2.1735e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   1.5845e-002   -3.6730e-004   5.2844e-004   1.7401e-001   1.7134e-001   
993707068.2620   0.20   -2.6005e+000   -1.9199e-001   3.6521e+000   -1.8642e-001   1.4548e-002   -2.0110e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   1.6374e-002   -1.1339e-003   5.2825e-004   1.7371e-001   1.7102e-001   
993707068.4620   0.20   -2.6005e+000   -1.9199e-001   3.6545e+000   -1.8774e-001   1.4435e-002   -1.8683e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   1.6901e-002   -1.2616e-003   5.2786e-004   1.7400e-001   1.7129e-001   
993707068.6620   0.20   -2.6005e+000   -1.9199e-001   3.6566e+000   -1.8895e-001   1.4273e-002   -1.7308e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   1.7429e-002   -9.1028e-004   5.2767e-004   1.7482e-001   1.7207e-001   
993707068.8620   0.20   -2.6005e+000   -1.9199e-001   3.6586e+000   -1.9007e-001   1.4044e-002   -1.5959e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5824e-001   1.7957e-002   -6.3879e-005   5.2748e-004   1.7614e-001   1.7335e-001   
993707069.0620   0.20   -2.6005e+000   -1.9199e-001   3.6605e+000   -1.9110e-001   1.3831e-002   -1.4712e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5830e-001   1.8484e-002   5.7491e-004   5.2767e-004   1.7736e-001   1.7456e-001   
993707069.2620   0.20   -2.6005e+000   -1.9199e-001   3.6622e+000   -1.9206e-001   1.3632e-002   -1.3560e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   1.9012e-002   1.0700e-003   5.2786e-004   1.7844e-001   1.7564e-001   
993707069.4620   0.20   -2.6005e+000   -1.9199e-001   3.6638e+000   -1.9289e-001   1.3378e-002   -1.2478e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   1.9540e-002   1.1658e-003   5.2825e-004   1.7918e-001   1.7634e-001   
993707069.6619   0.20   -2.6005e+000   -1.9199e-001   3.6652e+000   -1.9370e-001   1.3087e-002   -1.1375e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   2.0069e-002   7.0267e-004   5.2844e-004   1.7930e-001   1.7644e-001   
993707069.8619   0.20   -2.6005e+000   -1.9199e-001   3.6666e+000   -1.9445e-001   1.2757e-002   -1.0295e-002   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   2.0597e-002   0.0000e+000   5.2844e-004   1.7913e-001   1.7627e-001   
993707070.0619   0.20   -2.6005e+000   -1.9199e-001   3.6678e+000   -1.9509e-001   1.2385e-002   -9.2830e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   2.1126e-002   -3.0343e-004   5.2844e-004   1.7935e-001   1.7649e-001   
993707070.2719   0.20   -2.6005e+000   -1.9199e-001   3.6689e+000   -1.9567e-001   1.2107e-002   -8.4200e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   2.1654e-002   -8.6237e-004   5.2825e-004   1.7927e-001   1.7644e-001   
993707070.4619   0.20   -2.6005e+000   -1.9199e-001   3.6700e+000   -1.9626e-001   1.2081e-002   -7.8028e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   2.2182e-002   -8.6237e-004   5.2805e-004   1.7974e-001   1.7691e-001   
993707070.6619   0.20   -2.6005e+000   -1.9199e-001   3.6710e+000   -1.9670e-001   1.2023e-002   -7.3077e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   2.2710e-002   -4.4715e-004   5.2786e-004   1.8062e-001   1.7782e-001   
993707070.8619   0.20   -2.6005e+000   -1.9199e-001   3.6719e+000   -1.9720e-001   1.1979e-002   -6.7603e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   2.3238e-002   -9.5819e-005   5.2786e-004   1.8150e-001   1.7873e-001   
993707071.0618   0.20   -2.6005e+000   -1.9199e-001   3.6727e+000   -1.9762e-001   1.1769e-002   -6.1397e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   2.3766e-002   4.7909e-005   5.2786e-004   1.8217e-001   1.7944e-001   
993707071.2618   0.20   -2.6005e+000   -1.9199e-001   3.6735e+000   -1.9804e-001   1.1551e-002   -5.4934e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   2.4293e-002   0.0000e+000   5.2786e-004   1.8265e-001   1.7996e-001   
993707071.5318   0.23   -2.6005e+000   -1.9199e-001   3.6742e+000   -1.9839e-001   1.1320e-002   -4.9204e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   2.4821e-002   -9.5819e-005   5.2786e-004   1.8308e-001   1.8041e-001   
993707071.6718   0.18   -2.6005e+000   -1.9199e-001   3.6748e+000   -1.9870e-001   1.1350e-002   -4.6391e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5836e-001   2.5349e-002   2.2358e-004   5.2786e-004   1.8393e-001   1.8126e-001   
993707071.8618   0.19   -2.6005e+000   -1.9199e-001   3.6754e+000   -1.9898e-001   1.1505e-002   -4.5104e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   2.5877e-002   8.6237e-004   5.2805e-004   1.8516e-001   1.8250e-001   
993707072.0618   0.20   -2.6005e+000   -1.9199e-001   3.6760e+000   -1.9929e-001   1.1634e-002   -4.3274e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5847e-001   2.6405e-002   1.1019e-003   5.2825e-004   1.8598e-001   1.8333e-001   
993707072.2618   0.20   -2.6005e+000   -1.9199e-001   3.6765e+000   -1.9958e-001   1.1664e-002   -4.0707e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5859e-001   2.6934e-002   5.4297e-004   5.2863e-004   1.8607e-001   1.8339e-001   
993707072.4818   0.21   -2.6005e+000   -1.9199e-001   3.6770e+000   -1.9985e-001   1.1597e-002   -3.7381e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5853e-001   2.7462e-002   -6.5476e-004   5.2844e-004   1.8534e-001   1.8265e-001   
993707072.6617   0.19   -2.6005e+000   -1.9199e-001   3.6774e+000   -2.0004e-001   1.1463e-002   -3.4127e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5842e-001   2.7991e-002   -1.6609e-003   5.2805e-004   1.8475e-001   1.8202e-001   
993707072.8717   0.20   -2.6005e+000   -1.9199e-001   3.6778e+000   -2.0026e-001   1.1437e-002   -3.1608e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5824e-001   2.8518e-002   -1.5650e-003   5.2748e-004   1.8520e-001   1.8243e-001   
993707073.0617   0.20   -2.6005e+000   -1.9199e-001   3.6782e+000   -2.0052e-001   1.1587e-002   -3.0488e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5819e-001   2.9045e-002   -3.6730e-004   5.2729e-004   1.8686e-001   1.8408e-001   
993707073.2717   0.21   -2.6005e+000   -1.9199e-001   3.6785e+000   -2.0072e-001   1.1619e-002   -2.8878e-003   0.0000e+000   0.0000e+000   -1.7453e-001   0.0000e+000   0.0000e+000   -1.7453e-001   1.5819e-001   2.9573e-002   1.5970e-004   5.2729e-004   1.8792e-001   1.8511e-001   

];
