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Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023 

* Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023
* [AUTO COMMIT] update change indication


Co-authored-by: PX4 BuildBot <bot@px4.io>
This commit is contained in:
Daniel Agar 2023-07-18 14:29:08 -04:00 committed by GitHub
parent 70826c5af4
commit ec9dce2e89
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4 changed files with 5115 additions and 5115 deletions
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src/lib/world_magnetic_model/geo_magnetic_tables.hpp
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@ -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: 2023.3287,
// Date: 2023.5425,
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 */ { 25967, 24222, 22477, 20731, 18986, 17240, 15495, 13750, 12005, 10259, 8514, 6769, 5023, 3278, 1533, -212, -1958, -3703, -5448, -7194, -8939,-10684,-12429,-14175,-15920,-17665,-19411,-21156,-22902,-24647,-26392,-28138,-29883, 31203, 29458, 27713, 25967, },
/* LAT: -80 */ { 22532, 20403, 18464, 16692, 15052, 13514, 12051, 10640, 9265, 7916, 6584, 5266, 3957, 2652, 1344, 24, -1318, -2691, -4102, -5555, -7051, -8589,-10168,-11788,-13454,-15173,-16960,-18833,-20817,-22937,-25212,-27647,-30215, 29979, 27363, 24859, 22532, },
/* LAT: -70 */ { 14982, 13583, 12455, 11491, 10620, 9787, 8944, 8056, 7102, 6083, 5013, 3920, 2836, 1782, 761, -249, -1287, -2394, -3598, -4901, -6285, -7718, -9168,-10611,-12038,-13455,-14885,-16373,-18000,-19920,-22451,-26265, 30648, 24116, 19620, 16853, 14982, },
/* LAT: -60 */ { 8438, 8189, 7905, 7627, 7371, 7115, 6804, 6369, 5752, 4931, 3929, 2818, 1699, 675, -202, -957, -1685, -2510, -3520, -4724, -6060, -7434, -8757, -9968,-11032,-11930,-12644,-13139,-13310,-12862,-10754, -3444, 4979, 7699, 8458, 8577, 8438, },
/* LAT: -50 */ { 5499, 5534, 5475, 5383, 5307, 5268, 5231, 5102, 4756, 4090, 3077, 1804, 465, -710, -1572, -2128, -2520, -2962, -3656, -4683, -5938, -7221, -8364, -9263, -9857,-10090, -9889, -9125, -7611, -5244, -2337, 412, 2522, 3948, 4822, 5296, 5499, },
/* LAT: -40 */ { 3965, 4057, 4063, 4015, 3953, 3917, 3921, 3908, 3733, 3195, 2167, 721, -841, -2148, -3000, -3440, -3614, -3670, -3846, -4436, -5432, -6517, -7400, -7932, -8030, -7641, -6742, -5354, -3645, -1948, -492, 728, 1773, 2642, 3301, 3733, 3965, },
/* LAT: -30 */ { 2992, 3078, 3106, 3088, 3027, 2947, 2885, 2851, 2723, 2241, 1198, -327, -1933, -3178, -3906, -4240, -4309, -4088, -3651, -3450, -3841, -4601, -5295, -5635, -5498, -4900, -3934, -2730, -1529, -592, 81, 680, 1306, 1913, 2426, 2791, 2992, },
/* LAT: -20 */ { 2349, 2395, 2409, 2408, 2363, 2266, 2156, 2079, 1933, 1434, 369, -1126, -2602, -3653, -4173, -4277, -4063, -3493, -2628, -1843, -1591, -1961, -2612, -3073, -3100, -2733, -2094, -1280, -512, -31, 227, 527, 971, 1455, 1882, 2194, 2349, },
/* LAT: -10 */ { 1956, 1949, 1925, 1918, 1887, 1799, 1686, 1593, 1408, 855, -214, -1595, -2864, -3682, -3934, -3693, -3110, -2325, -1480, -731, -278, -324, -801, -1304, -1511, -1415, -1100, -603, -112, 122, 165, 322, 697, 1141, 1541, 1833, 1956, },
/* LAT: 0 */ { 1742, 1708, 1649, 1637, 1623, 1551, 1442, 1325, 1070, 448, -596, -1824, -2872, -3446, -3431, -2920, -2149, -1369, -720, -187, 222, 325, 39, -378, -629, -683, -584, -325, -39, 44, -23, 62, 407, 858, 1284, 1610, 1742, },
/* LAT: 10 */ { 1604, 1612, 1567, 1580, 1603, 1551, 1425, 1235, 858, 141, -881, -1955, -2774, -3103, -2887, -2274, -1497, -788, -277, 101, 425, 569, 402, 79, -153, -261, -287, -210, -109, -155, -300, -276, 29, 491, 978, 1391, 1604, },
/* LAT: 20 */ { 1416, 1564, 1623, 1713, 1798, 1775, 1616, 1311, 766, -89, -1130, -2076, -2665, -2766, -2431, -1825, -1114, -467, -10, 297, 554, 697, 602, 359, 161, 42, -54, -124, -208, -402, -642, -702, -464, -11, 535, 1057, 1416, },
/* LAT: 30 */ { 1108, 1474, 1733, 1957, 2116, 2125, 1935, 1511, 784, -243, -1355, -2225, -2633, -2564, -2162, -1581, -926, -309, 150, 454, 684, 828, 804, 654, 506, 380, 218, -1, -289, -666, -1036, -1196, -1033, -603, -24, 586, 1108, },
/* LAT: 40 */ { 742, 1328, 1823, 2216, 2466, 2510, 2294, 1761, 851, -371, -1602, -2460, -2775, -2619, -2172, -1579, -925, -297, 211, 573, 842, 1038, 1128, 1116, 1040, 890, 615, 195, -350, -959, -1480, -1721, -1602, -1183, -585, 85, 742, },
/* LAT: 50 */ { 443, 1188, 1870, 2430, 2800, 2909, 2682, 2030, 894, -593, -2005, -2911, -3202, -3009, -2519, -1873, -1163, -466, 148, 652, 1068, 1421, 1698, 1866, 1882, 1691, 1238, 519, -383, -1287, -1962, -2243, -2116, -1675, -1044, -317, 443, },
/* LAT: 60 */ { 233, 1083, 1890, 2589, 3098, 3317, 3110, 2308, 810, -1130, -2833, -3808, -4061, -3803, -3233, -2489, -1664, -825, -19, 731, 1421, 2050, 2590, 2982, 3137, 2942, 2291, 1160, -263, -1582, -2443, -2746, -2579, -2089, -1403, -610, 233, },
/* LAT: 70 */ { -27, 905, 1801, 2603, 3222, 3525, 3289, 2187, 4, -2659, -4601, -5437, -5459, -4985, -4223, -3294, -2274, -1211, -138, 920, 1943, 2908, 3773, 4477, 4919, 4942, 4316, 2820, 607, -1504, -2794, -3233, -3075, -2549, -1808, -946, -27, },
/* LAT: 80 */ { -816, 104, 954, 1645, 2036, 1878, 760, -1675, -4727, -6835, -7634, -7551, -6956, -6063, -4988, -3801, -2543, -1244, 77, 1401, 2713, 3995, 5222, 6361, 7359, 8121, 8464, 8007, 6022, 2118, -1550, -3257, -3603, -3265, -2585, -1736, -816, },
/* LAT: 90 */ { -29541,-27795,-26050,-24304,-22559,-20814,-19068,-17323,-15578,-13833,-12087,-10342, -8597, -6852, -5107, -3362, -1616, 129, 1874, 3619, 5364, 7110, 8855, 10600, 12346, 14091, 15836, 17582, 19327, 21073, 22818, 24564, 26309, 28055, 29800,-31286,-29541, },
/* LAT: -90 */ { 25962, 24217, 22471, 20726, 18980, 17235, 15490, 13745, 11999, 10254, 8509, 6763, 5018, 3273, 1527, -218, -1963, -3708, -5454, -7199, -8944,-10690,-12435,-14180,-15925,-17671,-19416,-21162,-22907,-24652,-26398,-28143,-29888, 31198, 29453, 27707, 25962, },
/* LAT: -80 */ { 22526, 20397, 18460, 16687, 15048, 13511, 12048, 10637, 9262, 7912, 6581, 5263, 3954, 2649, 1341, 21, -1321, -2694, -4106, -5560, -7056, -8594,-10174,-11794,-13460,-15180,-16967,-18841,-20825,-22945,-25221,-27656,-30224, 29971, 27355, 24853, 22526, },
