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Update world_magnetic_model to latest Mon 24 Oct 2022 09:29:11 PM EDT

This commit is contained in:
Daniel Agar 2022-10-25 09:20:01 -04:00 committed by GitHub
parent c32cf21b63
commit a242a0210e
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 5467 additions and 5463 deletions
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2
src/lib/world_magnetic_model/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions

18
src/lib/world_magnetic_model/fetch_noaa_table.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3
############################################################################
#
# Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
# Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -34,6 +34,7 @@
import math
import json
import sys
import urllib.request
SAMPLING_RES = 10
@ -47,7 +48,7 @@ def constrain(n, nmin, nmax):
header = """/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -99,7 +100,8 @@ print('// *INDENT-OFF*')
# Declination
params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
key=sys.argv[1] # NOAA key (https://www.ngdc.noaa.gov/geomag/CalcSurvey.shtml)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print("// Magnetic declination data in radians * 10^-4")
print('// Model: {},'.format(data['model']))
@ -112,7 +114,7 @@ for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
print('')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
@ -126,7 +128,7 @@ print("};\n")
# Inclination
params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print("// Magnetic inclination data in radians * 10^-4")
print('// Model: {},'.format(data['model']))
@ -139,7 +141,7 @@ for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
print('')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
@ -153,7 +155,7 @@ print("};\n")
# total intensity
params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print("// Magnetic strength data in milli-Gauss * 10")
print('// Model: {},'.format(data['model']))
@ -166,7 +168,7 @@ for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
print('')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print('\t/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')

14
src/lib/world_magnetic_model/generate_gtest.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3
############################################################################
#
# Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
# Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -33,6 +33,7 @@
############################################################################
import json
import sys
import urllib.request
SAMPLING_RES = 5
@ -43,7 +44,7 @@ SAMPLING_MAX_LON = 180
header = """/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -87,14 +88,15 @@ print('')
# Declination
params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
key=sys.argv[1] # NOAA key (https://www.ngdc.noaa.gov/geomag/CalcSurvey.shtml)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
print('TEST(GeoLookupTest, declination)\n{')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
for p in data['result']:
@ -112,7 +114,7 @@ print('')
print('TEST(GeoLookupTest, inclination)\n{')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
for p in data['result']:
@ -130,7 +132,7 @@ print('')
print('TEST(GeoLookupTest, strength)\n{')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?key=%s&%s" % (key, params))
data = json.loads(f.read())
for p in data['result']:

2
src/lib/world_magnetic_model/geo_mag_declination.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2014-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

2
src/lib/world_magnetic_model/geo_mag_declination.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2014-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

122
src/lib/world_magnetic_model/geo_magnetic_tables.hpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -47,80 +47,80 @@ static constexpr int LON_DIM = 37;
// Magnetic declination data in radians * 10^-4
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2022.4219,
// Date: 2022.8137,
static constexpr const int16_t declination_table[19][37] {
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
/* LAT: -90 */ { 25990, 24245, 22499, 20754, 19009, 17263, 15518, 13773, 12027, 10282, 8537, 6791, 5046, 3301, 1556, -190, -1935, -3680, -5426, -7171, -8916,-10661,-12407,-14152,-15897,-17643,-19388,-21133,-22879,-24624,-26370,-28115,-29860, 31226, 29481, 27735, 25990, },
/* LAT: -80 */ { 22557, 20425, 18484, 16709, 15069, 13530, 12066, 10654, 9279, 7929, 6597, 5278, 3969, 2664, 1357, 38, -1303, -2675, -4084, -5536, -7030, -8566,-10143,-11762,-13426,-15144,-16929,-18801,-20783,-22901,-25175,-27609,-30178, 30014, 27395, 24888, 22557, },
/* LAT: -70 */ { 14975, 13577, 12452, 11491, 10623, 9792, 8951, 8064, 7111, 6092, 5022, 3929, 2844, 1788, 766, -244, -1281, -2386, -3586, -4885, -6264, -7694, -9141,-10583,-12009,-13424,-14852,-16337,-17960,-19872,-22389,-26183, 30730, 24152, 19624, 16847, 14975, },
/* LAT: -60 */ { 8411, 8167, 7888, 7616, 7364, 7112, 6805, 6373, 5759, 4940, 3940, 2828, 1708, 679, -203, -962, -1691, -2513, -3515, -4710, -6039, -7408, -8729, -9939,-11004,-11904,-12620,-13115,-13287,-12838,-10739, -3518, 4884, 7640, 8415, 8544, 8411, },
/* LAT: -50 */ { 5478, 5515, 5460, 5373, 5300, 5264, 5231, 5105, 4762, 4101, 3092, 1820, 478, -703, -1576, -2142, -2540, -2979, -3662, -4673, -5915, -7191, -8332, -9235, -9835,-10076, -9883, -9128, -7621, -5261, -2357, 391, 2500, 3924, 4799, 5273, 5478, },
/* LAT: -40 */ { 3949, 4042, 4051, 4008, 3949, 3916, 3922, 3912, 3740, 3207, 2186, 746, -819, -2135, -3001, -3454, -3639, -3700, -3867, -4433, -5407, -6483, -7369, -7910, -8019, -7644, -6756, -5373, -3662, -1959, -498, 723, 1766, 2631, 3287, 3718, 3949, },
/* LAT: -30 */ { 2979, 3065, 3097, 3084, 3027, 2949, 2890, 2857, 2731, 2255, 1222, -295, -1903, -3159, -3901, -4249, -4330, -4122, -3689, -3464, -3824, -4571, -5270, -5622, -5499, -4914, -3955, -2749, -1540, -595, 83, 683, 1306, 1909, 2418, 2780, 2979, },
/* LAT: -20 */ { 2336, 2383, 2402, 2405, 2364, 2271, 2165, 2089, 1944, 1450, 397, -1090, -2570, -3633, -4169, -4288, -4087, -3532, -2671, -1872, -1592, -1945, -2594, -3065, -3103, -2745, -2111, -1294, -518, -28, 234, 536, 976, 1454, 1876, 2183, 2336, },
/* LAT: -10 */ { 1943, 1937, 1917, 1916, 1889, 1806, 1697, 1607, 1423, 874, -185, -1562, -2836, -3668, -3939, -3714, -3141, -2361, -1515, -759, -292, -323, -791, -1298, -1512, -1423, -1110, -611, -114, 127, 176, 336, 707, 1144, 1537, 1824, 1943, },
/* LAT: 0 */ { 1730, 1697, 1642, 1635, 1625, 1558, 1454, 1342, 1089, 469, -570, -1796, -2852, -3442, -3444, -2947, -2181, -1399, -746, -209, 205, 318, 41, -376, -632, -688, -590, -328, -38, 51, -9, 79, 420, 862, 1281, 1601, 1730, },
/* LAT: 10 */ { 1594, 1602, 1561, 1579, 1606, 1558, 1438, 1253, 878, 161, -859, -1935, -2764, -3106, -2906, -2302, -1526, -814, -298, 84, 410, 560, 399, 77, -158, -266, -289, -209, -104, -146, -285, -259, 42, 496, 977, 1384, 1594, },
/* LAT: 20 */ { 1411, 1560, 1622, 1715, 1802, 1783, 1630, 1329, 785, -70, -1113, -2065, -2664, -2777, -2452, -1852, -1141, -491, -30, 281, 540, 687, 597, 354, 154, 36, -56, -120, -200, -390, -627, -686, -452, -5, 536, 1054, 1411, },
