%
 %%%%%%  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=[
993707062.0925      4067388.80       600674.20   -4.5058e-002            0.00            0.00   0   1.4181e-002   8.9974e-002   -2.9649e+000   -8.3043e-004   3.1940e-005   -6.3879e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707062.2625      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4085e-002   8.9974e-002   -2.9649e+000   -6.4944e-004   -5.2168e-004   -2.1293e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707062.4624      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3894e-002   8.9782e-002   -2.9650e+000   -4.1521e-004   -9.0495e-004   0.0000e+000   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707062.6624      4067388.80       600674.20   8.5232e-002            0.00            0.00   0   1.3894e-002   8.9590e-002   -2.9649e+000   -6.2814e-004   -8.6237e-004   7.4526e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707062.8624      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.3702e-002   8.9495e-002   -2.9649e+000   -8.8366e-004   -3.0875e-004   1.0647e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707063.0624      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.3510e-002   8.9495e-002   -2.9648e+000   -3.6198e-004   3.6198e-004   2.7681e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707063.2624      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.3510e-002   8.9686e-002   -2.9648e+000   3.8327e-004   7.1332e-004   2.4487e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707063.4624      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.3702e-002   8.9686e-002   -2.9647e+000   8.5172e-004   2.8746e-004   1.7034e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707063.6624      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.3798e-002   8.9782e-002   -2.9647e+000   5.1103e-004   1.5970e-004   2.5552e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707063.8623      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.3894e-002   8.9782e-002   -2.9646e+000   7.1332e-004   -1.2776e-004   2.1293e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707064.0623      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.3894e-002   8.9782e-002   -2.9646e+000   6.0685e-004   -2.8746e-004   3.1940e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707064.2623      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4181e-002   8.9590e-002   -2.9647e+000   1.4479e-003   -6.1750e-004   -1.1711e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707064.4623      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4277e-002   8.9495e-002   -2.9647e+000   6.6008e-004   -6.1750e-004   -9.5819e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707064.6623      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4469e-002   8.9303e-002   -2.9647e+000   7.3461e-004   -6.7073e-004   -1.1711e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707064.8623      4067388.80       600674.20   8.5232e-002            0.00            0.00   0   1.4564e-002   8.9303e-002   -2.9647e+000   3.6198e-004   -7.4526e-005   -9.5819e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707065.0723      4067388.80       600674.20   8.5232e-002            0.00            0.00   0   1.4756e-002   8.9399e-002   -2.9647e+000   5.0039e-004   5.9620e-004   -6.3879e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707065.2622      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4660e-002   8.9495e-002   -2.9648e+000   -7.4526e-005   4.8974e-004   0.0000e+000   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707065.4622      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4756e-002   8.9590e-002   -2.9647e+000   2.4487e-004   7.4526e-005   8.5172e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707065.6622      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4852e-002   8.9495e-002   -2.9647e+000   5.3233e-004   -1.8099e-004   1.8099e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707065.8622      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4852e-002   8.9495e-002   -2.9646e+000   -5.3233e-004   3.1940e-005   2.3422e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707066.0622      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.4660e-002   8.9495e-002   -2.9646e+000   -1.1072e-003   2.1293e-004   2.7681e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707066.2622      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4469e-002   8.9590e-002   -2.9645e+000   -8.9431e-004   3.3004e-004   2.9810e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707066.4622      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4469e-002   8.9590e-002   -2.9644e+000   -3.5133e-004   -7.4526e-005   3.1940e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707066.6622      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4373e-002   8.9495e-002   -2.9643e+000   -5.8556e-004   -6.4944e-004   3.8327e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707066.8621      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.4181e-002   8.9303e-002   -2.9643e+000   -1.3521e-003   -7.4526e-004   3.8327e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707067.0621      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.4085e-002   8.9303e-002   -2.9642e+000   -1.0114e-003   -5.6426e-004   4.1521e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707067.2621      4067388.80       600674.20   -4.5058e-002            0.00            0.00   0   1.3894e-002   8.9303e-002   -2.9642e+000   -7.1332e-004   5.3233e-005   3.3004e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707067.4621      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.3798e-002   8.9399e-002   -2.9641e+000   -4.2586e-004   8.0913e-004   2.6616e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707067.6621      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.3798e-002   8.9590e-002   -2.9641e+000   -7.2396e-004   8.6237e-004   