/* LAT: -70 */ { 14984, 13584, 12455, 11491, 10620, 9786, 8943, 8054, 7100, 6081, 5011, 3918, 2834, 1781, 760, -250, -1288, -2396, -3601, -4905, -6290, -7723, -9174,-10618,-12045,-13463,-14893,-16381,-18010,-19932,-22466,-26284, 30629, 24108, 19619, 16854, 14984, },
/* LAT: -60 */ { 8445, 8194, 7909, 7630, 7372, 7115, 6804, 6368, 5751, 4929, 3927, 2815, 1697, 674, -202, -955, -1683, -2510, -3521, -4727, -6065, -7440, -8764, -9975,-11039,-11936,-12650,-13144,-13316,-12868,-10758, -3426, 5002, 7713, 8468, 8585, 8445, },
/* LAT: -50 */ { 5504, 5538, 5479, 5386, 5309, 5269, 5231, 5102, 4755, 4088, 3074, 1800, 461, -711, -1571, -2124, -2515, -2958, -3655, -4685, -5943, -7228, -8371, -9270, -9862,-10093, -9890, -9124, -7608, -5241, -2332, 417, 2528, 3953, 4827, 5301, 5504, },
/* LAT: -40 */ { 3968, 4060, 4065, 4017, 3954, 3917, 3920, 3907, 3731, 3192, 2162, 716, -846, -2151, -2999, -3437, -3608, -3663, -3841, -4436, -5438, -6525, -7408, -7938, -8032, -7641, -6739, -5350, -3641, -1945, -490, 729, 1775, 2644, 3304, 3736, 3968, },
/* LAT: -30 */ { 2995, 3081, 3108, 3089, 3027, 2946, 2884, 2849, 2721, 2237, 1193, -334, -1940, -3182, -3907, -4238, -4305, -4079, -3642, -3447, -3845, -4608, -5301, -5638, -5497, -4897, -3929, -2725, -1527, -592, 80, 679, 1306, 1914, 2428, 2794, 2995, },
/* LAT: -20 */ { 2352, 2397, 2411, 2408, 2362, 2265, 2154, 2076, 1930, 1430, 363, -1134, -2610, -3658, -4173, -4274, -4057, -3484, -2617, -1837, -1590, -1965, -2617, -3075, -3099, -2730, -2090, -1277, -511, -31, 225, 525, 969, 1455, 1883, 2196, 2352, },
/* LAT: -10 */ { 1959, 1952, 1926, 1918, 1886, 1798, 1684, 1590, 1405, 850, -221, -1603, -2871, -3685, -3933, -3688, -3103, -2316, -1471, -725, -275, -324, -803, -1306, -1510, -1414, -1097, -601, -112, 121, 162, 319, 694, 1141, 1542, 1836, 1959, },
/* LAT: 0 */ { 1745, 1711, 1651, 1637, 1622, 1549, 1439, 1321, 1066, 443, -603, -1831, -2877, -3447, -3428, -2914, -2142, -1362, -714, -182, 226, 327, 38, -379, -629, -682, -583, -324, -40, 42, -27, 58, 405, 857, 1285, 1612, 1745, },
/* LAT: 10 */ { 1607, 1614, 1568, 1580, 1603, 1549, 1422, 1230, 854, 136, -886, -1960, -2777, -3102, -2883, -2268, -1490, -782, -272, 106, 429, 571, 402, 79, -152, -260, -286, -210, -110, -158, -304, -280, 26, 490, 979, 1392, 1607, },
/* LAT: 20 */ { 1417, 1565, 1623, 1713, 1797, 1773, 1613, 1307, 762, -93, -1134, -2079, -2666, -2763, -2426, -1819, -1108, -461, -6, 301, 558, 700, 604, 360, 162, 43, -54, -125, -210, -404, -646, -706, -467, -13, 534, 1057, 1417, },
/* LAT: 30 */ { 1107, 1473, 1732, 1956, 2114, 2123, 1932, 1507, 780, -246, -1358, -2226, -2630, -2560, -2156, -1575, -919, -304, 155, 458, 687, 830, 806, 656, 508, 381, 218, -2, -291, -669, -1040, -1199, -1035, -604, -25, 586, 1107, },
/* LAT: 40 */ { 739, 1325, 1820, 2213, 2463, 2507, 2291, 1757, 848, -374, -1602, -2458, -2770, -2614, -2166, -1572, -919, -290, 217, 578, 846, 1041, 1131, 1118, 1042, 891, 615, 193, -353, -963, -1484, -1724, -1604, -1185, -587, 83, 739, },
/* LAT: 50 */ { 438, 1183, 1865, 2425, 2795, 2905, 2678, 2027, 892, -593, -2002, -2906, -3195, -3001, -2511, -1865, -1155, -459, 155, 658, 1074, 1425, 1702, 1869, 1885, 1692, 1237, 515, -388, -1292, -1966, -2246, -2118, -1677, -1047, -321, 438, },
/* LAT: 60 */ { 225, 1073, 1880, 2580, 3091, 3311, 3105, 2306, 811, -1124, -2823, -3797, -4049, -3792, -3222, -2479, -1654, -816, -10, 739, 1429, 2057, 2596, 2987, 3140, 2943, 2289, 1155, -271, -1588, -2448, -2749, -2582, -2092, -1408, -617, 225, },
/* LAT: 70 */ { -42, 888, 1784, 2586, 3207, 3512, 3279, 2184, 14, -2637, -4575, -5413, -5438, -4967, -4207, -3279, -2260, -1198, -127, 931, 1954, 2917, 3782, 4485, 4926, 4946, 4316, 2813, 595, -1515, -2804, -3241, -3083, -2558, -1819, -960, -42, },
/* LAT: 80 */ { -853, 66, 916, 1607, 1999, 1846, 747, -1650, -4667, -6770, -7579, -7506, -6919, -6031, -4961, -3777, -2521, -1223, 96, 1420, 2731, 4012, 5239, 6379, 7377, 8139, 8481, 8020, 6019, 2082, -1602, -3304, -3645, -3303, -2622, -1772, -853, },
/* LAT: 90 */ { -29458,-27713,-25967,-24222,-22477,-20731,-18986,-17241,-15495,-13750,-12005,-10260, -8515, -6770, -5024, -3279, -1534, 211, 1956, 3701, 5447, 7192, 8937, 10682, 12428, 14173, 15919, 17664, 19409, 21155, 22900, 24646, 26391, 28137, 29882,-31204,-29458, },
};
// Magnetic inclination data in radians * 10^-4
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2023.3287,
// Date: 2023.5425,
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 */ { -12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12566,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567,-12567, },
/* LAT: -80 */ { -13650,-13516,-13355,-13175,-12981,-12780,-12576,-12376,-12186,-12010,-11853,-11719,-11609,-11523,-11459,-11418,-11398,-11400,-11427,-11481,-11565,-11680,-11825,-11999,-12197,-12414,-12644,-12877,-13105,-13317,-13503,-13653,-13756,-13807,-13803,-13749,-13650, },
/* LAT: -70 */ { -14098,-13779,-13460,-13137,-12805,-12462,-12107,-11750,-11408,-11100,-10848,-10666,-10554,-10502,-10487,-10490,-10495,-10504,-10526,-10582,-10690,-10865,-11113,-11429,-11802,-12221,-12669,-13134,-13600,-14052,-14469,-14813,-14999,-14943,-14712,-14414,-14098, },
/* LAT: -60 */ { -13514,-13160,-12821,-12488,-12145,-11773,-11358,-10904,-10437,-10008, -9680, -9507, -9506, -9644, -9847,-10037,-10158,-10198,-10182,-10166,-10214,-10374,-10667,-11078,-11579,-12136,-12723,-13319,-13908,-14469,-14967,-15255,-15075,-14689,-14282,-13887,-13514, },
/* LAT: -50 */ { -12494,-12151,-11819,-11497,-11173,-10827,-10428, -9957, -9428, -8909, -8522, -8402, -8607, -9070, -9633,-10141,-10494,-10649,-10613,-10456,-10314,-10324,-10550,-10972,-11517,-12111,-12697,-13234,-13679,-13976,-14084,-14010,-13806,-13522,-13193,-12845,-12494, },
/* LAT: -40 */ { -11239,-10889,-10541,-10195, -9856, -9518, -9158, -8733, -8213, -7650, -7229, -7196, -7664, -8491, -9412,-10237,-10890,-11316,-11445,-11268,-10921,-10653,-10654,-10943,-11409,-11914,-12358,-12676,-12833,-12837,-12748,-12612,-12434,-12202,-11915,-11587,-11239, },
