%
 %%%%%%  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=[
1003422513.7386      9100375.39       455339.78   -1.2987e-001      9100375.39       455339.78   1   1.1641e-002   -3.5517e-003   5.1576e+000   4.1504e-003   4.1504e-003   -1.0986e-003   9.9000e+001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422513.8486      9100375.40       455339.74   2.4118e-001      9100375.40       455339.74   1   9.5295e-003   -4.7997e-004   5.1572e+000   9.7656e-004   4.8828e-003   -1.8311e-003   8.9000e-001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422514.2386      9100375.40       455339.71   -1.8552e-001      9100375.40       455339.71   1   9.1455e-003   1.5359e-003   5.1568e+000   1.3428e-003   5.6152e-003   8.5449e-004   8.9000e-001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422514.5486      9100375.40       455339.70   2.4118e-001      9100375.40       455339.70   1   9.0495e-003   3.1678e-003   5.1567e+000   -7.3242e-004   4.6387e-003   -8.5449e-004   8.9000e-001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422514.6386      9100375.40       455339.70   2.4118e-001      9100375.40       455339.70   1   9.1455e-003   3.5517e-003   5.1567e+000   -1.5869e-003   3.7842e-003   -1.7090e-003   9.9000e+001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422514.8386      9100375.40       455339.70   0.0000e+000      9100375.40       455339.70   1   9.5295e-003   4.1277e-003   5.1565e+000   -1.3428e-003   2.0752e-003   -1.2207e-004   9.9000e+001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422515.0385      9100375.40       455339.70   -1.2987e-001      9100375.40       455339.70   1   9.7215e-003   4.5117e-003   5.1565e+000   -7.3242e-004   2.1973e-003   -1.2207e-004   8.3000e-001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422517.5684      9100375.39       455339.83   -7.4209e-002      9100375.39       455339.83   1   5.7622e-002   -1.6319e-003   5.1559e+000   -4.8462e-002   -5.7373e-003   1.4648e-003   8.3000e-001   1.0000e+003   0.0000e+000            0.00            0.00      9026908.15       759124.76   -1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422517.6384      9100375.39       455339.83   -7.4209e-002      9100375.39       455339.83   1   5.7622e-002   -1.6319e-003   5.1559e+000   -4.8462e-002   -5.7373e-003   1.4648e-003   1.0200e+000   1.0000e+003   1.0030e+000            0.00            0.00      9100562.62       455458.32   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422517.8384      9100375.39       455339.83   -7.4209e-002      9100375.39       455339.83   1   6.7221e-002   -2.7838e-003   5.1565e+000   -4.8096e-002   -5.7373e-003   3.5400e-003   1.0200e+000   1.0000e+003   1.0956e+000            0.00            0.00      9100561.27       455460.04   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422518.0383      9100375.39       455339.85   -7.4209e-002      9100375.39       455339.85   1   7.6725e-002   -4.0317e-003   5.1571e+000   -4.7363e-002   -5.8594e-003   3.2959e-003   9.9000e+001   1.0000e+003   1.0596e+000            0.00            0.00      9100561.27       455460.05   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422518.2383      9100375.39       455339.85   -7.4209e-002      9100375.39       455339.85   1   8.5940e-002   -5.0876e-003   5.1581e+000   -4.4556e-002   -4.7607e-003   4.7607e-003   9.9000e+001   1.0000e+003   1.2397e+000            0.00            0.00      9100561.29       455460.02   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422518.4383      9100375.39       455339.85   1.2987e-001      9100375.39       455339.85   1   9.4099e-002   -5.9516e-003   5.1591e+000   -3.7354e-002   -4.6387e-003   4.3945e-003   9.9000e+001   1.0000e+003   1.1728e+000            0.00            0.00      9100561.28       455460.08   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422518.6383      9100375.39       455339.85   1.2987e-001      9100375.39       455339.85   1   1.0063e-001   -6.6235e-003   5.1605e+000   -2.8442e-002   -4.2725e-003   8.6670e-003   9.9000e+001   1.0000e+003   1.2191e+000            0.00            0.00      9100561.43       455459.89   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422518.8383      9100375.39       455339.83   3.1539e-001      9100375.39       455339.83   1   1.0571e-001   -7.3915e-003   5.1622e+000   -2.2583e-002   -4.8828e-003   7.8125e-003   9.9000e+001   1.0000e+003   