2.0228e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707067.8621      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3798e-002   8.9686e-002   -2.9641e+000   4.0457e-004   4.3651e-004   1.7034e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707068.0621      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3894e-002   8.9686e-002   -2.9640e+000   7.1332e-004   -2.4487e-004   1.8099e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707068.2620      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3990e-002   8.9590e-002   -2.9640e+000   8.1978e-004   -7.5590e-004   1.3840e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707068.4620      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4085e-002   8.9399e-002   -2.9640e+000   3.7263e-004   -8.4107e-004   5.3233e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707068.6620      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4277e-002   8.9303e-002   -2.9640e+000   8.9431e-004   -6.0685e-004   1.0647e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707068.8620      4067388.80       600674.20   -4.5058e-002            0.00            0.00   0   1.4469e-002   8.9207e-002   -2.9640e+000   7.8784e-004   -4.2586e-005   2.1293e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707069.0620      4067388.80       600674.20   -4.5058e-002            0.00            0.00   0   1.4564e-002   8.9303e-002   -2.9640e+000   3.4069e-004   3.8327e-004   3.1940e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707069.2620      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.4564e-002   8.9399e-002   -2.9640e+000   -1.7034e-004   7.1332e-004   4.2586e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707069.4620      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.4756e-002   8.9590e-002   -2.9639e+000   4.8974e-004   7.7720e-004   6.3879e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707069.6619      4067388.80       600674.20   1.0781e-002            0.00            0.00   0   1.4852e-002   8.9686e-002   -2.9639e+000   2.7681e-004   4.6845e-004   1.4905e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707069.8619      4067388.80       600674.20   -3.0563e-001            0.00            0.00   0   1.4852e-002   8.9686e-002   -2.9639e+000   -3.1940e-005   0.0000e+000   2.6616e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707070.0619      4067388.80       600674.20   -3.0563e-001            0.00            0.00   0   1.4852e-002   8.9686e-002   -2.9638e+000   -2.1293e-004   -2.0228e-004   3.8327e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707070.2619      4067388.80       600674.20   8.5232e-002            0.00            0.00   0   1.4660e-002   8.9590e-002   -2.9637e+000   -4.1521e-004   -5.7491e-004   4.4715e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707070.4619      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4660e-002   8.9495e-002   -2.9637e+000   -2.3422e-004   -5.7491e-004   3.9392e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707070.6619      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4564e-002   8.9399e-002   -2.9635e+000   -7.3461e-004   -2.9810e-004   2.9810e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707070.8619      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4373e-002   8.9399e-002   -2.9635e+000   -1.0008e-003   -6.3879e-005   2.6616e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707071.0618      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.4181e-002   8.9399e-002   -2.9634e+000   -9.2625e-004   3.1940e-005   3.0875e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707071.2618      4067388.80       600674.20   -2.3118e-001            0.00            0.00   0   1.3990e-002   8.9399e-002   -2.9634e+000   -3.3004e-004   0.0000e+000   3.9392e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707071.4718      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.3894e-002   8.9399e-002   -2.9633e+000   -5.0039e-004   -6.3879e-005   4.5780e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707071.6618      4067388.80       600674.20   -1.0090e-001            0.00            0.00   0   1.3894e-002   8.9399e-002   -2.9632e+000   -5.4297e-004   1.4905e-004   3.6198e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707071.8618      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3798e-002   8.9495e-002   -2.9631e+000   -4.5780e-004   5.7491e-004   1.9164e-004   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707072.0618      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3798e-002   8.9590e-002   -2.9631e+000   2.3422e-004   7.3461e-004   7.4526e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707072.2618      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3894e-002   8.9782e-002   -2.9631e+000   3.3004e-004   3.6198e-004   2.1293e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707072.4718      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.3990e-002   8.9686e-002   -2.9631e+000   6.8138e-004   -4.3651e-004   3.1940e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707072.6617      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4181e-002   8.9495e-002   -2.9630e+000   9.3689e-004   -1.1072e-003   5.3233e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707072.8617      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4373e-002   8.9207e-002   -2.9630e+000   9.5819e-004   -1.0434e-003   4.2586e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707073.0617      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4469e-002   8.9111e-002   -2.9631e+000   3.6198e-004   -2.4487e-004   -4.2586e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
993707073.2717      4067388.80       600674.20   -1.7535e-001            0.00            0.00   0   1.4564e-002   8.9111e-002   -2.9631e+000   3.5133e-004   1.0647e-004   -8.5172e-005   0.0000e+000   1.0000e+003   0.0000e+000            0.00            0.00      4067388.80       600674.20   -4.5058e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   

];