/* LAT: -30 */ { -9602, -9221, -8839, -8448, -8056, -7681, -7327, -6938, -6426, -5816, -5370, -5466, -6249, -7458, -8708, -9798,-10705,-11407,-11793,-11770,-11389,-10882,-10555,-10563,-10819,-11141,-11394,-11503,-11438,-11263,-11090,-10959,-10816,-10610,-10329, -9982, -9602, },
/* LAT: -20 */ { -7373, -6927, -6506, -6077, -5633, -5204, -4816, -4406, -3842, -3158, -2719, -2998, -4128, -5750, -7375, -8735, -9790,-10555,-10981,-11002,-10628,-10009, -9454, -9218, -9271, -9434, -9573, -9586, -9411, -9140, -8950, -8869, -8770, -8566, -8249, -7835, -7373, },
/* LAT: -10 */ { -4418, -3874, -3416, -2976, -2519, -2069, -1658, -1209, -588, 111, 462, 14, -1338, -3267, -5238, -6831, -7910, -8530, -8784, -8710, -8290, -7597, -6935, -6596, -6560, -6653, -6768, -6789, -6599, -6305, -6156, -6175, -6144, -5932, -5548, -5017, -4418, },
/* LAT: 0 */ { -910, -278, 193, 599, 1017, 1434, 1820, 2257, 2834, 3405, 3595, 3081, 1765, -159, -2199, -3831, -4819, -5232, -5281, -5102, -4651, -3927, -3222, -2856, -2797, -2865, -2988, -3060, -2929, -2696, -2648, -2804, -2879, -2699, -2274, -1640, -910, },
/* LAT: 10 */ { 2558, 3192, 3631, 3975, 4330, 4697, 5045, 5426, 5870, 6233, 6260, 5757, 4660, 3083, 1395, 35, -752, -984, -884, -642, -223, 423, 1056, 1389, 1453, 1412, 1313, 1222, 1264, 1365, 1282, 1003, 799, 866, 1219, 1825, 2558, },
/* LAT: 20 */ { 5414, 5947, 6330, 6627, 6941, 7284, 7624, 7966, 8294, 8488, 8393, 7922, 7077, 5976, 4853, 3954, 3437, 3330, 3487, 3735, 4070, 4540, 5001, 5254, 5313, 5299, 5253, 5195, 5181, 5160, 4980, 4639, 4333, 4239, 4412, 4838, 5414, },
/* LAT: 30 */ { 7568, 7943, 8262, 8546, 8855, 9202, 9557, 9894, 10167, 10276, 10126, 9699, 9067, 8354, 7696, 7191, 6906, 6872, 7019, 7234, 7483, 7785, 8074, 8248, 8306, 8322, 8327, 8317, 8292, 8207, 7981, 7623, 7263, 7041, 7025, 7221, 7568, },
/* LAT: 40 */ { 9266, 9487, 9743, 10029, 10355, 10715, 11081, 11418, 11667, 11745, 11593, 11231, 10757, 10285, 9891, 9611, 9466, 9467, 9581, 9745, 9922, 10108, 10281, 10406, 10484, 10547, 10604, 10637, 10619, 10505, 10261, 9908, 9538, 9252, 9110, 9122, 9266, },
/* LAT: 50 */ { 10802, 10923, 11124, 11393, 11715, 12068, 12421, 12735, 12955, 13012, 12872, 12574, 12210, 11867, 11593, 11409, 11319, 11318, 11387, 11492, 11607, 11724, 11841, 11957, 12076, 12200, 12314, 12387, 12376, 12248, 12000, 11671, 11331, 11046, 10856, 10776, 10802, },
/* LAT: 60 */ { 12320, 12391, 12540, 12757, 13026, 13325, 13626, 13891, 14066, 14093, 13958, 13710, 13423, 13153, 12933, 12778, 12689, 12659, 12677, 12726, 12795, 12881, 12988, 13121, 13281, 13457, 13622, 13730, 13734, 13612, 13386, 13106, 12828, 12592, 12422, 12330, 12320, },
/* LAT: 70 */ { 13757, 13798, 13892, 14032, 14210, 14412, 14619, 14800, 14905, 14887, 14753, 14553, 14337, 14134, 13961, 13827, 13733, 13679, 13661, 13674, 13717, 13790, 13894, 14031, 14199, 14387, 14571, 14710, 14755, 14681, 14519, 14320, 14126, 13961, 13841, 13772, 13757, },
/* LAT: 80 */ { 14994, 15005, 15041, 15099, 15174, 15258, 15336, 15381, 15367, 15292, 15182, 15060, 14938, 14825, 14725, 14644, 14582, 14542, 14523, 14527, 14554, 14604, 14676, 14769, 14881, 15008, 15144, 15276, 15384, 15427, 15386, 15297, 15201, 15115, 15050, 15009, 14994, },
/* LAT: 90 */ { 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, },
/* LAT: -90 */ { -12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565, },
/* LAT: -80 */ { -13648,-13514,-13354,-13173,-12980,-12778,-12575,-12375,-12184,-12009,-11852,-11718,-11608,-11522,-11458,-11417,-11397,-11399,-11426,-11480,-11564,-11679,-11824,-11998,-12196,-12414,-12643,-12876,-13104,-13316,-13502,-13652,-13755,-13806,-13802,-13747,-13648, },
/* LAT: -70 */ { -14096,-13777,-13458,-13135,-12803,-12460,-12105,-11749,-11407,-11099,-10848,-10665,-10554,-10502,-10487,-10489,-10495,-10502,-10524,-10580,-10689,-10864,-11112,-11428,-11802,-12221,-12670,-13134,-13600,-14052,-14469,-14812,-14998,-14941,-14710,-14412,-14096, },
/* LAT: -60 */ { -13512,-13158,-12820,-12487,-12143,-11771,-11357,-10903,-10436,-10008, -9680, -9508, -9507, -9645, -9849,-10038,-10158,-10197,-10180,-10163,-10211,-10373,-10666,-11078,-11579,-12137,-12724,-13321,-13909,-14471,-14968,-15256,-15075,-14688,-14281,-13886,-13512, },
/* LAT: -50 */ { -12493,-12150,-11818,-11496,-11172,-10826,-10427, -9956, -9428, -8909, -8523, -8404, -8611, -9075, -9638,-10144,-10496,-10649,-10610,-10452,-10310,-10321,-10549,-10972,-11518,-12113,-12699,-13236,-13681,-13977,-14084,-14010,-13807,-13522,-13193,-12844,-12493, },
/* LAT: -40 */ { -11239,-10889,-10540,-10194, -9855, -9517, -9157, -8733, -8213, -7651, -7231, -7200, -7670, -8499, -9420,-10243,-10894,-11318,-11444,-11264,-10917,-10650,-10653,-10944,-11411,-11916,-12359,-12677,-12833,-12837,-12748,-12612,-12434,-12203,-11916,-11587,-11239, },
/* LAT: -30 */ { -9602, -9220, -8838, -8447, -8054, -7680, -7326, -6937, -6426, -5816, -5372, -5472, -6259, -7470, -8719, -9807,-10713,-11412,-11796,-11769,-11385,-10877,-10553,-10563,-10821,-11142,-11395,-11503,-11437,-11261,-11090,-10959,-10816,-10611,-10330, -9983, -9602, },
/* LAT: -20 */ { -7373, -6926, -6504, -6074, -5630, -5202, -4814, -4405, -3842, -3159, -2722, -3006, -4141, -5766, -7390, -8747, -9800,-10562,-10984,-11002,-10625,-10005, -9451, -9216, -9271, -9434, -9572, -9584, -9409, -9138, -8949, -8869, -8772, -8568, -8251, -7837, -7373, },
/* LAT: -10 */ { -4418, -3873, -3412, -2973, -2515, -2066, -1655, -1208, -588, 110, 458, 4, -1353, -3285, -5255, -6844, -7919, -8536, -8786, -8710, -8287, -7593, -6930, -6593, -6558, -6651, -6766, -6786, -6596, -6301, -6154, -6175, -6146, -5935, -5551, -5020, -4418, },
/* LAT: 0 */ { -911, -276, 197, 603, 1022, 1438, 1824, 2258, 2834, 3403, 3590, 3071, 1750, -177, -2216, -3844, -4827, -5237, -5282, -5102, -4648, -3921, -3216, -2852, -2794, -2861, -2984, -3055, -2925, -2692, -2646, -2805, -2882, -2703, -2278, -1643, -911, },
/* LAT: 10 */ { 2557, 3193, 3634, 3978, 4334, 4701, 5048, 5427, 5869, 6231, 6255, 5749, 4647, 3068, 1381, 24, -758, -987, -884, -641, -220, 427, 1061, 1393, 1457, 1417, 1319, 1228, 1269, 1369, 1285, 1003, 796, 862, 1215, 1822, 2557, },