1.2242e+000            0.00            0.00      9100561.58       455459.70   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422519.0383      9100375.39       455339.82   -7.4209e-002      9100375.39       455339.82   1   1.0936e-001   -7.9674e-003   5.1639e+000   -1.4648e-002   -3.0518e-003   8.0566e-003   9.9000e+001   1.0000e+003   1.2448e+000            0.00            0.00      9100561.74       455459.50   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422519.2383      9100375.39       455339.81   5.5657e-002      9100375.39       455339.81   1   1.1128e-001   -8.3514e-003   5.1656e+000   -5.6152e-003   -1.9531e-003   8.7891e-003   9.9000e+001   1.0000e+003   1.1214e+000            0.00            0.00      9100561.46       455460.13   5.5657e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422519.4382      9100375.39       455339.78   1.2987e-001      9100375.39       455339.78   1   1.1157e-001   -8.5434e-003   5.1678e+000   3.2959e-003   -1.9531e-003   1.1719e-002   9.9000e+001   1.0000e+003   1.2757e+000            0.00            0.00      9100561.48       455460.10   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422519.6482      9100375.40       455339.75   2.4118e-001      9100375.40       455339.75   1   1.1042e-001   -8.7354e-003   5.1703e+000   9.2773e-003   -3.5400e-003   1.1963e-002   9.9000e+001   1.0000e+003   1.3117e+000            0.00            0.00      9100561.64       455459.90   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422519.8382      9100375.40       455339.71   1.8552e-001      9100375.40       455339.71   1   1.0811e-001   -9.1193e-003   5.1729e+000   1.4526e-002   -3.0518e-003   1.2817e-002   9.9000e+001   1.0000e+003   1.2860e+000            0.00            0.00      9100561.80       455459.70   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422520.1182      9100375.40       455339.69   -7.4209e-002      9100375.40       455339.69   1   1.0475e-001   -9.1193e-003   5.1758e+000   1.9653e-002   1.2207e-004   1.5381e-002   9.9000e+001   1.0000e+003   1.3323e+000            0.00            0.00      9100561.97       455459.49   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422520.2382      9100375.40       455339.63   2.4118e-001      9100375.40       455339.63   1   1.0043e-001   -8.6394e-003   5.1789e+000   2.3438e-002   7.3242e-004   1.6235e-002   9.9000e+001   1.0000e+003   1.3014e+000            0.00            0.00      9100561.67       455460.16   2.4118e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422520.4382      9100375.40       455339.59   1.8552e-001      9100375.40       455339.59   1   9.5731e-002   -8.3514e-003   5.1823e+000   2.4048e-002   -1.2207e-003   1.7944e-002   9.0000e-001   1.0000e+003   1.3168e+000            0.00            0.00      9100561.83       455459.96   2.4118e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422520.6382      9100375.41       455339.54   1.8552e-001      9100375.41       455339.54   1   9.1124e-002   -8.2554e-003   5.1859e+000   2.2095e-002   -1.2207e-004   1.8311e-002   9.0000e-001   1.0000e+003   1.3477e+000            0.00            0.00      9100562.01       455459.75   2.4118e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422520.8382      9100375.41       455339.49   0.0000e+000      9100375.41       455339.49   1   8.6804e-002   -7.6794e-003   5.1899e+000   2.0142e-002   3.5400e-003   2.1240e-002   9.0000e-001   1.0000e+003   1.3888e+000            0.00            0.00      9100562.18       455459.54   2.4118e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422521.0381      9100375.41       455339.42   -7.4209e-002      9100375.41       455339.42   1   8.3060e-002   -6.4315e-003   5.1939e+000   1.6968e-002   4.7607e-003   1.9653e-002   9.9000e+001   1.0000e+003   1.3271e+000            0.00            0.00      9100561.68       455460.11   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422521.2381      9100375.42       455339.35   1.2987e-001      9100375.42       455339.35   1   7.9988e-002   -5.2796e-003   5.1980e+000   1.3794e-002   2.9297e-003   2.2339e-002   9.9000e+001   1.0000e+003   1.2654e+000            0.00            0.00      9100561.67       455460.12   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422521.4381      9100375.42       455339.29   -1.8552e-001      9100375.42       455339.29   1   7.7781e-002   -4.3197e-003   5.2024e+000   8.5449e-003   