/* LAT: 30 */ { 1111, 1478, 1738, 1963, 2123, 2135, 1949, 1528, 801, -227, -1345, -2224, -2642, -2583, -2186, -1608, -952, -334, 130, 436, 668, 816, 796, 648, 498, 373, 216, 5, -278, -652, -1021, -1181, -1022, -596, -20, 589, 1111, },
/* LAT: 40 */ { 754, 1341, 1835, 2228, 2478, 2522, 2308, 1776, 866, -361, -1601, -2470, -2794, -2644, -2200, -1608, -955, -325, 187, 552, 824, 1023, 1118, 1108, 1031, 883, 614, 204, -335, -941, -1463, -1708, -1592, -1176, -578, 95, 754, },
/* LAT: 50 */ { 465, 1212, 1894, 2451, 2818, 2925, 2697, 2044, 904, -593, -2018, -2936, -3233, -3043, -2554, -1908, -1198, -499, 118, 625, 1044, 1401, 1682, 1853, 1872, 1685, 1241, 533, -361, -1264, -1944, -2231, -2107, -1666, -1031, -299, 465, },
/* LAT: 60 */ { 271, 1124, 1930, 2625, 3130, 3344, 3131, 2320, 806, -1154, -2874, -3857, -4112, -3852, -3280, -2534, -1707, -866, -56, 696, 1389, 2021, 2565, 2962, 3122, 2937, 2299, 1183, -231, -1552, -2422, -2732, -2568, -2074, -1380, -579, 271, },
/* LAT: 70 */ { 39, 975, 1873, 2673, 3288, 3583, 3332, 2198, -39, -2755, -4710, -5537, -5547, -5063, -4293, -3357, -2331, -1264, -188, 873, 1899, 2866, 3735, 4444, 4892, 4926, 4319, 2849, 656, -1453, -2754, -3199, -3040, -2508, -1758, -888, 39, },
/* LAT: 80 */ { -657, 266, 1119, 1811, 2196, 2014, 818, -1786, -4993, -7115, -7869, -7741, -7113, -6196, -5104, -3905, -2638, -1331, -5, 1323, 2638, 3921, 5149, 6289, 7286, 8047, 8392, 7952, 6034, 2270, -1332, -3056, -3426, -3101, -2427, -1579, -657, },
/* LAT: 90 */ { -29886,-28141,-26395,-24650,-22905,-21159,-19414,-17669,-15923,-14178,-12433,-10688, -8943, -7197, -5452, -3707, -1962, -217, 1528, 3274, 5019, 6764, 8509, 10255, 12000, 13745, 15491, 17236, 18982, 20727, 22473, 24218, 25964, 27709, 29455, 31200,-29886, },
/* LAT: -90 */ { 25980, 24235, 22489, 20744, 18999, 17253, 15508, 13763, 12017, 10272, 8527, 6782, 5036, 3291, 1546, -200, -1945, -3690, -5435, -7181, -8926,-10671,-12417,-14162,-15907,-17653,-19398,-21143,-22889,-24634,-26379,-28125,-29870, 31216, 29471, 27726, 25980, },
/* LAT: -80 */ { 22546, 20415, 18476, 16702, 15061, 13523, 12060, 10648, 9273, 7923, 6591, 5273, 3964, 2659, 1351, 32, -1309, -2682, -4092, -5544, -7039, -8576,-10154,-11773,-13438,-15156,-16942,-18815,-20798,-22916,-25191,-27625,-30194, 29999, 27381, 24876, 22546, },
/* LAT: -70 */ { 14978, 13580, 12453, 11491, 10622, 9790, 8948, 8060, 7108, 6088, 5018, 3925, 2840, 1786, 764, -246, -1283, -2389, -3591, -4892, -6273, -7704, -9152,-10595,-12021,-13438,-14867,-16353,-17977,-19893,-22416,-26218, 30695, 24136, 19622, 16850, 14978, },
/* LAT: -60 */ { 8423, 8177, 7895, 7621, 7367, 7113, 6804, 6371, 5756, 4936, 3935, 2824, 1704, 677, -203, -960, -1688, -2512, -3517, -4716, -6048, -7419, -8741, -9952,-11016,-11915,-12630,-13125,-13297,-12848,-10746, -3486, 4925, 7665, 8433, 8558, 8423, },
/* LAT: -50 */ { 5487, 5523, 5467, 5377, 5303, 5266, 5231, 5104, 4760, 4096, 3085, 1813, 472, -706, -1574, -2136, -2531, -2972, -3659, -4677, -5925, -7204, -8346, -9247, -9844,-10082, -9886, -9127, -7616, -5254, -2348, 400, 2510, 3934, 4809, 5283, 5487, },
/* LAT: -40 */ { 3956, 4049, 4056, 4011, 3951, 3917, 3921, 3910, 3737, 3202, 2178, 735, -828, -2140, -3000, -3448, -3629, -3687, -3858, -4434, -5418, -6498, -7383, -7919, -8024, -7643, -6750, -5365, -3654, -1954, -496, 725, 1769, 2636, 3293, 3724, 3956, },
/* LAT: -30 */ { 2984, 3071, 3101, 3086, 3027, 2948, 2888, 2854, 2728, 2249, 1212, -309, -1916, -3167, -3903, -4245, -4321, -4107, -3673, -3458, -3831, -4584, -5281, -5627, -5498, -4908, -3946, -2740, -1535, -594, 82, 682, 1306, 1911, 2422, 2785, 2984, },
/* LAT: -20 */ { 2342, 2388, 2405, 2406, 2364, 2269, 2161, 2085, 1939, 1443, 385, -1106, -2584, -3642, -4171, -4283, -4077, -3515, -2652, -1860, -1592, -1952, -2602, -3068, -3101, -2740, -2103, -1288, -515, -29, 231, 532, 974, 1454, 1879, 2188, 2342, },
/* LAT: -10 */ { 1948, 1942, 1920, 1917, 1888, 1803, 1692, 1601, 1417, 866, -198, -1576, -2848, -3674, -3937, -3705, -3128, -2345, -1500, -747, -286, -323, -796, -1301, -1511, -1420, -1106, -608, -113, 125, 171, 330, 702, 1143, 1538, 1828, 1948, },
/* LAT: 0 */ { 1735, 1702, 1645, 1636, 1624, 1555, 1449, 1334, 1081, 460, -581, -1808, -2861, -3444, -3438, -2936, -2167, -1386, -735, -200, 212, 321, 40, -377, -631, -686, -587, -327, -38, 48, -15, 72, 414, 860, 1282, 1605, 1735, },
/* LAT: 10 */ { 1599, 1606, 1564, 1579, 1605, 1555, 1432, 1245, 870, 152, -868, -1944, -2768, -3105, -2898, -2290, -1514, -803, -289, 91, 416, 564, 400, 78, -156, -264, -288, -209, -107, -150, -292, -266, 37, 494, 978, 1387, 1599, },
/* LAT: 20 */ { 1413, 1562, 1622, 1714, 1800, 1779, 1624, 1321, 777, -78, -1120, -2070, -2665, -2772, -2443, -1840, -1130, -481, -21, 288, 546, 691, 599, 356, 157, 38, -55, -122, -204, -395, -634, -693, -457, -8, 535, 1055, 1413, },
/* LAT: 30 */ { 1109, 1476, 1736, 1960, 2120, 2131, 1943, 1521, 794, -234, -1349, -2224, -2638, -2575, -2175, -1596, -941, -323, 139, 444, 675, 821, 800, 651, 501, 376, 217, 3, -282, -658, -1028, -1187, -1026, -599, -22, 588, 1109, },
/* LAT: 40 */ { 749, 1335, 1830, 2223, 2473, 2517, 2302, 1769, 859, -366, -1601, -2466, -2786, -2634, -2188, -1596, -942, -313, 197, 562, 832, 1029, 1122, 1111, 1035, 886, 615, 200, -341, -949, -1470, -1714, -1596, -1179, -581, 91, 749, },
/* LAT: 50 */ { 456, 1202, 1883, 2442, 2810, 2918, 2691, 2038, 900, -593, -2012, -2925, -3219, -3028, -2539, -1893, -1183, -485, 131, 637, 1055, 1409, 1689, 1858, 1877, 1688, 1239, 527, -370, -1274, -1951, -2236, -2111, -1670, -1037, -307, 456, },
/* LAT: 60 */ { 255, 1106, 1913, 2610, 3117, 3332, 3122, 2315, 808, -1144, -2856, -3836, -4090, -3831, -3260, -2515, -1689, -848, -40, 711, 1403, 2033, 2576, 2970, 3128, 2939, 2295, 1173, -245, -1565, -2431, -2738, -2573, -2080, -1390, -592, 255, },
/* LAT: 70 */ { 11, 945, 1842, 2642, 3260, 3558, 3313, 2193, -20, -2713, -4662, -5494, -5509, -5030, -4262, -3330, -2306, -1241, -167, 893, 1918, 2884, 3752, 4458, 4904, 4933, 4318, 2836, 635, -1475, -2771, -3214, -3055, -2526, -1780, -913, 11, },
/* LAT: 80 */ { -726, 195, 1047, 1739, 2126, 1954, 793, -1737, -4876, -6994, -7767, -7659, -7045, -6138, -5054, -3860, -2597, -1294, 30, 1357, 2671, 3953, 5181, 6320, 7317, 8079, 8423, 7976, 6029, 2205, -1425, -3142, -3503, -3172, -2496, -1647, -726, },
/* LAT: 90 */ { -29738,-27992,-26247,-24501,-22756,-21011,-19265,-17520,-15775,-14030,-12284,-10539, -8794, -7049, -5304, -3558, -1813, -68, 1677, 3422, 5167, 6913, 8658, 10403, 12149, 13894, 15639, 17385, 19130, 20876, 22621, 24367, 26112, 27858, 29603, 31349,-29738, },
};
// Magnetic inclination data in radians * 10^-4
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2022.4219,
// Date: 2022.8137,
static constexpr const int16_t inclination_table[19][37] {
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
/* LAT: -90 */ { -12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572, },
/* LAT: -80 */ { -13657,-13524,-13363,-13183,-12989,-12787,-12583,-12383,-12192,-12015,-11858,-11724,-11614,-11528,-11464,-11423,-11403,-11405,-11433,-11487,-11570,-11685,-11829,-12003,-12201,-12418,-12647,-12880,-13108,-13321,-13507,-13657,-13762,-13813,-13810,-13756,-13657, },