/* LAT: 20 */ { 5413, 5948, 6333, 6630, 6944, 7287, 7626, 7967, 8293, 8485, 8389, 7915, 7068, 5965, 4843, 3946, 3432, 3328, 3487, 3735, 4072, 4543, 5004, 5257, 5316, 5303, 5258, 5200, 5186, 5163, 4982, 4639, 4331, 4236, 4409, 4836, 5413, },
/* LAT: 30 */ { 7568, 7944, 8264, 8547, 8856, 9203, 9557, 9894, 10165, 10273, 10122, 9694, 9060, 8348, 7690, 7186, 6903, 6870, 7019, 7234, 7485, 7787, 8077, 8250, 8309, 8326, 8331, 8321, 8296, 8209, 7982, 7623, 7262, 7039, 7024, 7220, 7568, },
/* LAT: 40 */ { 9266, 9487, 9744, 10029, 10355, 10715, 11081, 11416, 11665, 11743, 11589, 11226, 10753, 10280, 9887, 9608, 9464, 9466, 9581, 9745, 9923, 10110, 10282, 10407, 10486, 10549, 10607, 10640, 10621, 10507, 10262, 9908, 9538, 9252, 9109, 9122, 9266, },
/* LAT: 50 */ { 10802, 10923, 11123, 11392, 11714, 12067, 12419, 12733, 12953, 13009, 12869, 12571, 12207, 11864, 11591, 11407, 11317, 11317, 11387, 11492, 11608, 11726, 11843, 11959, 12078, 12202, 12317, 12389, 12378, 12250, 12001, 11671, 11331, 11046, 10856, 10776, 10802, },
/* LAT: 60 */ { 12320, 12391, 12540, 12756, 13024, 13323, 13624, 13889, 14063, 14091, 13956, 13708, 13421, 13151, 12932, 12777, 12689, 12659, 12677, 12726, 12796, 12882, 12989, 13122, 13283, 13459, 13624, 13732, 13735, 13612, 13386, 13107, 12828, 12592, 12422, 12330, 12320, },
/* LAT: 70 */ { 13757, 13798, 13891, 14031, 14208, 14410, 14617, 14797, 14902, 14885, 14751, 14552, 14336, 14133, 13960, 13827, 13733, 13680, 13661, 13675, 13718, 13791, 13896, 14033, 14201, 14388, 14573, 14712, 14756, 14681, 14519, 14321, 14126, 13962, 13841, 13772, 13757, },
/* LAT: 80 */ { 14993, 15004, 15040, 15097, 15172, 15255, 15333, 15378, 15364, 15290, 15181, 15059, 14938, 14825, 14726, 14644, 14583, 14542, 14524, 14528, 14555, 14605, 14677, 14770, 14882, 15010, 15145, 15278, 15386, 15429, 15387, 15298, 15201, 15115, 15050, 15008, 14993, },
/* LAT: 90 */ { 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15399, 15399, 15399, 15399, 15399, 15399, 15399, },
};
// Magnetic strength data in milli-Gauss * 10
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2023.3287,
// Date: 2023.5425,
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 */ { 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, 5447, },
/* LAT: -80 */ { 6053, 5989, 5910, 5818, 5714, 5602, 5484, 5363, 5240, 5120, 5006, 4901, 4807, 4728, 4665, 4620, 4596, 4595, 4616, 4663, 4734, 4828, 4943, 5075, 5219, 5369, 5519, 5662, 5793, 5907, 5999, 6068, 6112, 6131, 6126, 6100, 6053, },
/* LAT: -70 */ { 6298, 6164, 6013, 5847, 5668, 5476, 5270, 5056, 4837, 4622, 4419, 4237, 4080, 3949, 3846, 3769, 3722, 3710, 3739, 3816, 3945, 4126, 4355, 4623, 4919, 5226, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6546, 6496, 6410, 6298, },
/* LAT: -60 */ { 6183, 5990, 5788, 5578, 5359, 5124, 4867, 4589, 4297, 4007, 3741, 3514, 3335, 3201, 3103, 3029, 2979, 2959, 2985, 3077, 3246, 3499, 3827, 4214, 4637, 5072, 5493, 5877, 6201, 6449, 6612, 6690, 6691, 6627, 6513, 6361, 6183, },
/* LAT: -50 */ { 5841, 5610, 5377, 5146, 4913, 4668, 4397, 4094, 3765, 3434, 3132, 2893, 2733, 2642, 2594, 2559, 2524, 2498, 2503, 2576, 2752, 3044, 3442, 3915, 4423, 4929, 5403, 5821, 6160, 6401, 6538, 6578, 6535, 6424, 6261, 6062, 5841, },
/* LAT: -40 */ { 5391, 5145, 4899, 4659, 4424, 4186, 3931, 3647, 3333, 3007, 2709, 2488, 2372, 2346, 2365, 2386, 2389, 2376, 2363, 2393, 2525, 2804, 3225, 3741, 4289, 4812, 5278, 5665, 5957, 6143, 6231, 6233, 6163, 6031, 5849, 5631, 5391, },
/* LAT: -30 */ { 4877, 4636, 4396, 4161, 3934, 3715, 3496, 3265, 3009, 2733, 2476, 2294, 2226, 2251, 2318, 2389, 2454, 2502, 2522, 2534, 2604, 2807, 3173, 3664, 4196, 4692, 5109, 5424, 5625, 5725, 5751, 5724, 5644, 5511, 5331, 5114, 4877, },
/* LAT: -20 */ { 4320, 4107, 3897, 3692, 3496, 3313, 3144, 2981, 2802, 2604, 2413, 2280, 2241, 2286, 2376, 2487, 2614, 2741, 2827, 2861, 2887, 2986, 3230, 3618, 4069, 4495, 4842, 5074, 5178, 5185, 5155, 5108, 5026, 4898, 4731, 4534, 4320, },
/* LAT: -10 */ { 3790, 3628, 3475, 3328, 3192, 3072, 2968, 2876, 2778, 2662, 2540, 2442, 2398, 2424, 2512, 2642, 2797, 2955, 3076, 3137, 3151, 3179, 3306, 3561, 3888, 4210, 4473, 4634, 4668, 4615, 4548, 4484, 4396, 4272, 4122, 3958, 3790, },
/* LAT: 0 */ { 3412, 3318, 3234, 3161, 3105, 3067, 3040, 3021, 2995, 2946, 2867, 2773, 2694, 2665, 2709, 2813, 2945, 3080, 3194, 3268, 3299, 3321, 3398, 3557, 3768, 3981, 4161, 4265, 4270, 4202, 4114, 4022, 3911, 3779, 3645, 3520, 3412, },
/* LAT: 10 */ { 3282, 3251, 3230, 3226, 3250, 3297, 3352, 3404, 3438, 3428, 3359, 3244, 3119, 3025, 3001, 3044, 3125, 3224, 3324, 3409, 3472, 3535, 3624, 3743, 3880, 4019, 4138, 4208, 4209, 4147, 4037, 3893, 3731, 3572, 3436, 3339, 3282, },
/* LAT: 20 */ { 3399, 3401, 3427, 3480, 3571, 3692, 3820, 3936, 4016, 4028, 3954, 3813, 3647, 3509, 3435, 3424, 3460, 3533, 3630, 3728, 3819, 3918, 4029, 4141, 4251, 4363, 4466, 4531, 4541, 4482, 4344, 4141, 3913, 3703, 3540, 3439, 3399, },
/* LAT: 30 */ { 3722, 3728, 3781, 3880, 4022, 4192, 4367, 4523, 4630, 4656, 4584, 4429, 4241, 4078, 3975, 3930, 3935, 3987, 4074, 4173, 4271, 4377, 4494, 4612, 4732, 4859, 4981, 5067, 5092, 5033, 4876, 4636, 4361, 4107, 3907, 3778, 3722, },
/* LAT: 40 */ { 4222, 4218, 4282, 4404, 4570, 4757, 4939, 5096, 5200, 5226, 5158, 5011, 4825, 4652, 4526, 4451, 4427, 4450, 4511, 4591, 4678, 4776, 4891, 5025, 5176, 5338, 5490, 5600, 5638, 5582, 5426, 5187, 4914, 4654, 4443, 4297, 4222, },
/* LAT: 50 */ { 4832, 4822, 4876, 4985, 5130, 5289, 5438, 5560, 5634, 5644, 5581, 5455, 5293, 5131, 4994, 4898, 4844, 4833, 4859, 4910, 4980, 5071, 5190, 5341, 5516, 5701, 5867, 5984, 6027, 5981, 5850, 5654, 5430, 5215, 5035, 4905, 4832, },
/* LAT: 60 */ { 5392, 5378, 5404, 5465, 5550, 5644, 5731, 5798, 5832, 5824, 5771, 5678, 5558, 5430, 5312, 5217, 5151, 5118, 5116, 5144, 5201, 5288, 5406, 5554, 5720, 5888, 6035, 6138, 6181, 6158, 6075, 5950, 5804, 5662, 5540, 5448, 5392, },
/* LAT: 70 */ { 5726, 5704, 5700, 5711, 5732, 5758, 5782, 5798, 5798, 5780, 5742, 5685, 5616, 5540, 5467, 5403, 5356, 5328, 5324, 5344, 5389, 5459, 5551, 5660, 5777, 5891, 5989, 6062, 6100, 6103, 6074, 6021, 5954, 5884, 5819, 5765, 5726, },