2.5635e-003   2.2339e-002   9.9000e+001   1.0000e+003   1.2705e+000            0.00            0.00      9100561.83       455459.93   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422521.6481      9100375.42       455339.22   -7.4209e-002      9100375.42       455339.22   1   7.7013e-002   -3.2638e-003   5.2071e+000   1.2207e-003   4.1504e-003   2.4902e-002   8.6000e-001   1.0000e+003   1.4351e+000            0.00            0.00      9100561.69       455460.09   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422521.8381      9100375.43       455339.14   0.0000e+000      9100375.43       455339.14   1   7.7685e-002   -2.0159e-003   5.2120e+000   -6.8359e-003   4.2725e-003   2.4658e-002   8.6000e-001   1.0000e+003   1.2860e+000            0.00            0.00      9100561.67       455460.12   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422522.0381      9100375.43       455339.06   0.0000e+000      9100375.43       455339.06   1   7.9796e-002   -8.6394e-004   5.2170e+000   -1.3306e-002   2.8076e-003   2.5757e-002   8.7000e-001   1.0000e+003   1.2962e+000            0.00            0.00      9100561.87       455460.02   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422522.2881      9100376.20       455338.98   -7.4209e-002      9100376.20       455338.98   1   8.5748e-002   7.6794e-004   5.2250e+000   -2.3682e-002   3.5400e-003   2.8564e-002   8.7000e-001   1.0000e+003   1.2911e+000            0.00            0.00      9100561.89       455459.99   -7.4209e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422522.4380      9100376.20       455338.94   0.0000e+000      9100376.20       455338.94   1   8.8244e-002   1.4399e-003   5.2277e+000   -2.5757e-002   4.0283e-003   2.8076e-002   8.7000e-001   1.0000e+003   1.3785e+000            0.00            0.00      9100561.85       455460.04   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422522.6380      9100376.20       455338.86   0.0000e+000      9100376.20       455338.86   1   9.3811e-002   2.6878e-003   5.2334e+000   -2.9419e-002   2.9297e-003   3.0518e-002   8.7000e-001   1.0000e+003   1.2911e+000            0.00            0.00      9100561.87       455460.03   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422522.8580      9100376.21       455338.72   0.0000e+000      9100376.21       455338.72   1   1.0303e-001   4.4157e-003   5.2428e+000   -3.2104e-002   2.3193e-003   3.1860e-002   9.9000e+001   1.0000e+003   1.3117e+000            0.00            0.00      9100562.07       455459.72   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422523.0380      9100376.21       455338.68   5.5657e-002      9100376.21       455338.68   1   1.0619e-001   4.8956e-003   5.2460e+000   -3.2104e-002   8.5449e-004   3.3203e-002   9.9000e+001   1.0000e+003   1.1368e+000            0.00            0.00      9100562.05       455459.75   5.5657e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422523.2480      9100376.22       455338.60   1.8552e-001      9100376.22       455338.60   1   1.1243e-001   5.7596e-003   5.2526e+000   -3.0273e-002   2.4414e-004   3.2837e-002   9.9000e+001   1.0000e+003   1.4197e+000            0.00            0.00      9100562.09       455459.71   1.8552e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422523.4380      9100376.22       455338.51   -1.2987e-001      9100376.22       455338.51   1   1.1848e-001   6.7195e-003   5.2593e+000   -2.9907e-002   -1.2207e-004   3.4546e-002   9.9000e+001   1.0000e+003   1.3477e+000            0.00            0.00      9100562.28       455459.51   1.8552e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422523.6480      9100376.23       455338.43   5.5657e-002      9100376.23       455338.43   1   1.2424e-001   7.3915e-003   5.2660e+000   -2.8564e-002   -1.5869e-003   3.3447e-002   9.9000e+001   1.0000e+003   1.4146e+000            0.00            0.00      9100562.09       455459.71   5.5657e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422523.8479      9100376.23       455338.34   5.5657e-002      9100376.23       455338.34   1   1.2933e-001   7.8714e-003   5.2729e+000   -2.3438e-002   -2.9297e-003   3.5400e-002   9.9000e+001   1.0000e+003   1.4403e+000            0.00            0.00      9100562.10       455459.71   5.5657e-002   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422524.0379      9100376.23       455338.26   -1.8552e-001      9100376.23       