/* LAT: -70 */ { -14106,-13787,-13468,-13145,-12813,-12469,-12114,-11756,-11413,-11104,-10851,-10667,-10555,-10502,-10488,-10492,-10499,-10509,-10532,-10588,-10696,-10870,-11116,-11431,-11803,-12221,-12668,-13133,-13599,-14051,-14469,-14814,-15004,-14950,-14720,-14422,-14106, },
/* LAT: -60 */ { -13519,-13165,-12827,-12494,-12151,-11779,-11364,-10909,-10441,-10010, -9680, -9503, -9500, -9636, -9840,-10033,-10159,-10203,-10191,-10177,-10224,-10382,-10670,-11078,-11576,-12132,-12718,-13314,-13902,-14464,-14961,-15251,-15075,-14691,-14285,-13892,-13519, },
/* LAT: -50 */ { -12496,-12154,-11823,-11501,-11178,-10831,-10432, -9961, -9431, -8909, -8518, -8391, -8591, -9051, -9615,-10127,-10488,-10652,-10623,-10472,-10330,-10334,-10554,-10969,-11511,-12103,-12689,-13228,-13675,-13973,-14081,-14008,-13805,-13521,-13193,-12846,-12496, },
/* LAT: -40 */ { -11240,-10892,-10545,-10200, -9860, -9522, -9161, -8735, -8214, -7649, -7222, -7178, -7636, -8459, -9380,-10210,-10870,-11306,-11448,-11282,-10940,-10668,-10659,-10939,-11400,-11905,-12351,-12674,-12833,-12838,-12748,-12611,-12432,-12200,-11914,-11586,-11240, },
/* LAT: -30 */ { -9602, -9224, -8845, -8455, -8063, -7687, -7330, -6939, -6426, -5814, -5361, -5442, -6209, -7410, -8661, -9757,-10672,-11383,-11784,-11776,-11406,-10899,-10564,-10563,-10814,-11135,-11392,-11505,-11443,-11268,-11093,-10959,-10813,-10606,-10324, -9979, -9602, },
/* LAT: -20 */ { -7371, -6932, -6516, -6088, -5644, -5213, -4822, -4408, -3842, -3156, -2707, -2965, -4074, -5685, -7313, -8683, -9750,-10527,-10967,-11003,-10641,-10027, -9469, -9224, -9272, -9435, -9576, -9594, -9422, -9150, -8956, -8869, -8765, -8557, -8241, -7829, -7371, },
/* LAT: -10 */ { -4415, -3881, -3428, -2992, -2535, -2084, -1670, -1215, -587, 117, 480, 55, -1273, -3189, -5164, -6774, -7871, -8506, -8772, -8710, -8302, -7618, -6954, -6608, -6569, -6662, -6779, -6803, -6615, -6319, -6165, -6174, -6134, -5918, -5534, -5007, -4415, },
/* LAT: 0 */ { -906, -285, 179, 581, 999, 1415, 1806, 2250, 2836, 3414, 3617, 3122, 1828, -81, -2125, -3776, -4785, -5215, -5274, -5104, -4664, -3948, -3243, -2872, -2812, -2881, -3006, -3080, -2950, -2715, -2660, -2804, -2867, -2680, -2256, -1627, -906, },
/* LAT: 10 */ { 2561, 3186, 3618, 3959, 4313, 4680, 5033, 5421, 5873, 6244, 6281, 5793, 4712, 3147, 1457, 82, -724, -972, -881, -645, -234, 404, 1037, 1374, 1437, 1392, 1292, 1200, 1243, 1346, 1270, 1003, 812, 884, 1236, 1838, 2561, },
/* LAT: 20 */ { 5416, 5943, 6321, 6616, 6929, 7273, 7616, 7964, 8298, 8499, 8412, 7950, 7116, 6020, 4895, 3987, 3457, 3338, 3488, 3731, 4062, 4527, 4987, 5242, 5298, 5281, 5232, 5175, 5164, 5146, 4972, 4639, 4342, 4252, 4424, 4846, 5416, },
/* LAT: 30 */ { 7569, 7941, 8258, 8540, 8849, 9196, 9554, 9896, 10173, 10287, 10143, 9722, 9094, 8383, 7722, 7211, 6920, 6878, 7020, 7231, 7477, 7776, 8064, 8238, 8295, 8308, 8310, 8301, 8278, 8196, 7974, 7622, 7267, 7047, 7031, 7225, 7569, },
/* LAT: 40 */ { 9266, 9486, 9742, 10027, 10354, 10715, 11083, 11423, 11675, 11758, 11609, 11249, 10776, 10303, 9907, 9624, 9474, 9470, 9580, 9742, 9917, 10101, 10272, 10397, 10475, 10535, 10590, 10623, 10607, 10497, 10256, 9906, 9539, 9254, 9111, 9123, 9266, },
/* LAT: 50 */ { 10802, 10923, 11124, 11394, 11717, 12071, 12426, 12743, 12965, 13025, 12886, 12588, 12224, 11878, 11603, 11416, 11323, 11319, 11386, 11488, 11602, 11718, 11834, 11950, 12068, 12190, 12303, 12376, 12367, 12242, 11997, 11669, 11330, 11045, 10855, 10775, 10802, },
/* LAT: 60 */ { 12319, 12392, 12542, 12761, 13031, 13332, 13634, 13901, 14077, 14105, 13969, 13720, 13431, 13160, 12939, 12782, 12691, 12660, 12675, 12723, 12790, 12875, 12981, 13113, 13272, 13448, 13612, 13722, 13728, 13608, 13384, 13105, 12826, 12589, 12419, 12328, 12319, },
/* LAT: 70 */ { 13758, 13801, 13896, 14038, 14218, 14422, 14630, 14812, 14916, 14897, 14759, 14558, 14340, 14136, 13962, 13827, 13733, 13678, 13659, 13672, 13714, 13785, 13889, 14025, 14191, 14378, 14562, 14703, 14750, 14678, 14517, 14319, 14124, 13959, 13839, 13771, 13758, },
/* LAT: 80 */ { 14998, 15010, 15048, 15108, 15184, 15270, 15349, 15394, 15376, 15297, 15184, 15060, 14937, 14823, 14723, 14641, 14579, 14539, 14520, 14524, 14550, 14599, 14671, 14763, 14875, 15001, 15136, 15269, 15376, 15420, 15382, 15296, 15200, 15116, 15052, 15012, 14998, },
/* LAT: 90 */ { 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, },
/* LAT: -90 */ { -12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570,-12570, },
/* LAT: -80 */ { -13654,-13520,-13360,-13179,-12986,-12784,-12580,-12380,-12189,-12013,-11856,-11722,-11612,-11526,-11462,-11421,-11401,-11403,-11430,-11485,-11568,-11683,-11828,-12001,-12199,-12416,-12646,-12879,-13107,-13319,-13506,-13656,-13759,-13810,-13807,-13753,-13654, },
/* LAT: -70 */ { -14102,-13784,-13464,-13141,-12810,-12466,-12111,-11754,-11411,-11103,-10850,-10667,-10555,-10502,-10488,-10491,-10498,-10507,-10530,-10585,-10694,-10868,-11115,-11430,-11803,-12221,-12669,-13133,-13599,-14052,-14469,-14814,-15002,-14947,-14716,-14418,-14102, },
/* LAT: -60 */ { -13516,-13163,-12825,-12492,-12148,-11776,-11361,-10907,-10439,-10009, -9680, -9505, -9502, -9639, -9843,-10035,-10159,-10201,-10187,-10172,-10219,-10379,-10669,-11078,-11577,-12134,-12720,-13316,-13905,-14466,-14963,-15253,-15075,-14690,-14283,-13890,-13516, },
/* LAT: -50 */ { -12495,-12153,-11822,-11499,-11176,-10830,-10430, -9959, -9430, -8909, -8520, -8396, -8598, -9059, -9623,-10133,-10491,-10651,-10619,-10465,-10323,-10330,-10552,-10970,-11513,-12106,-12693,-13231,-13677,-13974,-14082,-14009,-13805,-13522,-13193,-12845,-12495, },
/* LAT: -40 */ { -11239,-10891,-10543,-10198, -9858, -9520, -9160, -8735, -8214, -7650, -7225, -7186, -7648, -8473, -9394,-10222,-10878,-11310,-11447,-11276,-10932,-10661,-10657,-10941,-11404,-11909,-12354,-12675,-12833,-12838,-12748,-12612,-12433,-12201,-11914,-11586,-11239, },
/* LAT: -30 */ { -9602, -9222, -8843, -8452, -8060, -7685, -7329, -6938, -6426, -5815, -5365, -5452, -6226, -7431, -8681, -9775,-10686,-11393,-11788,-11774,-11399,-10891,-10560,-10563,-10816,-11138,-11393,-11504,-11441,-11265,-11092,-10959,-10814,-10608,-10326, -9980, -9602, },
/* LAT: -20 */ { -7372, -6930, -6512, -6083, -5639, -5209, -4819, -4407, -3842, -3157, -2712, -2980, -4097, -5713, -7340, -8706, -9768,-10539,-10973,-11003,-10635,-10020, -9463, -9221, -9272, -9434, -9574, -9591, -9417, -9146, -8953, -8869, -8767, -8561, -8244, -7832, -7372, },
/* LAT: -10 */ { -4416, -3878, -3423, -2985, -2528, -2078, -1665, -1212, -588, 114, 472, 37, -1301, -3223, -5196, -6799, -7888, -8517, -8777, -8710, -8296, -7609, -6946, -6603, -6565, -6658, -6774, -6797, -6608, -6313, -6161, -6175, -6138, -5924, -5540, -5012, -4416, },
/* LAT: 0 */ { -908, -282, 185, 588, 1007, 1423, 1812, 2253, 2835, 3410, 3608, 3104, 1801, -115, -2157, -3800, -4800, -5222, -5277, -5103, -4658, -3939, -3234, -2865, -2805, -2874, -2999, -3071, -2941, -2707, -2655, -2804, -2872, -2688, -2264, -1632, -908, },
/* LAT: 10 */ { 2560, 3188, 3624, 3965, 4321, 4688, 5038, 5423, 5872, 6240, 6272, 5778, 4689, 3120, 1430, 61, -736, -977, -882, -644, -229, 412, 1045, 1381, 1444, 1401, 1301, 1210, 1252, 1354, 1275, 1003, 806, 876, 1229, 1832, 2560, },