/* LAT: 80 */ { 5790, 5772, 5757, 5744, 5734, 5724, 5715, 5703, 5689, 5671, 5649, 5624, 5598, 5571, 5547, 5527, 5513, 5509, 5514, 5529, 5555, 5590, 5633, 5681, 5730, 5778, 5821, 5855, 5879, 5892, 5894, 5887, 5873, 5853, 5832, 5810, 5790, },
/* LAT: -90 */ { 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, },
/* LAT: -80 */ { 6052, 5988, 5908, 5816, 5713, 5601, 5483, 5361, 5238, 5118, 5004, 4899, 4806, 4726, 4663, 4619, 4595, 4593, 4615, 4662, 4733, 4827, 4942, 5074, 5218, 5368, 5518, 5661, 5792, 5906, 5998, 6067, 6111, 6130, 6125, 6099, 6052, },
/* LAT: -70 */ { 6297, 6162, 6011, 5846, 5666, 5474, 5268, 5053, 4835, 4620, 4418, 4235, 4078, 3948, 3844, 3768, 3721, 3709, 3738, 3815, 3944, 4125, 4355, 4623, 4919, 5227, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6545, 6495, 6409, 6297, },
/* LAT: -60 */ { 6182, 5989, 5786, 5576, 5357, 5122, 4865, 4587, 4295, 4005, 3739, 3513, 3334, 3200, 3101, 3028, 2977, 2958, 2984, 3076, 3246, 3499, 3828, 4215, 4638, 5073, 5494, 5878, 6202, 6450, 6612, 6690, 6691, 6627, 6512, 6360, 6182, },
/* LAT: -50 */ { 5840, 5609, 5376, 5144, 4911, 4666, 4395, 4092, 3763, 3432, 3130, 2892, 2731, 2641, 2593, 2558, 2523, 2496, 2501, 2575, 2751, 3044, 3443, 3916, 4424, 4930, 5405, 5823, 6161, 6402, 6539, 6578, 6535, 6424, 6261, 6061, 5840, },
/* LAT: -40 */ { 5391, 5144, 4898, 4657, 4422, 4185, 3930, 3645, 3331, 3006, 2708, 2486, 2371, 2346, 2365, 2385, 2388, 2375, 2361, 2391, 2525, 2805, 3227, 3743, 4291, 4814, 5279, 5666, 5958, 6144, 6232, 6234, 6163, 6031, 5849, 5630, 5391, },
/* LAT: -30 */ { 4877, 4635, 4395, 4160, 3933, 3714, 3495, 3263, 3007, 2732, 2474, 2293, 2225, 2251, 2318, 2388, 2453, 2501, 2521, 2532, 2603, 2807, 3175, 3666, 4199, 4694, 5110, 5425, 5626, 5725, 5751, 5724, 5644, 5511, 5331, 5114, 4877, },
/* LAT: -20 */ { 4320, 4106, 3897, 3691, 3495, 3312, 3143, 2979, 2801, 2602, 2412, 2279, 2241, 2286, 2376, 2487, 2614, 2740, 2826, 2860, 2886, 2986, 3231, 3620, 4071, 4497, 4843, 5075, 5179, 5186, 5155, 5108, 5026, 4898, 4731, 4534, 4320, },
/* LAT: -10 */ { 3790, 3628, 3474, 3327, 3191, 3071, 2967, 2875, 2776, 2661, 2539, 2441, 2397, 2424, 2512, 2642, 2798, 2955, 3076, 3136, 3150, 3179, 3306, 3562, 3890, 4212, 4475, 4635, 4668, 4615, 4548, 4485, 4397, 4272, 4123, 3958, 3790, },
/* LAT: 0 */ { 3412, 3318, 3233, 3160, 3105, 3066, 3039, 3019, 2994, 2945, 2866, 2772, 2693, 2665, 2709, 2813, 2946, 3081, 3194, 3268, 3298, 3321, 3398, 3558, 3769, 3983, 4162, 4266, 4271, 4202, 4114, 4022, 3911, 3780, 3645, 3520, 3412, },
/* LAT: 10 */ { 3282, 3251, 3230, 3225, 3249, 3296, 3351, 3403, 3436, 3426, 3357, 3242, 3117, 3024, 3001, 3044, 3126, 3224, 3324, 3409, 3472, 3535, 3624, 3744, 3881, 4020, 4140, 4209, 4210, 4147, 4037, 3893, 3732, 3572, 3436, 3339, 3282, },
/* LAT: 20 */ { 3399, 3401, 3426, 3479, 3570, 3691, 3818, 3934, 4014, 4026, 3952, 3811, 3645, 3507, 3434, 3424, 3460, 3534, 3631, 3728, 3819, 3918, 4030, 4142, 4252, 4365, 4468, 4533, 4542, 4483, 4345, 4142, 3914, 3704, 3540, 3439, 3399, },
/* LAT: 30 */ { 3722, 3727, 3780, 3879, 4020, 4191, 4365, 4520, 4628, 4654, 4581, 4426, 4239, 4077, 3974, 3930, 3935, 3987, 4075, 4174, 4272, 4379, 4495, 4613, 4733, 4861, 4983, 5069, 5094, 5035, 4877, 4637, 4362, 4107, 3908, 3778, 3722, },
/* LAT: 40 */ { 4222, 4218, 4281, 4403, 4568, 4755, 4937, 5093, 5198, 5224, 5156, 5009, 4823, 4651, 4525, 4451, 4427, 4451, 4512, 4593, 4680, 4778, 4893, 5026, 5178, 5340, 5492, 5602, 5639, 5583, 5426, 5188, 4914, 4655, 4444, 4298, 4222, },
/* LAT: 50 */ { 4832, 4822, 4875, 4983, 5128, 5286, 5436, 5557, 5632, 5642, 5579, 5453, 5292, 5130, 4994, 4898, 4845, 4834, 4860, 4911, 4981, 5072, 5192, 5342, 5518, 5702, 5868, 5985, 6028, 5982, 5850, 5655, 5431, 5216, 5036, 4905, 4832, },
/* LAT: 60 */ { 5393, 5377, 5403, 5463, 5548, 5642, 5729, 5796, 5830, 5823, 5770, 5677, 5558, 5430, 5312, 5217, 5151, 5118, 5117, 5145, 5202, 5289, 5408, 5555, 5722, 5890, 6037, 6139, 6182, 6159, 6076, 5950, 5805, 5663, 5541, 5448, 5393, },
/* LAT: 70 */ { 5726, 5704, 5699, 5710, 5731, 5757, 5781, 5796, 5797, 5779, 5741, 5685, 5616, 5540, 5467, 5404, 5356, 5329, 5325, 5345, 5390, 5460, 5552, 5661, 5778, 5892, 5990, 6062, 6101, 6104, 6075, 6022, 5955, 5885, 5819, 5765, 5726, },
/* LAT: 80 */ { 5790, 5772, 5756, 5744, 5734, 5724, 5714, 5703, 5688, 5671, 5649, 5624, 5598, 5572, 5547, 5527, 5514, 5509, 5514, 5530, 5556, 5591, 5634, 5682, 5731, 5779, 5822, 5856, 5880, 5893, 5895, 5888, 5873, 5854, 5832, 5810, 5790, },
/* LAT: 90 */ { 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, },
};

10058
src/lib/world_magnetic_model/test_geo_lookup.cpp
View File

File diff suppressed because it is too large Load Diff

40
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -91,9 +91,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
8890000,0.7,0.0016,-0.014,0.71,-0.029,0.02,-0.15,-0.027,0.02,-3.7e+02,-1.4e-05,-5.7e-05,-5.1e-06,0,0,-0.00045,0.21,0.0021,0.44,0,0,0,0,0,0.004,0.00037,0.00037,0.00022,0.96,0.96,0.095,2.7,2.7,0.086,9.2e-09,9.2e-09,9.4e-08,4e-06,4e-06,3e-06,0,0,0,0,0,0,0,0
8990000,0.7,0.0016,-0.014,0.71,-0.03,0.02,-0.14,-0.03,0.021,-3.7e+02,-1.4e-05,-5.6e-05,-1e-05,0,0,-0.00051,0.21,0.0021,0.44,0,0,0,0,0,0.0039,0.00038,0.00038,0.00022,1,1,0.096,3,3,0.087,9.2e-09,9.2e-09,8.5e-08,4e-06,4e-06,2.9e-06,0,0,0,0,0,0,0,0
9090000,0.7,0.0017,-0.014,0.71,-0.032,0.02,-0.14,-0.033,0.022,-3.7e+02,-1.4e-05,-5.6e-05,-1.2e-05,0,0,-0.00053,0.21,0.0021,0.44,0,0,0,0,0,0.0039,0.00038,0.00038,0.00021,1.1,1.1,0.095,3.3,3.3,0.086,9.1e-09,9.1e-09,7.6e-08,4e-06,4e-06,2.8e-06,0,0,0,0,0,0,0,0
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@ -156,7 +156,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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139 13690000 0.7 0.00077 -0.014 0.71 0.0015 0.0083 -0.025 0.0024 0.0019 -3.7e+02 -1.1e-05 -5.9e-05 -3.8e-06 2.1e-06 1.4e-05 -0.0011 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.0002 0.0002 8e-05 0.059 0.059 0.029 0.056 0.056 0.05 3.4e-09 3.4e-09 3.8e-09 3.5e-06 3.5e-06 8.3e-07 0 0 0 0 0 0 0 0
140 13790000 0.7 0.00066 -0.014 0.71 0.002 0.0041 -0.027 0.0034 -0.00048 -3.7e+02 -1.1e-05 -5.9e-05 -3.7e-06 6.1e-07 1.4e-05 -0.0011 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.9e-05 0.05 0.05 0.029 0.048 0.048 0.049 3.2e-09 3.2e-09 3.7e-09 3.5e-06 3.5e-06 7.9e-07 0 0 0 0 0 0 0 0
