%
 %%%%%%  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=[
972685376.6216      4067605.77       589267.82   0.000e+000            0.00            0.00   0   -1.544e-002   5.321e-002   1.705e+000   -6.631e-003   -7.510e-003   3.356e-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   
972685376.8216      4067605.77       589267.82   -2.960e+000            0.00            0.00   0   -1.563e-002   5.331e-002   1.705e+000   -6.631e-003   -8.868e-003   8.788e-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   
972685377.0216      4067605.77       589267.82   2.854e+001            0.00            0.00   0   -1.505e-002   5.244e-002   1.705e+000   -5.832e-003   -7.750e-003   3.675e-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   
972685377.2216      4067605.77       589267.82   -5.771e-001            0.00            0.00   0   -1.496e-002   5.302e-002   1.706e+000   -8.788e-003   -4.554e-003   3.595e-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   
972685377.4216      4067605.77       589267.82   -1.303e-001            0.00            0.00   0   -1.505e-002   5.321e-002   1.706e+000   -4.554e-003   -5.353e-003   7.111e-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   
972685377.6216      4067605.77       589267.82   -1.303e-001            0.00            0.00   0   -1.505e-002   5.311e-002   1.705e+000   -5.113e-003   -3.995e-003   5.193e-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   
972685377.8216      4067605.77       589267.82   8.750e-001            0.00            0.00   0   -1.505e-002   5.225e-002   1.706e+000   -2.956e-003   -6.152e-003   7.111e-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   
972685378.0216      4067605.77       589267.82   5.585e-002            0.00            0.00   0   -1.496e-002   5.263e-002   1.706e+000   -9.348e-003   -5.353e-003   4.714e-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   
972685378.2215      4067605.77       589267.82   1.862e-001            0.00            0.00   0   -1.486e-002   5.235e-002   1.705e+000   -7.191e-003   -2.397e-003   7.350e-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   
972685378.4215      4067605.77       589267.82   0.000e+000            0.00            0.00   0   -1.544e-002   5.311e-002   1.706e+000   -7.910e-003   -8.309e-003   9.028e-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   
972685378.6215      4067605.77       589267.82   1.266e+000            0.00            0.00   0   -1.563e-002   5.359e-002   1.706e+000   -5.353e-003   -1.917e-003   7.590e-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   
972685378.8215      4067605.76       589267.89   1.136e+000            0.00            0.00   0   -1.572e-002   5.331e-002   1.706e+000   -9.028e-003   -3.515e-003   1.135e-002   9.900e+001   1.000e+003   3.702e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685379.0215      4067605.75       589267.96   -7.447e-002            0.00            0.00   0   -1.592e-002   5.311e-002   1.706e+000   -9.827e-003   -5.113e-003   1.246e-002   9.900e+001   1.000e+003   3.702e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685379.2215      4067605.74       589268.04   5.585e-002            0.00            0.00   0   -1.572e-002   5.283e-002   1.705e+000   -4.554e-003   -7.191e-003   3.116e-003   9.900e+001   1.000e+003   3.702e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685379.4215      4067605.72       589268.19   1.322e+000            0.00            0.00   0   -1.582e-002   5.254e-002   1.706e+000   -6.631e-003   -6.152e-003   5.752e-003   9.900e+001   1.000e+003   7.609e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685379.6214      4067605.70       589268.34   1.322e+000            0.00            0.00   0   -1.563e-002   5.235e-002   1.706e+000   -6.471e-003   -4.794e-003   3.595e-003   9.900e+001   1.000e+003   7.609e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685379.8214      4067605.68       589268.49   -1.713e+000            0.00            0.00   0   -1.582e-002   5.254e-002   1.706e+000   -6.152e-003   -4.314e-003   4.953e-003   9.900e+001   1.000e+003   7.609e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685380.0214      4067605.66       589268.64   -2.029e+000            0.00            0.00   0   -1.553e-002   5.244e-002   1.706e+000   -4.234e-003   -6.152e-003   8.469e-003   9.900e+001   1.000e+003   7.609e-001            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685380.2214      4067605.63       589268.88   5.585e-002            0.00            0.00   0   -1.659e-002   5.110e-002   1.706e+000   -5.113e-003   -6.951e-003   2.317e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685380.4214      4067605.59       