/* LAT: 20 */ { 5415, 5945, 6325, 6621, 6934, 7278, 7620, 7965, 8296, 8494, 8404, 7938, 7099, 6001, 4877, 3972, 3449, 3335, 3488, 3733, 4065, 4533, 4993, 5247, 5305, 5289, 5241, 5184, 5171, 5152, 4975, 4639, 4338, 4247, 4419, 4843, 5415, },
/* LAT: 30 */ { 7568, 7942, 8260, 8543, 8852, 9199, 9555, 9895, 10170, 10282, 10136, 9712, 9082, 8371, 7711, 7202, 6914, 6875, 7019, 7232, 7480, 7780, 8069, 8242, 8300, 8314, 8317, 8308, 8284, 8201, 7977, 7622, 7265, 7044, 7028, 7223, 7568, },
/* LAT: 40 */ { 9266, 9487, 9743, 10028, 10354, 10715, 11082, 11420, 11672, 11752, 11602, 11241, 10768, 10295, 9900, 9618, 9471, 9469, 9580, 9743, 9919, 10104, 10276, 10401, 10479, 10540, 10596, 10629, 10612, 10501, 10258, 9906, 9538, 9253, 9110, 9123, 9266, },
/* LAT: 50 */ { 10802, 10923, 11124, 11393, 11716, 12070, 12424, 12740, 12961, 13019, 12880, 12582, 12218, 11873, 11599, 11413, 11321, 11319, 11386, 11490, 11604, 11720, 11837, 11953, 12071, 12194, 12308, 12380, 12371, 12245, 11998, 11670, 11330, 11045, 10855, 10775, 10802, },
/* LAT: 60 */ { 12319, 12392, 12541, 12759, 13029, 13329, 13631, 13896, 14072, 14100, 13964, 13716, 13427, 13157, 12936, 12781, 12690, 12660, 12676, 12724, 12792, 12878, 12984, 13116, 13276, 13452, 13617, 13725, 13730, 13610, 13385, 13106, 12827, 12590, 12420, 12329, 12319, },
/* LAT: 70 */ { 13758, 13800, 13894, 14036, 14215, 14418, 14626, 14807, 14911, 14893, 14757, 14556, 14339, 14135, 13962, 13827, 13733, 13679, 13660, 13673, 13715, 13787, 13891, 14028, 14195, 14382, 14566, 14706, 14752, 14679, 14518, 14319, 14125, 13960, 13840, 13771, 13758, },
/* LAT: 80 */ { 14996, 15008, 15045, 15104, 15180, 15265, 15343, 15388, 15372, 15295, 15183, 15060, 14937, 14824, 14724, 14642, 14580, 14540, 14521, 14525, 14552, 14601, 14673, 14766, 14877, 15004, 15140, 15272, 15379, 15423, 15384, 15296, 15201, 15116, 15051, 15010, 14996, },
/* LAT: 90 */ { 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, 15396, },
};
// Magnetic strength data in milli-Gauss * 10
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2022.4219,
// Date: 2022.8137,
static constexpr const int16_t strength_table[19][37] {
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
/* LAT: -90 */ { 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, },
/* LAT: -80 */ { 6058, 5995, 5916, 5824, 5721, 5610, 5492, 5370, 5248, 5128, 5014, 4908, 4815, 4735, 4672, 4627, 4602, 4600, 4622, 4668, 4738, 4832, 4946, 5078, 5222, 5371, 5521, 5664, 5795, 5909, 6002, 6071, 6115, 6135, 6130, 6104, 6058, },
/* LAT: -70 */ { 6303, 6170, 6020, 5855, 5677, 5485, 5280, 5065, 4846, 4630, 4428, 4245, 4087, 3956, 3852, 3776, 3728, 3716, 3744, 3820, 3948, 4128, 4356, 4624, 4919, 5226, 5529, 5813, 6063, 6267, 6418, 6514, 6556, 6548, 6499, 6415, 6303, },
/* LAT: -60 */ { 6188, 5996, 5795, 5586, 5368, 5133, 4877, 4598, 4306, 4016, 3749, 3522, 3342, 3207, 3108, 3035, 2984, 2964, 2990, 3080, 3248, 3500, 3826, 4212, 4634, 5068, 5489, 5873, 6198, 6447, 6610, 6689, 6691, 6628, 6515, 6364, 6188, },
/* LAT: -50 */ { 5845, 5615, 5383, 5153, 4921, 4676, 4405, 4102, 3774, 3442, 3140, 2899, 2738, 2646, 2598, 2564, 2530, 2504, 2509, 2581, 2754, 3043, 3439, 3910, 4417, 4922, 5398, 5816, 6156, 6397, 6536, 6577, 6534, 6424, 6263, 6065, 5845, },
/* LAT: -40 */ { 5394, 5148, 4904, 4664, 4430, 4193, 3938, 3655, 3341, 3014, 2716, 2493, 2375, 2349, 2368, 2390, 2395, 2383, 2371, 2399, 2529, 2803, 3220, 3733, 4280, 4804, 5272, 5660, 5953, 6140, 6229, 6232, 6162, 6032, 5851, 5633, 5394, },
/* LAT: -30 */ { 4879, 4638, 4400, 4165, 3939, 3720, 3502, 3270, 3015, 2740, 2482, 2299, 2228, 2253, 2320, 2391, 2457, 2507, 2530, 2542, 2609, 2806, 3167, 3655, 4186, 4683, 5102, 5419, 5623, 5722, 5749, 5722, 5643, 5511, 5331, 5115, 4879, },
/* LAT: -20 */ { 4321, 4109, 3901, 3696, 3500, 3317, 3149, 2985, 2808, 2610, 2419, 2285, 2243, 2286, 2375, 2486, 2614, 2742, 2832, 2868, 2893, 2988, 3226, 3610, 4059, 4486, 4835, 5071, 5176, 5184, 5154, 5107, 5025, 4897, 4731, 4534, 4321, },
/* LAT: -10 */ { 3790, 3630, 3477, 3331, 3195, 3075, 2972, 2880, 2783, 2669, 2547, 2447, 2401, 2425, 2510, 2639, 2795, 2954, 3078, 3141, 3156, 3182, 3304, 3555, 3881, 4203, 4468, 4631, 4667, 4615, 4547, 4483, 4395, 4270, 4121, 3958, 3790, },
/* LAT: 0 */ { 3412, 3319, 3236, 3163, 3108, 3070, 3044, 3025, 3001, 2954, 2875, 2780, 2699, 2667, 2708, 2811, 2943, 3079, 3194, 3270, 3301, 3323, 3397, 3553, 3762, 3975, 4155, 4262, 4268, 4201, 4113, 4021, 3909, 3777, 3643, 3520, 3412, },
/* LAT: 10 */ { 3283, 3252, 3232, 3228, 3253, 3300, 3356, 3410, 3445, 3436, 3367, 3252, 3125, 3030, 3003, 3043, 3124, 3222, 3323, 3408, 3472, 3534, 3621, 3739, 3874, 4012, 4132, 4203, 4205, 4144, 4034, 3891, 3729, 3570, 3435, 3338, 3283, },
/* LAT: 20 */ { 3399, 3403, 3429, 3483, 3575, 3697, 3826, 3943, 4025, 4037, 3964, 3822, 3655, 3514, 3438, 3425, 3460, 3532, 3628, 3725, 3816, 3914, 4025, 4136, 4245, 4356, 4458, 4524, 4535, 4477, 4340, 4138, 3911, 3702, 3539, 3438, 3399, },
/* LAT: 30 */ { 3723, 3730, 3785, 3885, 4028, 4199, 4375, 4531, 4640, 4667, 4594, 4438, 4249, 4084, 3978, 3931, 3934, 3985, 4071, 4169, 4266, 4372, 4488, 4606, 4725, 4852, 4972, 5059, 5085, 5028, 4872, 4633, 4359, 4104, 3905, 3777, 3723, },
/* LAT: 40 */ { 4222, 4221, 4286, 4410, 4578, 4765, 4949, 5105, 5210, 5236, 5168, 5019, 4832, 4657, 4528, 4452, 4426, 4448, 4508, 4587, 4673, 4770, 4885, 5018, 5169, 5331, 5482, 5592, 5631, 5578, 5422, 5185, 4911, 4651, 4441, 4296, 4222, },
/* LAT: 50 */ { 4832, 4825, 4881, 4992, 5138, 5298, 5448, 5569, 5642, 5651, 5588, 5461, 5298, 5134, 4996, 4898, 4843, 4831, 4855, 4905, 4974, 5065, 5184, 5333, 5509, 5693, 5859, 5978, 6022, 5978, 5848, 5652, 5427, 5211, 5031, 4902, 4832, },
/* LAT: 60 */ { 5392, 5380, 5409, 5472, 5558, 5652, 5739, 5805, 5838, 5829, 5775, 5681, 5560, 5431, 5312, 5216, 5149, 5115, 5113, 5140, 5196, 5282, 5400, 5547, 5714, 5882, 6030, 6134, 6178, 6156, 6074, 5947, 5801, 5658, 5536, 5445, 5392, },
/* LAT: 70 */ { 5726, 5706, 5704, 5716, 5738, 5765, 5788, 5803, 5802, 5783, 5743, 5686, 5615, 5539, 5465, 5401, 5353, 5325, 5320, 5340, 5384, 5454, 5545, 5654, 5771, 5886, 5985, 6058, 6097, 6101, 6072, 6018, 5951, 5881, 5816, 5763, 5726, },
/* LAT: 80 */ { 5789, 5772, 5758, 5746, 5736, 5726, 5716, 5705, 5690, 5671, 5649, 5624, 5597, 5569, 5545, 5524, 5510, 5505, 5510, 5525, 5551, 5586, 5629, 5676, 5726, 5774, 5817, 5851, 5876, 5889, 5891, 5884, 5870, 5851, 5830, 5809, 5789, },
/* LAT: 90 */ { 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, },
/* LAT: -90 */ { 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, 5450, },
/* LAT: -80 */ { 6056, 5993, 5914, 5821, 5718, 5607, 5489, 5367, 5244, 5125, 5010, 4905, 4811, 4732, 4669, 4624, 4600, 4598, 4619, 4665, 4736, 4830, 4945, 5077, 5220, 5370, 5520, 5663, 5794, 5908, 6001, 6069, 6114, 6133, 6129, 6102, 6056, },
/* LAT: -70 */ { 6301, 6167, 6017, 5852, 5673, 5481, 5276, 5061, 4842, 4627, 4424, 4242, 4084, 3953, 3849, 3773, 3726, 3713, 3742, 3818, 3946, 4127, 4356, 4624, 4919, 5226, 5530, 5814, 6063, 6267, 6418, 6514, 6555, 6547, 6497, 6413, 6301, },
/* LAT: -60 */ { 6186, 5994, 5792, 5583, 5364, 5129, 4873, 4594, 4302, 4013, 3746, 3519, 3339, 3205, 3106, 3032, 2982, 2962, 2988, 3079, 3248, 3499, 3827, 4213, 4635, 5070, 5491, 5875, 6199, 6448, 6611, 6690, 6691, 6628, 6514, 6363, 6186, },