141 13890000 0.7 0.00063 -0.014 0.71 0.0026 0.0041 -0.031 0.0036 -9.1e-05 -3.7e+02 -1.1e-05 -5.9e-05 -3e-06 9.1e-07 1.3e-05 -0.0011 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.9e-05 0.056 0.056 0.03 0.056 0.056 0.05 3.2e-09 3.2e-09 3.5e-09 3.5e-06 3.5e-06 7.8e-07 0 0 0 0 0 0 0 0
142 13990000 0.7 0.00056 -0.014 0.71 0.0028 0.0016 -0.03 0.0044 -0.0019 -3.7e+02 -1.1e-05 -6e-05 -2.8e-06 -1.4e-06 -1.3e-06 1.3e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.7e-05 0.048 0.048 0.03 0.048 0.048 0.05 3.1e-09 3.1e-09 3.4e-09 3.5e-06 3.5e-06 7.4e-07 0 0 0 0 0 0 0 0
143 14090000 0.7 0.00054 -0.014 0.71 0.0029 0.0018 -0.031 0.0047 -0.0017 -3.7e+02 -1.1e-05 -6e-05 -1.7e-06 -1.2e-06 1.3e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.6e-05 0.054 0.054 0.031 0.055 0.055 0.05 3.1e-09 3.1e-09 3.2e-09 3.5e-06 3.5e-06 7.3e-07 0 0 0 0 0 0 0 0
144 14190000 0.7 0.00044 -0.014 0.71 0.0062 0.0012 -0.033 0.0067 -0.0015 -3.7e+02 -1.1e-05 -6e-05 -1.1e-06 -1.6e-06 -1.5e-06 1.1e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.6e-05 0.046 0.046 0.031 0.048 0.048 0.05 2.9e-09 2.9e-09 3.1e-09 3.5e-06 3.5e-06 6.9e-07 0 0 0 0 0 0 0 0
145 14290000 0.7 0.00045 -0.014 0.71 0.0071 0.002 -0.032 0.0074 -0.0014 -3.7e+02 -1.1e-05 -6e-05 -6.5e-07 -2.2e-06 1.1e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.5e-05 0.052 0.052 0.032 0.055 0.055 0.051 2.9e-09 2.9e-09 3e-09 3.5e-06 3.5e-06 6.7e-07 0 0 0 0 0 0 0 0
146 14390000 0.7 0.00036 -0.014 0.71 0.0088 0.0029 -0.034 0.0087 -0.0012 -3.7e+02 -1e-05 -6e-05 4.1e-07 -2.6e-06 9.2e-06 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 7.3e-05 0.044 0.044 0.031 0.047 0.047 0.05 2.8e-09 2.8e-09 2.9e-09 3.4e-06 3.4e-06 6.3e-07 0 0 0 0 0 0 0 0
147 14490000 0.7 0.00035 -0.014 0.71 0.0089 0.0042 -0.037 0.0096 -0.00085 -3.7e+02 -1e-05 -6e-05 7e-07 -2.1e-06 8.8e-06 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.2e-05 0.05 0.05 0.032 0.055 0.055 0.051 2.8e-09 2.8e-09 2.8e-09 3.4e-06 3.4e-06 6.2e-07 0 0 0 0 0 0 0 0
148 14590000 0.7 0.00034 -0.013 0.71 0.0054 0.0026 -0.037 0.006 -0.0023 -3.7e+02 -1.1e-05 -6e-05 7.2e-07 -5e-06 1.3e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 7.2e-05 0.043 0.043 0.031 0.047 0.047 0.051 2.6e-09 2.6e-09 2.7e-09 3.4e-06 3.4e-06 5.8e-07 0 0 0 0 0 0 0 0
149 14690000 0.7 0.0003 -0.013 0.71 0.0069 -0.00029 -0.034 0.0067 -0.0022 -3.7e+02 -1.1e-05 -6e-05 1.4e-06 -6e-06 1.4e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 7.1e-05 0.048 0.048 0.032 0.054 0.054 0.051 2.6e-09 2.6e-09 2.6e-09 3.4e-06 3.4e-06 5.6e-07 0 0 0 0 0 0 0 0
150 14790000 0.7 0.00032 -0.013 0.71 0.0036 -0.0019 -0.03 0.0038 -0.0032 -3.7e+02 -1.1e-05 -6e-05 1.6e-06 -9.3e-06 1.8e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 7e-05 0.042 0.042 0.031 0.047 0.047 0.051 2.5e-09 2.5e-09 2.5e-09 3.4e-06 3.4e-06 5.3e-07 0 0 0 0 0 0 0 0
151 14890000 0.7 0.00031 -0.013 0.71 0.0052 -0.00086 -0.00087 -0.033 0.0042 -0.0034 -3.7e+02 -1.1e-05 -6e-05 2e-06 -9.1e-06 1.8e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 6.9e-05 0.047 0.047 0.031 0.054 0.054 0.052 2.5e-09 2.5e-09 2.4e-09 3.4e-06 3.4e-06 5.1e-07 0 0 0 0 0 0 0 0
152 14990000 0.7 0.00031 -0.013 0.71 0.004 -0.0011 -0.029 0.0032 -0.0027 -3.7e+02 -1.1e-05 -6e-05 1.8e-06 -9.8e-06 2e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 6.8e-05 0.041 0.041 0.03 0.047 0.047 0.051 2.3e-09 2.3e-09 2.3e-09 3.4e-06 3.4e-06 4.8e-07 0 0 0 0 0 0 0 0
153 15090000 0.7 0.00023 -0.013 0.71 0.0045 -0.0012 -0.032 0.0036 -0.0028 -3.7e+02 -1.1e-05 -6e-05 1.8e-06 -9.3e-06 2e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00019 0.00019 6.8e-05 0.046 0.046 0.031 0.054 0.054 0.052 2.3e-09 2.3e-09 2.3e-09 3.4e-06 3.4e-06 4.6e-07 0 0 0 0 0 0 0 0
154 15190000 0.7 0.00025 -0.013 0.71 0.0038 -6.2e-05 -0.029 0.0029 -0.0023 -3.7e+02 -1.1e-05 -6e-05 1.7e-06 -9.6e-06 2.2e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 6.7e-05 0.04 0.04 0.03 0.047 0.047 0.052 2.2e-09 2.2e-09 2.2e-09 3.4e-06 3.4e-06 4.3e-07 0 0 0 0 0 0 0 0
156 15390000 0.71 0.00021 -0.013 0.71 0.0037 0.00045 -0.024 0.00067 -0.0019 -3.7e+02 -1.2e-05 -6e-05 3e-06 -1.1e-05 2.5e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 6.5e-05 0.039 0.039 0.029 0.047 0.047 0.051 2e-09 2e-09 2e-09 3.4e-06 3.4e-06 3.9e-07 0 0 0 0 0 0 0 0
157 15490000 0.7 0.00023 -0.013 0.71 0.005 0.00015 -0.024 0.0011 -0.0019 -3.7e+02 -1.2e-05 -6e-05 2.5e-06 -1.1e-05 2.4e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 6.5e-05 0.044 0.044 0.029 0.053 0.053 0.053 2e-09 2e-09 2e-09 3.4e-06 3.4e-06 3.7e-07 0 0 0 0 0 0 0 0
158 15590000 0.7 0.00024 -0.013 0.71 0.003 7.8e-05 -0.023 -0.0012 -0.0016 -3.7e+02 -1.2e-05 -6e-05 2.1e-06 -1.1e-05 2.6e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00017 0.00017 6.4e-05 0.039 0.039 0.028 0.046 0.046 0.052 1.9e-09 1.9e-09 1.9e-09 3.3e-06 3.3e-06 3.5e-07 0 0 0 0 0 0 0 0
159 15690000 0.7 0.00025 -0.013 0.71 0.0034 -1.6e-05 -1.7e-05 -0.023 -0.00087 -0.0015 -3.7e+02 -1.2e-05 -6e-05 2.1e-06 -1.1e-05 2.6e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 6.3e-05 0.044 0.044 0.028 0.053 0.053 0.052 1.9e-09 1.9e-09 1.8e-09 3.3e-06 3.3e-06 3.3e-07 0 0 0 0 0 0 0 0
160 15790000 0.7 0.00021 -0.013 0.71 0.0038 -0.0017 -0.026 -0.00083 -0.0026 -3.7e+02 -1.2e-05 -6.1e-05 2.1e-06 -1.3e-05 2.7e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00017 0.00017 6.3e-05 0.038 0.038 0.027 0.046 0.046 0.051 1.7e-09 1.7e-09 1.8e-09 3.3e-06 3.3e-06 3.1e-07 0 0 0 0 0 0 0 0
161 15890000 0.7 0.00016 -0.013 0.71 0.0048 -0.0022 -0.024 -0.00037 -0.0029 -3.7e+02 -1.2e-05 -6.1e-05 2.2e-06 -1.3e-05 2.7e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00018 0.00018 6.2e-05 0.043 0.043 0.027 0.053 0.053 0.052 1.7e-09 1.7e-09 1.7e-09 3.3e-06 3.3e-06 3e-07 0 0 0 0 0 0 0 0
162 15990000 0.71 0.0001 -0.013 0.71 0.0046 -0.0031 -0.019 -0.0005 -0.0037 -3.7e+02 -1.2e-05 -6.1e-05 2.8e-06 -1.6e-05 3e-05 -0.0012 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00017 0.00017 6.1e-05 0.038 0.038 0.026 0.046 0.046 0.051 1.6e-09 1.6e-09 1.7e-09 3.3e-06 3.3e-06 2.8e-07 0 0 0 0 0 0 0 0