455338.26   1   1.3346e-001   8.2554e-003   5.2800e+000   -1.7334e-002   -3.0518e-003   3.4546e-002   9.9000e+001   1.0000e+003   1.2242e+000            0.00            0.00      9100562.07       455459.74   -1.8552e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422524.2379      9100376.24       455338.16   0.0000e+000      9100376.24       455338.16   1   1.3643e-001   8.4474e-003   5.2872e+000   -1.3794e-002   -4.2725e-003   3.6865e-002   9.9000e+001   1.0000e+003   1.4557e+000            0.00            0.00      9100562.10       455459.71   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422524.4379      9100376.24       455338.08   1.2987e-001      9100376.24       455338.08   1   1.3874e-001   8.5434e-003   5.2948e+000   -9.8877e-003   -5.1270e-003   3.7598e-002   9.9000e+001   1.0000e+003   1.3374e+000            0.00            0.00      9100562.28       455459.55   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422524.6379      9100376.25       455338.00   1.2987e-001      9100376.25       455338.00   1   1.4037e-001   8.5434e-003   5.3024e+000   -6.2256e-003   -5.7373e-003   3.7720e-002   9.9000e+001   1.0000e+003   1.4660e+000            0.00            0.00      9100562.50       455459.35   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422524.8379      9100376.25       455337.91   1.6825e-001      9100376.25       455337.91   1   1.4094e-001   8.3514e-003   5.3100e+000   -1.0986e-003   -6.1035e-003   3.7720e-002   9.9000e+001   1.0000e+003   1.2705e+000            0.00            0.00      9100562.68       455459.18   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422525.0379      9100377.02       455337.87   3.5378e-001      9100377.02       455337.87   1   1.4075e-001   8.1594e-003   5.3179e+000   1.3428e-003   -6.2256e-003   3.9673e-002   9.9000e+001   1.0000e+003   1.2345e+000            0.00            0.00      9100562.86       455459.01   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422526.6378      9100377.05       455337.19   2.9812e-001      9100377.05       455337.19   1   1.3019e-001   5.8556e-003   5.3855e+000   6.9580e-003   -1.1353e-002   4.3701e-002   9.9000e+001   1.0000e+003   1.3940e+000            0.00            0.00      9100563.07       455458.82   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422526.8377      9100377.05       455337.09   1.8552e-001      9100377.05       455337.09   1   1.2885e-001   4.8956e-003   5.3947e+000   6.2256e-003   -1.0010e-002   4.5898e-002   9.9000e+001   1.0000e+003   1.3271e+000            0.00            0.00      9100564.73       455457.51   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422527.0377      9100377.06       455337.00   -1.8552e-001      9100377.06       455337.00   1   1.2770e-001   4.1277e-003   5.4039e+000   4.2725e-003   -9.8877e-003   4.4556e-002   9.9000e+001   1.0000e+003   1.4506e+000            0.00            0.00      9100564.96       455457.33   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422527.2377      9100377.83       455336.95   1.8552e-001      9100377.83       455336.95   1   1.2722e-001   3.3598e-003   5.4131e+000   9.7656e-004   -1.0254e-002   4.5410e-002   9.9000e+001   1.0000e+003   1.5226e+000            0.00            0.00      9100562.35       455459.14   1.8552e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422527.4377      9100377.83       455336.84   0.0000e+000      9100377.83       455336.84   1   1.2722e-001   2.5918e-003   5.4225e+000   -7.3242e-004   -9.7656e-003   4.5654e-002   9.9000e+001   1.0000e+003   1.4351e+000            0.00            0.00      9100562.58       455458.97   1.8552e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422527.6377      9100377.84       455336.75   1.2987e-001      9100377.84       455336.75   1   1.2779e-001   1.9199e-003   5.4320e+000   -4.7607e-003   -9.8877e-003   4.7607e-002   9.9000e+001   1.0000e+003   1.2500e+000            0.00            0.00      9100562.31       455459.18   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   
1003422527.8377      9100377.84       455336.64   -1.2987e-001      9100377.84       455336.64   1   1.2923e-001   1.3439e-003   5.4420e+000   -8.3008e-003   -8.5449e-003   5.0415e-002   9.9000e+001   1.0000e+003   1.4248e+000            0.00            0.00      9100562.54       455459.01   1.2987e-001   0.0000e+000   0.0000e+000   0.0000e+000   0.0000e+000   

];