/* LAT: -50 */ { 5843, 5613, 5381, 5150, 4917, 4672, 4402, 4099, 3770, 3438, 3136, 2897, 2735, 2644, 2596, 2562, 2528, 2501, 2506, 2579, 2753, 3044, 3440, 3912, 4419, 4925, 5400, 5819, 6157, 6399, 6537, 6577, 6534, 6424, 6262, 6064, 5843, },
/* LAT: -40 */ { 5393, 5147, 4902, 4662, 4427, 4190, 3935, 3651, 3337, 3011, 2713, 2491, 2374, 2348, 2367, 2388, 2393, 2380, 2367, 2396, 2527, 2804, 3222, 3737, 4284, 4808, 5274, 5662, 5954, 6142, 6230, 6232, 6163, 6032, 5850, 5632, 5393, },
/* LAT: -30 */ { 4878, 4637, 4398, 4163, 3937, 3718, 3499, 3268, 3012, 2737, 2479, 2297, 2227, 2252, 2319, 2390, 2455, 2505, 2526, 2539, 2606, 2806, 3170, 3659, 4190, 4687, 5105, 5421, 5624, 5723, 5750, 5723, 5643, 5511, 5331, 5115, 4878, },
/* LAT: -20 */ { 4321, 4108, 3899, 3694, 3498, 3315, 3147, 2983, 2806, 2607, 2417, 2283, 2242, 2286, 2375, 2486, 2614, 2742, 2830, 2865, 2890, 2987, 3228, 3613, 4064, 4490, 4838, 5072, 5177, 5185, 5154, 5107, 5025, 4898, 4731, 4534, 4321, },
/* LAT: -10 */ { 3790, 3629, 3476, 3329, 3194, 3074, 2970, 2878, 2781, 2666, 2544, 2445, 2400, 2424, 2511, 2640, 2796, 2954, 3077, 3139, 3154, 3181, 3305, 3558, 3884, 4206, 4470, 4632, 4667, 4615, 4547, 4484, 4396, 4271, 4122, 3958, 3790, },
/* LAT: 0 */ { 3412, 3319, 3235, 3162, 3107, 3068, 3042, 3023, 2999, 2951, 2872, 2777, 2697, 2666, 2709, 2812, 2944, 3079, 3194, 3269, 3300, 3322, 3397, 3555, 3764, 3978, 4158, 4263, 4269, 4202, 4113, 4021, 3910, 3778, 3644, 3520, 3412, },
/* LAT: 10 */ { 3283, 3251, 3231, 3227, 3252, 3299, 3354, 3407, 3442, 3432, 3363, 3249, 3122, 3028, 3002, 3043, 3124, 3223, 3323, 3408, 3472, 3534, 3622, 3741, 3877, 4015, 4135, 4205, 4207, 4145, 4035, 3892, 3730, 3571, 3435, 3339, 3283, },
/* LAT: 20 */ { 3399, 3402, 3428, 3482, 3574, 3695, 3823, 3940, 4021, 4033, 3960, 3818, 3651, 3512, 3436, 3424, 3460, 3533, 3629, 3726, 3817, 3916, 4027, 4138, 4247, 4359, 4461, 4527, 4538, 4479, 4342, 4139, 3912, 3702, 3539, 3438, 3399, },
/* LAT: 30 */ { 3723, 3729, 3783, 3882, 4025, 4196, 4372, 4528, 4636, 4662, 4589, 4434, 4245, 4081, 3976, 3931, 3934, 3985, 4073, 4171, 4268, 4374, 4491, 4608, 4728, 4855, 4976, 5062, 5088, 5030, 4874, 4634, 4360, 4106, 3906, 3778, 3723, },
/* LAT: 40 */ { 4222, 4220, 4284, 4408, 4574, 4762, 4945, 5101, 5206, 5232, 5164, 5015, 4829, 4655, 4527, 4452, 4426, 4449, 4509, 4589, 4675, 4773, 4887, 5021, 5172, 5334, 5485, 5595, 5634, 5580, 5424, 5186, 4912, 4653, 4442, 4296, 4222, },
/* LAT: 50 */ { 4832, 4824, 4879, 4989, 5135, 5294, 5444, 5565, 5639, 5648, 5585, 5458, 5296, 5132, 4995, 4898, 4843, 4832, 4857, 4907, 4976, 5067, 5186, 5337, 5512, 5696, 5863, 5980, 6024, 5980, 5849, 5653, 5428, 5213, 5033, 4903, 4832, },
/* LAT: 60 */ { 5392, 5379, 5407, 5469, 5554, 5648, 5736, 5802, 5836, 5827, 5773, 5679, 5559, 5431, 5312, 5216, 5150, 5116, 5114, 5142, 5198, 5285, 5403, 5550, 5717, 5885, 6032, 6136, 6179, 6157, 6074, 5948, 5803, 5660, 5538, 5446, 5392, },
/* LAT: 70 */ { 5726, 5706, 5702, 5714, 5736, 5762, 5786, 5800, 5800, 5782, 5743, 5686, 5616, 5540, 5466, 5402, 5354, 5326, 5322, 5342, 5387, 5456, 5548, 5656, 5773, 5888, 5987, 6059, 6099, 6102, 6073, 6020, 5953, 5882, 5817, 5764, 5726, },
/* LAT: 80 */ { 5789, 5772, 5757, 5745, 5735, 5726, 5716, 5704, 5689, 5671, 5649, 5624, 5597, 5570, 5545, 5525, 5512, 5507, 5511, 5527, 5552, 5588, 5630, 5678, 5728, 5776, 5819, 5853, 5877, 5890, 5892, 5885, 5871, 5852, 5831, 5809, 5789, },
/* LAT: 90 */ { 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, 5682, },
};

10074
src/lib/world_magnetic_model/test_geo_lookup.cpp
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File diff suppressed because it is too large Load Diff

652
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
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@ -63,329 +63,329 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00012,8e-05,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,6e-08,0,0,0,0,0,0,0,0
19390000,0.71,0.00012,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.028,0.028,0.012,0.045,0.045,0.043,3.3e-10,3.3e-10,5.6e-10,3e-06,3e-06,5.8e-08,0,0,0,0,0,0,0,0
19490000,0.71,0.00014,-0.012,0.71,0.012,-0.00033,0.0088,0.0092,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.6e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-10,3.3e-10,5.5e-10,3e-06,3e-06,5.6e-08,0,0,0,0,0,0,0,0
19590000,0.71,0.00019,-0.012,0.71,0.0097,-0.0013,0.0081,0.0075,-0.0003,-3.7e+02,-1.4e-05,-6.1e-05,5.9e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-10,3e-10,5.4e-10,3e-06,3e-06,5.4e-08,0,0,0,0,0,0,0,0
19690000,0.71,0.00019,-0.012,0.71,0.01,-0.0035,0.0096,0.0085,-0.00055,-3.7e+02,-1.4e-05,-6.1e-05,5.7e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,3e-10,3e-10,5.3e-10,3e-06,3e-06,5.2e-08,0,0,0,0,0,0,0,0
19790000,0.71,0.00026,-0.012,0.71,0.0078,-0.0044,0.01,0.0068,-0.00044,-3.7e+02,-1.4e-05,-6.1e-05,5.8e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-10,2.7e-10,5.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
19890000,0.71,0.0002,-0.012,0.71,0.0065,-0.0047,0.011,0.0076,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,6.2e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-10,2.7e-10,5.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
19990000,0.71,0.00019,-0.012,0.71,0.0041,-0.0053,0.014,0.0062,-0.00076,-3.7e+02,-1.4e-05,-6.1e-05,6.7e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-10,2.5e-10,5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20090000,0.71,0.00018,-0.012,0.71,0.0039,-0.0073,0.014,0.0065,-0.0014,-3.7e+02,-1.4e-05,-6.1e-05,7.1e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.028,0.028,0.01,0.05,0.05,0.042,2.5e-10,2.5e-10,4.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20190000,0.71,0.00029,-0.012,0.71,0.0015,-0.008,0.017,0.0042,-0.0011,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.6e-05,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.9e-05,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-10,2.3e-10,4.8e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20290000,0.71,0.00025,-0.012,0.71,0.00038,-0.0096,0.015,0.0043,-0.002,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-1.6e-05,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.8e-05,0.027,0.027,0.0099,0.049,0.049,0.041,2.3e-10,2.3e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20390000,0.71,0.00027,-0.012,0.71,-0.0021,-0.01,0.017,0.0024,-0.0015,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-1.4e-05,7.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.8e-05,0.024,0.024,0.0097,0.044,0.044,0.041,2.1e-10,2.1e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20490000,0.71,0.00032,-0.012,0.71,-0.0025,-0.011,0.016,0.0022,-0.0026,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-1.4e-05,7.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.027,0.027,0.0096,0.049,0.049,0.041,2.1e-10,2.1e-10,4.6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20590000,0.71,0.00034,-0.012,0.71,-0.0022,-0.011,0.013,0.0019,-0.0021,-3.7e+02,-1.4e-05,-6e-05,7.1e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.024,0.024,0.0094,0.044,0.044,0.04,2e-10,2e-10,4.