589269.11   3.165e-001            0.00            0.00   0   -1.620e-002   5.062e-002   1.707e+000   -8.868e-003   -3.196e-003   4.394e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685380.6214      4067605.56       589269.35   1.862e-001            0.00            0.00   0   -1.524e-002   5.100e-002   1.707e+000   -5.832e-003   -7.510e-003   8.469e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685380.8214      4067605.53       589269.58   5.585e-002            0.00            0.00   0   -1.611e-002   5.053e-002   1.708e+000   -7.750e-003   -5.113e-003   5.513e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685381.0213      4067605.50       589269.82   -7.447e-002            0.00            0.00   0   -1.572e-002   5.177e-002   1.708e+000   -3.196e-003   -7.989e-003   8.229e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685381.2213      4067605.46       589270.06   1.266e+000            0.00            0.00   0   -1.553e-002   5.254e-002   1.708e+000   -8.469e-003   -4.554e-003   8.389e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685381.4213      4067605.43       589270.29   0.000e+000            0.00            0.00   0   -1.544e-002   5.292e-002   1.708e+000   -5.033e-003   -6.711e-003   9.268e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685381.6213      4067605.40       589270.53   0.000e+000            0.00            0.00   0   -1.582e-002   5.225e-002   1.707e+000   -3.196e-003   -6.152e-003   6.551e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685381.8213      4067605.37       589270.76   1.005e+000            0.00            0.00   0   -1.582e-002   5.244e-002   1.707e+000   -4.314e-003   -5.113e-003   5.193e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685382.0213      4067605.33       589271.00   6.330e-001            0.00            0.00   0   -1.582e-002   5.244e-002   1.706e+000   -8.229e-003   -6.152e-003   3.595e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685382.2213      4067605.30       589271.24   5.585e-002            0.00            0.00   0   -1.620e-002   5.196e-002   1.707e+000   -3.755e-003   -2.956e-003   9.188e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685382.4213      4067605.27       589271.47   5.585e-002            0.00            0.00   0   -1.572e-002   5.244e-002   1.707e+000   -7.989e-003   -5.113e-003   7.910e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685382.6212      4067605.24       589271.71   7.633e-001            0.00            0.00   0   -1.515e-002   5.283e-002   1.708e+000   -7.191e-003   -3.995e-003   6.312e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685382.8212      4067605.20       589271.94   0.000e+000            0.00            0.00   0   -1.534e-002   5.369e-002   1.707e+000   -6.631e-003   -7.750e-003   6.312e-003   9.900e+001   1.000e+003   1.193e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685383.0212      4067605.16       589272.26   1.005e+000            0.00            0.00   0   -1.524e-002   5.340e-002   1.706e+000   -6.631e-003   -6.392e-003   9.507e-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   
972685383.2212      4067605.12       589272.57   5.585e-002            0.00            0.00   0   -1.515e-002   5.321e-002   1.706e+000   -6.631e-003   -5.912e-003   7.670e-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   
972685383.4212      4067605.08       589272.88   -1.508e+000            0.00            0.00   0   -1.515e-002   5.321e-002   1.706e+000   -5.033e-003   -7.191e-003   7.430e-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   
972685383.6212      4067605.03       589273.20   -1.508e+000            0.00            0.00   0   -1.563e-002   5.350e-002   1.706e+000   -7.750e-003   -3.755e-003   8.709e-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   
972685383.8212      4067604.99       589273.51   1.192e+000            0.00            0.00   0   -1.592e-002   5.350e-002   1.706e+000   -5.593e-003   -6.711e-003   4.474e-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   
972685384.0211      4067604.95       589273.82   2.886e+001            0.00            0.00   0   -1.611e-002   5.254e-002   1.706e+000   -3.116e-003   -1.254e-002   7.430e-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   