195 19290000 0.71 0.0001 -0.012 0.71 0.015 0.0018 0.0086 0.01 -2.8e-05 -3.7e+02 -1.4e-05 -6.1e-05 5.6e-06 -1.7e-05 5.9e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.6e-05 0.031 0.031 0.012 0.05 0.05 0.044 3.6e-10 3.6e-10 7e-10 2.9e-06 2.9e-06 6e-08 0 0 0 0 0 0 0 0
196 19390000 0.71 0.00011 -0.012 0.71 0.013 0.0008 0.012 0.0082 -9.1e-05 -3.7e+02 -1.4e-05 -6.1e-05 5.8e-06 -1.7e-05 6.3e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.6e-05 0.027 0.027 0.012 0.044 0.044 0.043 3.3e-10 3.3e-10 6.8e-10 2.9e-06 2.9e-06 5.8e-08 0 0 0 0 0 0 0 0
197 19490000 0.71 0.00014 -0.012 0.71 0.012 0.00011 0.0088 0.0094 -4.9e-05 -3.7e+02 -1.4e-05 -6.1e-05 6.1e-06 -1.7e-05 6.3e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.5e-05 0.03 0.03 0.011 0.05 0.05 0.043 3.3e-10 3.3e-10 6.7e-10 2.9e-06 2.9e-06 5.6e-08 0 0 0 0 0 0 0 0
198 19590000 0.71 0.00019 0.00018 -0.012 0.71 0.01 -0.00096 0.0081 0.0076 -0.00011 -3.7e+02 -1.4e-05 -6.1e-05 6.5e-06 -1.7e-05 6.7e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.5e-05 0.027 0.027 0.011 0.044 0.044 0.042 3e-10 3e-10 6.5e-10 2.9e-06 2.9e-06 5.4e-08 0 0 0 0 0 0 0 0
199 19690000 0.71 0.00019 -0.012 0.71 0.01 -0.0031 0.0096 0.0086 -0.00032 -3.7e+02 -1.4e-05 -6.1e-05 6.3e-06 -1.7e-05 6.7e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.5e-05 0.029 0.029 0.011 0.05 0.05 0.042 3e-10 3e-10 6.4e-10 2.9e-06 2.9e-06 5.2e-08 0 0 0 0 0 0 0 0
200 19790000 0.71 0.00025 -0.012 0.71 0.008 -0.004 0.01 0.007 -0.00026 -3.7e+02 -1.4e-05 -6.1e-05 6.3e-06 -1.7e-05 6.9e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.4e-05 0.026 0.026 0.011 0.044 0.044 0.042 2.7e-10 2.7e-10 6.3e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
201 19890000 0.71 0.0002 -0.012 0.71 0.0068 -0.0043 0.011 0.0077 -0.00069 -3.7e+02 -1.4e-05 -6.1e-05 6.7e-06 -1.7e-05 6.9e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.00011 0.00011 4.4e-05 0.029 0.029 0.011 0.05 0.05 0.042 2.7e-10 2.7e-10 6.1e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
207 20490000 0.71 0.00032 -0.012 0.71 -0.0023 -0.011 0.016 0.0024 -0.0024 -3.7e+02 -1.4e-05 -6e-05 7.9e-06 -1.3e-05 7.6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.0001 0.0001 4.2e-05 0.026 0.026 0.0096 0.049 0.049 0.041 2.1e-10 2.1e-10 5.4e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
208 20590000 0.71 0.00034 -0.012 0.71 -0.002 -0.011 0.013 0.002 -0.0019 -3.7e+02 -1.4e-05 -6e-05 7.7e-06 -1.1e-05 7.6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 9.9e-05 9.9e-05 4.2e-05 0.024 0.024 0.0094 0.044 0.044 0.04 1.9e-10 1.9e-10 5.3e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
209 20690000 0.71 0.00037 -0.012 0.71 -0.002 -0.012 0.015 0.0018 -0.003 -3.7e+02 -1.4e-05 -6e-05 7.8e-06 -1.1e-05 7.6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 0.0001 0.0001 4.2e-05 0.026 0.026 0.0093 0.049 0.049 0.04 1.9e-10 1.9e-10 5.2e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
210 20790000 0.71 0.0004 0.00039 -0.012 0.71 -0.0031 -0.011 0.015 0.0015 -0.0024 -3.7e+02 -1.4e-05 -6e-05 7.8e-06 -9.5e-06 7.6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 9.8e-05 9.7e-05 4.1e-05 0.023 0.023 0.0091 0.043 0.043 0.04 1.8e-10 1.8e-10 5.1e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
211 20890000 0.71 0.00038 -0.012 0.71 -0.0035 -0.013 0.014 0.0012 -0.0036 -3.7e+02 -1.4e-05 -6e-05 8.1e-06 -9.6e-06 7.6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 9.8e-05 9.8e-05 4.1e-05 0.025 0.025 0.0091 0.049 0.049 0.04 1.8e-10 1.8e-10 5e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
212 20990000 0.71 0.00038 -0.012 0.71 -0.0038 -0.014 0.015 0.0028 -0.003 -3.7e+02 -1.4e-05 -6e-05 8.1e-06 -7.6e-06 7.4e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 9.6e-05 9.6e-05 4.1e-05 0.023 0.023 0.0089 0.043 0.043 0.039 1.7e-10 1.7e-10 4.9e-10 2.8e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
213 21090000 0.71 0.00038 -0.012 0.71 -0.0039 -0.017 0.015 0.0024 -0.0045 -3.7e+02 -1.4e-05 -6e-05 8.2e-06 -7.6e-06 7.4e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0038 9.7e-05 9.7e-05 4.1e-05 0.025 0.025 0.0089 0.048 0.048 0.039 1.7e-10 1.7e-10 4.8e-10 2.8e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
239 23690000 0.71 0.0079 0.004 0.71 -0.065 -0.016 -0.094 -0.021 -0.0023 -3.7e+02 -1.4e-05 -5.9e-05 6.7e-06 1.9e-05 7e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.8e-05 8.5e-05 3.5e-05 0.019 0.019 0.0078 0.045 0.045 0.036 7.4e-11 7.4e-11 3e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
240 23790000 0.71 0.005 0.00064 0.71 -0.088 -0.027 -0.15 -0.021 -0.0017 -3.7e+02 -1.4e-05 -5.9e-05 6.8e-06 2.1e-05 6.4e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.6e-05 8.4e-05 3.5e-05 0.017 0.017 0.0077 0.041 0.041 0.035 7.1e-11 7.1e-11 2.9e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
241 23890000 0.71 0.0024 -0.0054 0.71 -0.11 -0.036 -0.2 -0.03 -0.0049 -3.7e+02 -1.4e-05 -5.9e-05 6.7e-06 2.1e-05 6.4e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.6e-05 8.5e-05 3.4e-05 0.019 0.019 0.0078 0.045 0.045 0.035 7.1e-11 7.1e-11 2.9e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
242 23990000 0.71 0.00096 -0.01 0.71 -0.11 -0.04 -0.039 -0.25 -0.034 -0.0081 -3.7e+02 -1.4e-05 -5.9e-05 6.7e-06 2.2e-05 6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.4e-05 8.4e-05 3.4e-05 0.017 0.017 0.0077 0.041 0.041 0.035 6.7e-11 6.7e-11 2.9e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
243 24090000 0.71 0.0022 -0.0088 0.71 -0.11 -0.04 -0.3 -0.045 -0.012 -3.7e+02 -1.4e-05 -5.9e-05 6.8e-06 2.2e-05 6e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.5e-05 8.4e-05 3.4e-05 0.018 0.018 0.0078 0.045 0.045 0.035 6.7e-11 6.7e-11 2.8e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
244 24190000 0.71 0.0033 -0.0065 0.71 -0.11 -0.041 -0.35 -0.046 -0.014 -3.7e+02 -1.4e-05 -5.9e-05 6.8e-06 2.4e-05 5.4e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.4e-05 8.3e-05 3.4e-05 0.017 0.017 0.0077 0.04 0.04 0.035 6.4e-11 6.4e-11 2.8e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