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20690000,0.71,0.00037,-0.012,0.71,-0.0022,-0.012,0.015,0.0016,-0.0032,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.026,0.026,0.0093,0.049,0.049,0.04,2e-10,2e-10,4.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20790000,0.71,0.0004,-0.012,0.71,-0.0033,-0.011,0.015,0.0014,-0.0025,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.1e-05,7.7e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.7e-05,0.023,0.023,0.0091,0.043,0.043,0.04,1.8e-10,1.8e-10,4.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20890000,0.71,0.00038,-0.012,0.71,-0.0038,-0.014,0.014,0.001,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.5e-06,-1.1e-05,7.7e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.9e-05,0.0001,0.0001,7.7e-05,0.025,0.025,0.0091,0.049,0.049,0.04,1.8e-10,1.8e-10,4.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20990000,0.71,0.00039,-0.012,0.71,-0.004,-0.014,0.015,0.0027,-0.0031,-3.7e+02,-1.4e-05,-6e-05,7.5e-06,-8.7e-06,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.9e-05,9.8e-05,9.8e-05,7.7e-05,0.023,0.023,0.0089,0.043,0.043,0.039,1.7e-10,1.7e-10,4.2e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
21090000,0.71,0.00039,-0.012,0.71,-0.0041,-0.017,0.015,0.0023,-0.0047,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,-8.7e-06,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.9e-05,9.9e-05,9.9e-05,7.7e-05,0.025,0.025,0.0089,0.048,0.048,0.039,1.7e-10,1.7e-10,4.1e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
21190000,0.71,0.00042,-0.012,0.71,-0.0033,-0.016,0.014,0.0037,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.6e-06,-6.3e-06,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.9e-05,9.7e-05,9.7e-05,7.7e-05,0.022,0.022,0.0087,0.043,0.043,0.039,1.5e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21290000,0.71,0.00046,-0.012,0.71,-0.0039,-0.018,0.016,0.0034,-0.0054,-3.7e+02,-1.4e-05,-6e-05,7.9e-06,-6.3e-06,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.9e-05,9.8e-05,9.8e-05,7.6e-05,0.024,0.024,0.0086,0.048,0.048,0.039,1.6e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21390000,0.71,0.00051,-0.012,0.71,-0.0047,-0.017,0.016,0.0029,-0.0034,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,-2.6e-06,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.9e-05,9.6e-05,9.6e-05,7.6e-05,0.022,0.022,0.0085,0.043,0.043,0.039,1.4e-10,1.4e-10,3.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21490000,0.71,0.00052,-0.012,0.71,-0.0053,-0.018,0.015,0.0023,-0.0052,-3.7e+02,-1.4e-05,-6e-05,7.8e-06,-2.6e-06,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.8e-05,9.7e-05,9.6e-05,7.6e-05,0.023,0.023,0.0085,0.048,0.048,0.038,1.4e-10,1.4e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21590000,0.71,0.00054,-0.012,0.71,-0.0058,-0.015,0.015,0.0019,-0.0032,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,8e-07,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.8e-05,9.5e-05,9.5e-05,7.6e-05,0.021,0.021,0.0083,0.043,0.043,0.038,1.3e-10,1.3e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21690000,0.71,0.00055,-0.012,0.71,-0.0057,-0.016,0.017,0.0013,-0.0048,-3.7e+02,-1.4e-05,-6e-05,7.8e-06,7.8e-07,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.8e-05,9.5e-05,9.5e-05,7.6e-05,0.023,0.023,0.0084,0.048,0.048,0.038,1.3e-10,1.3e-10,3.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21790000,0.71,0.00057,-0.012,0.71,-0.0063,-0.011,0.015,9e-05,-0.00074,-3.7e+02,-1.4e-05,-5.9e-05,7.6e-06,6e-06,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.8e-05,9.4e-05,9.4e-05,7.5e-05,0.021,0.021,0.0082,0.042,0.042,0.038,1.3e-10,1.3e-10,3.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21890000,0.71,0.00057,-0.012,0.71,-0.0063,-0.012,0.016,-0.00054,-0.0019,-3.7e+02,-1.4e-05,-5.9e-05,7.5e-06,5.9e-06,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.7e-05,9.4e-05,9.4e-05,7.5e-05,0.022,0.022,0.0082,0.047,0.047,0.038,1.3e-10,1.3e-10,3.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21990000,0.71,0.00062,-0.012,0.71,-0.0068,-0.0091,0.016,-0.0015,0.0015,-3.7e+02,-1.4e-05,-5.9e-05,7.5e-06,1e-05,7.7e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.7e-05,9.3e-05,9.3e-05,7.5e-05,0.02,0.02,0.0081,0.042,0.042,0.038,1.2e-10,1.2e-10,3.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22090000,0.71,0.00063,-0.012,0.71,-0.0071,-0.0082,0.015,-0.0021,0.00064,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1e-05,7.7e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.7e-05,9.4e-05,9.3e-05,7.5e-05,0.022,0.022,0.0081,0.047,0.047,0.038,1.2e-10,1.2e-10,3.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22190000,0.71,0.00061,-0.012,0.71,-0.0069,-0.0073,0.015,-0.0018,0.00059,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1.1e-05,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.7e-05,9.2e-05,9.2e-05,7.5e-05,0.02,0.02,0.008,0.042,0.042,0.037,1.1e-10,1.1e-10,3.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22290000,0.71,0.00065,-0.012,0.71,-0.0082,-0.0081,0.015,-0.0025,-0.00018,-3.7e+02,-1.4e-05,-5.9e-05,7.3e-06,1.1e-05,7.6e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.7e-05,9.3e-05,9.2e-05,7.4e-05,0.021,0.021,0.008,0.047,0.047,0.037,1.1e-10,1.1e-10,3.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22390000,0.71,0.00062,-0.012,0.71,-0.0088,-0.0075,0.017,-0.0022,-0.00017,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1.2e-05,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.7e-05,9.1e-05,9.1e-05,7.4e-05,0.019,0.019,0.0079,0.042,0.042,0.037,1e-10,1e-10,3.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22490000,0.71,0.00063,-0.012,0.71,-0.0095,-0.0075,0.018,-0.0031,-0.00094,-3.7e+02,-1.4e-05,-5.9e-05,7.3e-06,1.2e-05,7.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.6e-05,9.2e-05,9.2e-05,7.4e-05,0.021,0.021,0.0079,0.047,0.047,0.037,1e-10,1e-10,3.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22590000,0.71,0.00061,-0.012,0.71,-0.0092,-0.007,0.017,-0.0034,0.00014,-3.7e+02,-1.4e-05,-5.9e-05,7.3e-06,1.3e-05,7.4e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.6e-05,9.1e-05,9e-05,7.4e-05,0.019,0.019,0.0078,0.042,0.042,0.036,9.7e-11,9.7e-11,3.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22690000,0.71,0.00064,-0.012,0.71,-0.01,-0.0067,0.018,-0.0043,-0.00054,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1.3e-05,7.4e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,7.6e-05,9.1e-05,9.1e-05,7.4e-05,0.02,0.02,0.0079,0.046,0.046,0.037,9.7e-11,9.7e-11,3.1e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00012,8e-05,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,6e-08,0,0,0,0,0,0,0,0
19390000,0.71,0.00012,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.028,0.028,0.012,0.045,0.045,0.043,3.3e-10,3.3e-10,5.6e-10,3e-06,3e-06,5.8e-08,0,0,0,0,0,0,0,0
19490000,0.71,0.00014,-0.012,0.71,0.012,-0.00033,0.0088,0.0092,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.6e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-10,3.3e-10,5.5e-10,3e-06,3e-06,5.6e-08,0,0,0,0,0,0,0,0
19590000,0.71,0.00019,-0.012,0.71,0.0097,-0.0013,0.0081,0.0075,-0.0003,-3.7e+02,-1.4e-05,-6.1e-05,5.9e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-10,3e-10,5.4e-10,3e-06,3e-06,5.4e-08,0,0,0,0,0,0,0,0