972685384.2211      4067604.90       589274.17   1.303e-001            0.00            0.00   0   -1.592e-002   5.302e-002   1.706e+000   -7.989e-003   -4.794e-003   1.031e-002   9.900e+001   1.000e+003   1.748e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685384.4211      4067604.86       589274.52   -1.862e-001            0.00            0.00   0   -1.563e-002   5.292e-002   1.706e+000   -7.670e-003   -5.593e-003   9.507e-003   9.900e+001   1.000e+003   1.748e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685384.6211      4067604.81       589274.86   -7.447e-002            0.00            0.00   0   -1.544e-002   5.216e-002   1.706e+000   -2.716e-003   -5.593e-003   8.709e-003   9.900e+001   1.000e+003   1.748e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685384.8211      4067604.76       589275.22   2.420e-001            0.00            0.00   0   -1.592e-002   5.206e-002   1.707e+000   -7.430e-003   -6.951e-003   6.871e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685385.0211      4067604.71       589275.58   1.005e+000            0.00            0.00   0   -1.630e-002   5.158e-002   1.707e+000   -6.871e-003   -7.989e-003   5.513e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685385.2211      4067604.66       589275.94   8.192e-001            0.00            0.00   0   -1.592e-002   5.168e-002   1.707e+000   -5.033e-003   -8.788e-003   6.871e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685385.4210      4067604.61       589276.29   2.767e+001            0.00            0.00   0   -1.611e-002   5.148e-002   1.708e+000   -6.152e-003   -3.515e-003   4.714e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685385.6210      4067604.56       589276.65   2.767e+001            0.00            0.00   0   -1.582e-002   5.187e-002   1.708e+000   -3.515e-003   -4.554e-003   6.871e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685385.8210      4067604.51       589277.01   -7.447e-002            0.00            0.00   0   -1.582e-002   5.168e-002   1.708e+000   -4.794e-003   -7.510e-003   7.111e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685386.0210      4067604.46       589277.37   1.303e-001            0.00            0.00   0   -1.572e-002   5.187e-002   1.707e+000   -5.832e-003   -5.593e-003   6.551e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685386.2210      4067604.41       589277.73   1.192e+000            0.00            0.00   0   -1.592e-002   5.120e-002   1.708e+000   -5.832e-003   -6.711e-003   5.752e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685386.4210      4067604.36       589278.09   5.585e-001            0.00            0.00   0   -1.534e-002   5.110e-002   1.708e+000   -6.392e-003   -5.353e-003   6.312e-003   9.900e+001   1.000e+003   1.830e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685386.6210      4067604.31       589278.45   -2.960e+000            0.00            0.00   0   -1.553e-002   5.244e-002   1.708e+000   -5.832e-003   -8.549e-003   6.871e-003   9.900e+001   1.000e+003   1.830e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685386.8209      4067604.26       589278.81   1.136e+000            0.00            0.00   0   -1.553e-002   5.292e-002   1.707e+000   -6.152e-003   -4.314e-003   9.507e-003   9.900e+001   1.000e+003   1.830e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685387.0209      4067604.22       589279.16   -2.774e+000            0.00            0.00   0   -1.544e-002   5.302e-002   1.707e+000   -6.471e-003   -2.956e-003   3.036e-003   9.900e+001   1.000e+003   1.748e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685387.2209      4067604.17       589279.50   1.604e+001            0.00            0.00   0   -1.544e-002   5.254e-002   1.707e+000   -3.196e-003   -4.314e-003   9.268e-003   9.900e+001   1.000e+003   1.748e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685387.4209      4067604.12       589279.86   1.005e+000            0.00            0.00   0   -1.563e-002   5.216e-002   1.707e+000   -3.276e-003   -5.593e-003   3.915e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685387.6209      4067604.07       589280.22   1.005e+000            0.00            0.00   0   -1.544e-002   5.196e-002   1.707e+000   -5.273e-003   -6.711e-003   9.028e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685387.8209      4067604.02       589280.58   1.734e-001            0.00            0.00   0   -1.515e-002   5.244e-002   1.707e+000   -8.549e-003   -6.152e-003   5.752e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685388.0209      4067603.97       589280.94   1.734e-001            0.00            0.00   0   -1.534e-002   5.225e-002   1.707e+000   -6.631e-003   -3.995e-003   8.948e-003   9.900e+001   1.000e+003   1.810e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   
972685388.2209      4067603.93       589281.28   -1.431e-001            0.00            0.00   0   -1.553e-002   5.187e-002   1.707e+000   -5.033e-003   -5.353e-003   7.670e-003   9.900e+001   1.000e+003   1.748e+000            0.00            0.00            0.00            0.00   0.000e+000   0.000e+000   0.000e+000   0.000e+000   0.000e+000   

];