19690000,0.71,0.00019,-0.012,0.71,0.01,-0.0035,0.0096,0.0085,-0.00055,-3.7e+02,-1.4e-05,-6.1e-05,5.7e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,3e-10,3e-10,5.3e-10,3e-06,3e-06,5.2e-08,0,0,0,0,0,0,0,0
19790000,0.71,0.00026,-0.012,0.71,0.0078,-0.0044,0.01,0.0068,-0.00044,-3.7e+02,-1.4e-05,-6.1e-05,5.8e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-10,2.7e-10,5.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
19890000,0.71,0.0002,-0.012,0.71,0.0065,-0.0047,0.011,0.0076,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,6.2e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-10,2.7e-10,5.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
19990000,0.71,0.00019,-0.012,0.71,0.0041,-0.0053,0.014,0.0062,-0.00076,-3.7e+02,-1.4e-05,-6.1e-05,6.7e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-10,2.5e-10,5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20090000,0.71,0.00018,-0.012,0.71,0.0039,-0.0073,0.014,0.0065,-0.0014,-3.7e+02,-1.4e-05,-6.1e-05,7.1e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.028,0.028,0.01,0.05,0.05,0.042,2.5e-10,2.5e-10,4.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20190000,0.71,0.00029,-0.012,0.71,0.0015,-0.008,0.017,0.0042,-0.0011,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.6e-05,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.9e-05,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-10,2.3e-10,4.8e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20290000,0.71,0.00025,-0.012,0.71,0.00038,-0.0096,0.015,0.0043,-0.002,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-1.6e-05,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.8e-05,0.027,0.027,0.0099,0.049,0.049,0.041,2.3e-10,2.3e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20390000,0.71,0.00027,-0.012,0.71,-0.0021,-0.01,0.017,0.0024,-0.0015,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-1.4e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.8e-05,0.024,0.024,0.0097,0.044,0.044,0.041,2.1e-10,2.1e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20490000,0.71,0.00032,-0.012,0.71,-0.0025,-0.011,0.016,0.0022,-0.0026,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-1.4e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.027,0.027,0.0096,0.049,0.049,0.041,2.1e-10,2.1e-10,4.6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20590000,0.71,0.00034,-0.012,0.71,-0.0022,-0.011,0.013,0.0019,-0.0021,-3.7e+02,-1.4e-05,-6e-05,7.1e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.024,0.024,0.0094,0.044,0.044,0.04,2e-10,2e-10,4.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20690000,0.71,0.00037,-0.012,0.71,-0.0022,-0.012,0.015,0.0016,-0.0032,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.026,0.026,0.0093,0.049,0.049,0.04,2e-10,2e-10,4.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20790000,0.71,0.0004,-0.012,0.71,-0.0033,-0.011,0.015,0.0014,-0.0025,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.1e-05,7.7e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.7e-05,0.023,0.023,0.0091,0.043,0.043,0.04,1.8e-10,1.8e-10,4.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20890000,0.71,0.00038,-0.012,0.71,-0.0037,-0.014,0.014,0.001,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.5e-06,-1.1e-05,7.7e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,0.0001,0.0001,7.7e-05,0.025,0.025,0.0091,0.049,0.049,0.04,1.8e-10,1.8e-10,4.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
20990000,0.71,0.00039,-0.012,0.71,-0.004,-0.014,0.015,0.0027,-0.0031,-3.7e+02,-1.4e-05,-6e-05,7.5e-06,-8.7e-06,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.8e-05,9.8e-05,7.7e-05,0.023,0.023,0.0089,0.043,0.043,0.039,1.7e-10,1.7e-10,4.2e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
21090000,0.71,0.00039,-0.012,0.71,-0.0041,-0.017,0.015,0.0023,-0.0047,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,-8.7e-06,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.9e-05,9.9e-05,7.7e-05,0.025,0.025,0.0089,0.048,0.048,0.039,1.7e-10,1.7e-10,4.1e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
21190000,0.71,0.00042,-0.012,0.71,-0.0033,-0.016,0.014,0.0037,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.6e-06,-6.3e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.7e-05,9.7e-05,7.7e-05,0.022,0.022,0.0087,0.043,0.043,0.039,1.5e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21290000,0.71,0.00046,-0.012,0.71,-0.0039,-0.018,0.016,0.0034,-0.0054,-3.7e+02,-1.4e-05,-6e-05,7.9e-06,-6.3e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.8e-05,9.8e-05,7.6e-05,0.024,0.024,0.0086,0.048,0.048,0.039,1.6e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21390000,0.71,0.00051,-0.012,0.71,-0.0047,-0.017,0.016,0.0029,-0.0034,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,-2.6e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.6e-05,9.6e-05,7.6e-05,0.022,0.022,0.0085,0.043,0.043,0.039,1.4e-10,1.4e-10,3.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21490000,0.71,0.00052,-0.012,0.71,-0.0053,-0.018,0.015,0.0023,-0.0052,-3.7e+02,-1.4e-05,-6e-05,7.8e-06,-2.6e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.8e-05,9.7e-05,9.6e-05,7.6e-05,0.023,0.023,0.0085,0.048,0.048,0.038,1.4e-10,1.4e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21590000,0.71,0.00054,-0.012,0.71,-0.0058,-0.015,0.015,0.0019,-0.0032,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,8e-07,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.8e-05,9.5e-05,9.5e-05,7.6e-05,0.021,0.021,0.0083,0.043,0.043,0.038,1.3e-10,1.3e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21690000,0.71,0.00055,-0.012,0.71,-0.0057,-0.016,0.017,0.0013,-0.0048,-3.7e+02,-1.4e-05,-6e-05,7.8e-06,7.8e-07,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.8e-05,9.5e-05,9.5e-05,7.6e-05,0.023,0.023,0.0084,0.048,0.048,0.038,1.3e-10,1.3e-10,3.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21790000,0.71,0.00057,-0.012,0.71,-0.0063,-0.011,0.015,9e-05,-0.00075,-3.7e+02,-1.4e-05,-5.9e-05,7.6e-06,6e-06,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.8e-05,9.4e-05,9.4e-05,7.5e-05,0.021,0.021,0.0082,0.042,0.042,0.038,1.3e-10,1.3e-10,3.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21890000,0.71,0.00057,-0.012,0.71,-0.0063,-0.012,0.016,-0.00054,-0.0019,-3.7e+02,-1.4e-05,-5.9e-05,7.5e-06,5.9e-06,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.7e-05,9.4e-05,9.4e-05,7.5e-05,0.022,0.022,0.0082,0.047,0.047,0.038,1.3e-10,1.3e-10,3.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21990000,0.71,0.00062,-0.012,0.71,-0.0068,-0.0091,0.016,-0.0015,0.0015,-3.7e+02,-1.4e-05,-5.9e-05,7.5e-06,1e-05,7.7e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.7e-05,9.3e-05,9.3e-05,7.5e-05,0.02,0.02,0.0081,0.042,0.042,0.038,1.2e-10,1.2e-10,3.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22090000,0.71,0.00064,-0.012,0.71,-0.0071,-0.0082,0.015,-0.0021,0.00064,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1e-05,7.7e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.7e-05,9.4e-05,9.3e-05,7.5e-05,0.022,0.022,0.0081,0.047,0.047,0.038,1.2e-10,1.2e-10,3.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22190000,0.71,0.00061,-0.012,0.71,-0.0069,-0.0073,0.015,-0.0018,0.00059,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1.1e-05,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.7e-05,9.2e-05,9.2e-05,7.5e-05,0.02,0.02,0.008,0.042,0.042,0.037,1.1e-10,1.1e-10,3.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22290000,0.71,0.00065,-0.012,0.71,-0.0082,-0.0081,0.015,-0.0025,-0.00018,-3.7e+02,-1.4e-05,-5.9e-05,7.3e-06,1.1e-05,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.7e-05,9.3e-05,9.2e-05,7.4e-05,0.021,0.021,0.008,0.047,0.047,0.037,1.1e-10,1.1e-10,3.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22390000,0.71,0.00062,-0.012,0.71,-0.0088,-0.0075,0.017,-0.0022,-0.00017,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1.2e-05,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.7e-05,9.1e-05,9.1e-05,7.4e-05,0.019,0.019,0.0079,0.042,0.042,0.037,1e-10,1e-10,3.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22490000,0.71,0.00063,-0.012,0.71,-0.0095,-0.0075,0.018,-0.0031,-0.00094,-3.7e+02,-1.4e-05,-5.9e-05,7.3e-06,1.2e-05,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.6e-05,9.2e-05,9.2e-05,7.4e-05,0.021,0.021,0.0079,0.047,0.047,0.037,1e-10,1e-10,3.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22590000,0.71,0.00061,-0.012,0.71,-0.0092,-0.007,0.017,-0.0034,0.00014,-3.7e+02,-1.4e-05,-5.9e-05,7.3e-06,1.3e-05,7.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.6e-05,9.1e-05,9e-05,7.4e-05,0.019,0.019,0.0078,0.042,0.042,0.036,9.7e-11,9.7e-11,3.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
22690000,0.71,0.00064,-0.012,0.71,-0.01,-0.0067,0.018,-0.0043,-0.00054,-3.7e+02,-1.4e-05,-5.9e-05,7.4e-06,1.3e-05,7.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.6e-05,9.1e-05,9.1e-05,7.4e-05,0.02,0.02,0.0079,0.046,0.046,0.037,9.7e-11,9.7e-11,3.1e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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38090000,-0.68,0.0034,-0.0033,0.74,0.034,0.1,-0.14,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,6.6e-06,-0.0019,0.0013,-0.00095,0.21,0.0021,0.44,0,0,0,0,0,5.5e-05,1.8e-05,1.8e-05,5.9e-05,0.05,0.051,0.0066,0.6,0.6,0.031,2.9e-11,3e-11,6.2e-11,1.7e-06,1.6e-06,5e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
63 6090000 1 -0.0095 -0.011 -0.022 0.0053 0.0052 -0.011 0.0021 0.00027 -3.7e+02 -1.6e-05 -5.6e-05 4.3e-07 0 0 1.4e-07 0.19 9.3e-10 0.4 0 0 0 0 0 1.5e-07 0.00038 0.00038 0.00016 0.23 0.23 7 0.1 0.1 0.33 1.8e-08 1.8e-08 5.3e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
64 6190000 1 -0.0095 -0.011 -0.022 0.0056 0.0072 -0.005 0.0027 0.00092 -3.7e+02 -1.6e-05 -5.6e-05 4.3e-07 0 0 -1.1e-07 0.19 9.3e-10 0.4 0 0 0 0 0 1.6e-07 0.00041 0.00041 0.00016 0.27 0.27 4.9 0.13 0.13 0.32 1.8e-08 1.8e-08 5e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
65 6290000 1 -0.0095 -0.011 -0.022 0.0071 0.0075 -0.012 0.0033 0.0016 -3.7e+02 -1.6e-05 -5.6e-05 4.3e-07 0 0 -1.9e-07 0.19 9.3e-10 0.4 0 0 0 0 0 1.6e-07 0.00043 0.00043 0.00016 0.31 0.31 3.2 0.17 0.17 0.3 1.8e-08 1.8e-08 4.8e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
66 6390000 0.71 0.0014 -0.014 0.71 0.0048 0.0076 -0.05 0.0025 0.0017 -3.7e+02 -1.6e-05 -5.6e-05 4.3e-07 0 0 4e-07 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00076 0.00034 0.00034 0.00085 0.22 0.22 2.3 0.13 0.13 0.29 1.4e-08 1.5e-08 4.8e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
67 6490000 0.71 0.0014 -0.014 0.71 0.0043 0.0083 -0.052 0.0029 0.0025 -3.7e+02 -1.6e-05 -5.6e-05 4.1e-07 0 0 -8.7e-08 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00051 0.00034 0.00034 0.00056 0.22 0.22 1.5 0.16 0.16 0.26 1.4e-08 1.5e-08 4.8e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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71 6890000 0.71 0.0015 -0.014 0.71 -0.00021 0.01 -0.12 0.0041 0.0062 -3.7e+02 -1.6e-05 -5.6e-05 3.4e-07 0 0 3.4e-07 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00024 0.00035 0.00035 0.00026 0.26 0.26 0.46 0.33 0.33 0.18 1.4e-08 1.4e-08 4.8e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
72 6990000 0.7 0.0016 -0.014 0.71 -0.00055 0.011 -0.12 0.004 0.0072 -3.7e+02 -1.6e-05 -5.6e-05 1.6e-07 0 0 -2.7e-06 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00021 0.00035 0.00035 0.00023 0.28 0.28 0.36 0.38 0.38 0.16 1.4e-08 1.4e-08 4.8e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
73 7090000 0.7 0.0016 -0.014 0.71 -0.0014 0.011 -0.13 0.0039 0.0083 -3.7e+02 -1.6e-05 -5.6e-05 -5.1e-08 0 0 -6.3e-06 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.0002 0.00036 0.00036 0.00022 0.3 0.3 0.29 0.44 0.44 0.16 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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78 7590000 0.7 0.0017 -0.014 0.71 -0.0098 0.014 -0.17 0.0011 0.014 -3.7e+02 -1.6e-05 -5.6e-05 -1.4e-08 0 0 -2.9e-05 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00014 0.00039 0.00039 0.00015 0.43 0.43 0.14 0.85 0.85 0.12 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 3.9e-06 0 0 0 0 0 0 0 0
79 7690000 0.7 0.0018 -0.014 0.71 -0.012 0.015 -0.16 2.3e-05 0.015 -3.7e+02 -1.6e-05 -5.6e-05 -4.5e-08 0 0 -4.9e-05 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00014 0.0004 0.0004 0.00015 0.47 0.47 0.13 0.96 0.96 0.11 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 3.9e-06 0 0 0 0 0 0 0 0
80 7790000 0.7 0.0019 -0.014 0.71 -0.014 0.016 -0.16 -0.0013 0.017 -3.7e+02 -1.6e-05 -5.6e-05 -3.7e-07 0 0 -6.9e-05 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00013 0.00041 0.00041 0.00014 0.51 0.51 0.12 1.1 1.1 0.11 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 3.8e-06 0 0 0 0 0 0 0 0
81 7890000 0.7 0.0019 -0.014 0.71 -0.017 0.018 -0.16 -0.0028 0.018 -3.7e+02 -1.6e-05 -5.6e-05 -2.7e-07 0 0 -9.5e-05 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00013 0.00042 0.00042 0.00014 0.55 0.55 0.11 1.2 1.2 0.1 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 3.8e-06 0 0 0 0 0 0 0 0
82 7990000 0.7 0.0019 -0.014 0.71 -0.019 0.019 -0.16 -0.0046 0.02 -3.7e+02 -1.6e-05 -5.6e-05 -1.6e-07 0 0 -0.00011 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00012 0.00043 0.00043 0.00013 0.6 0.59 0.1 1.3 1.3 0.099 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 3.8e-06 0 0 0 0 0 0 0 0
83 8090000 0.7 0.0019 -0.014 0.71 -0.021 0.02 -0.17 -0.0066 0.022 -3.7e+02 -1.6e-05 -5.6e-05 6.1e-08 0 0 -0.00011 0.21 0.002 0.0021 0.44 0 0 0 0 0 0.00012 0.00045 0.00045 0.00013 0.65 0.65 0.1 1.5 1.5 0.097 1.4e-08 1.4e-08 4.7e-09 4e-06 4e-06 3.7e-06 0 0 0 0 0 0 0 0
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44
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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@ -345,7 +345,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
65 6290000 0.98 -0.0068 -0.013 0.18 0.004 0.021 0.19 0.0035 0.0084 0.051 -1.9e-05 -5.5e-05 7.4e-07 0 0 -0.0019 0.2 -6.1e-09 0.43 0 0 0 0 0 5e-06 0.00044 0.00044 0.00015 0.31 0.31 0.039 0.17 0.17 0.07 1.8e-08 1.8e-08 4.8e-09 4e-06 4e-06 3.9e-07 0 0 0 0 0 0 0 0
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82 7990000 0.98 -0.006 -0.013 0.19 0.00096 0.052 0.15 -3.6e-05 -3.8e-05 0.048 0.16 -1.7e-05 -5.7e-05 8e-07 0 0 -0.0017 0.2 0.002 0.43 0 0 0 0 0 6.8e-06 0.00036 0.00036 0.00018 0.53 0.53 0.022 1.1 1.1 0.058 1.2e-08 1.2e-08 4.3e-09 4e-06 4e-06 1.4e-07 0 0 0 0 0 0 0 0
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