245 24290000 0.71 0.0038 -0.0057 0.71 -0.12 -0.045 -0.41 -0.058 -0.018 -3.7e+02 -1.4e-05 -5.9e-05 6.7e-06 2.4e-05 5.4e-05 -0.0013 0.21 0.0021 0.44 0 0 0 0 0 0.0037 8.5e-05 8.4e-05 3.4e-05 0.018 0.018 0.0078 0.045 0.045 0.036 6.5e-11 6.4e-11 2.7e-10 2.8e-06 2.8e-06 5e-08 0 0 0 0 0 0 0 0
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14
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

@ -1,8 +1,8 @@
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]
10000,1,-0.011,-0.01,0.00023,0.00033,-0.00013,-0.01,1e-05,-3.8e-06,-0.00042,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5.8e-07,0.0025,0.0025,0.005,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
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190000,0.98,-0.0092,-0.013,0.21,-0.0013,-0.0036,-0.037,-4.4e-05,-0.00046,-0.017,5.2e-12,-4.3e-12,-3e-14,0,0,-6.8e-10,0.2,0.011,0.43,0,0,0,0,0,2.9e-06,0.0027,0.0027,0.0052,25,25,10,1e+02,1e+02,1,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
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590000,0.98,-0.0095,-0.014,0.19,0.0014,-0.0091,-0.12,0.00018,-0.0013,-0.029,-1.4e-08,6.7e-09,4.3e-10,0,0,6.4e-07,0.2,0.002,0.44,0,0,0,0,0,2.9e-05,0.0037,0.0037,0.0062,7.9,7.9,4.2,0.67,0.67,0.32,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
@ -75,11 +75,11 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
7290000,0.98,-0.006,-0.013,0.19,-0.0017,0.038,-0.034,0.00073,0.029,-0.054,-1.9e-05,-5.6e-05,-2.1e-05,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00032,0.00032,0.00063,0.35,0.35,0.028,0.56,0.56,0.064,1.2e-08,1.2e-08,5.9e-07,4e-06,4e-06,2.1e-07,0,0,0,0,0,0,0,0
7390000,0.98,-0.0058,-0.013,0.19,-0.0034,0.041,-0.032,0.00052,0.033,-0.052,-1.9e-05,-5.6e-05,-1.6e-05,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00033,0.00033,0.00064,0.38,0.38,0.027,0.64,0.64,0.064,1.2e-08,1.2e-08,5.3e-07,4e-06,4e-06,2e-07,0,0,0,0,0,0,0,0
7490000,0.98,-0.0058,-0.013,0.19,-0.0011,0.045,-0.026,0.00041,0.038,-0.046,-1.8e-05,-5.6e-05,-2.8e-06,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00034,0.00034,0.00063,0.42,0.42,0.026,0.73,0.73,0.063,1.2e-08,1.2e-08,4.6e-07,4e-06,4e-06,1.9e-07,0,0,0,0,0,0,0,0
7590000,0.98,-0.0059,-0.013,0.19,-9.5e-05,0.048,-0.023,0.00036,0.042,-0.041,-1.8e-05,-5.6e-05,-9.7e-07,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00034,0.00034,0.00061,0.45,0.45,0.025,0.83,0.83,0.062,1.2e-08,1.2e-08,4e-07,4e-06,4e-06,1.8e-07,0,0,0,0,0,0,0,0
7590000,0.98,-0.0059,-0.013,0.19,-9.4e-05,0.048,-0.023,0.00036,0.042,-0.041,-1.8e-05,-5.6e-05,-9.7e-07,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00034,0.00034,0.00061,0.45,0.45,0.025,0.83,0.83,0.062,1.2e-08,1.2e-08,4e-07,4e-06,4e-06,1.8e-07,0,0,0,0,0,0,0,0
7690000,0.98,-0.0059,-0.013,0.19,-0.00044,0.052,-0.022,0.00033,0.047,-0.036,-1.8e-05,-5.6e-05,-2.8e-06,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00035,0.00035,0.00061,0.5,0.5,0.025,0.95,0.95,0.062,1.2e-08,1.2e-08,3.5e-07,4e-06,4e-06,1.7e-07,0,0,0,0,0,0,0,0
7790000,0.98,-0.0058,-0.013,0.19,0.0012,0.054,-0.024,0.00034,0.052,-0.041,-1.8e-05,-5.6e-05,-7e-06,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00036,0.00036,0.00059,0.54,0.54,0.024,1.1,1.1,0.061,1.2e-08,1.2e-08,3e-07,4e-06,4e-06,1.6e-07,0,0,0,0,0,0,0,0
7890000,0.98,-0.0058,-0.013,0.19,-0.00018,0.059,-0.025,0.00029,0.057,-0.045,-1.8e-05,-5.6e-05,-8.5e-06,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00037,0.00037,0.00057,0.59,0.59,0.023,1.2,1.2,0.06,1.2e-08,1.2e-08,2.6e-07,4e-06,4e-06,1.5e-07,0,0,0,0,0,0,0,0
7990000,0.98,-0.0057,-0.013,0.19,7.6e-05,0.062,-0.021,0.00029,0.062,-0.041,-1.8e-05,-5.6e-05,-6.7e-06,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00037,0.00037,0.00055,0.64,0.64,0.022,1.4,1.4,0.059,1.2e-08,1.2e-08,2.2e-07,4e-06,4e-06,1.4e-07,0,0,0,0,0,0,0,0
7990000,0.98,-0.0057,-0.013,0.19,7.7e-05,0.062,-0.021,0.0003,0.062,-0.041,-1.8e-05,-5.6e-05,-6.7e-06,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.0002,0.00037,0.00037,0.00055,0.64,0.64,0.022,1.4,1.4,0.059,1.2e-08,1.2e-08,2.2e-07,4e-06,4e-06,1.4e-07,0,0,0,0,0,0,0,0
8090000,0.98,-0.0056,-0.013,0.19,0.0016,0.067,-0.022,0.00037,0.069,-0.044,-1.8e-05,-5.6e-05,-1.7e-05,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00038,0.00038,0.00054,0.7,0.7,0.022,1.5,1.5,0.059,1.2e-08,1.2e-08,2e-07,4e-06,4e-06,1.4e-07,0,0,0,0,0,0,0,0
8190000,0.98,-0.0056,-0.013,0.19,0.0022,0.073,-0.018,0.00053,0.076,-0.038,-1.9e-05,-5.6e-05,-2.2e-05,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00039,0.00039,0.00052,0.76,0.76,0.021,1.7,1.7,0.058,1.2e-08,1.2e-08,1.7e-07,4e-06,4e-06,1.3e-07,0,0,0,0,0,0,0,0
8290000,0.98,-0.0056,-0.013,0.19,0.0044,0.077,-0.016,0.00085,0.082,-0.038,-1.8e-05,-5.6e-05,-2.1e-05,0,0,-0.0013,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.0004,0.0004,0.0005,0.81,0.81,0.02,1.9,1.9,0.057,1.2e-08,1.2e-08,1.5e-07,4e-06,4e-06,1.2e-07,0,0,0,0,0,0,0,0
@ -93,7 +93,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
9090000,0.98,-0.0055,-0.013,0.19,0.0038,0.1,-0.0093,0.0032,0.14,-0.032,-1.7e-05,-5.6e-05,-8.8e-07,0,0,-0.0014,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00046,0.00046,0.00039,1.3,1.3,0.016,4.2,4.2,0.053,1.1e-08,1.1e-08,6.1e-08,4e-06,4e-06,8.4e-08,0,0,0,0,0,0,0,0
9190000,0.98,-0.0054,-0.013,0.19,0.0073,0.11,-0.0088,0.0037,0.15,-0.032,-1.7e-05,-5.6e-05,2.7e-06,0,0,-0.0014,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00047,0.00047,0.00038,1.4,1.4,0.016,4.7,4.7,0.052,1.1e-08,1.1e-08,5.5e-08,4e-06,4e-06,8e-08,0,0,0,0,0,0,0,0
9290000,0.98,-0.0053,-0.013,0.19,0.0095,0.11,-0.0072,0.0044,0.15,-0.03,-1.7e-05,-5.6e-05,3.6e-06,0,0,-0.0014,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00047,0.00047,0.00037,1.5,1.5,0.015,5,5,0.052,1.1e-08,1.1e-08,5e-08,4e-06,4e-06,7.6e-08,0,0,0,0,0,0,0,0
9390000,0.98,-0.0052,-0.013,0.19,0.0097,0.11,-0.0061,0.0055,0.16,-0.03,-1.7e-05,-5.6e-05,-2.3e-08,0,0,-0.0014,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00048,0.00048,0.00036,1.6,1.6,0.015,5.5,5.5,0.052,1.1e-08,1.1e-08,4.6e-08,4e-06,4e-06,7.3e-08,0,0,0,0,0,0,0,0
9390000,0.98,-0.0052,-0.013,0.19,0.0097,0.11,-0.0061,0.0055,0.16,-0.03,-1.7e-05,-5.6e-05,-2.2e-08,0,0,-0.0014,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00048,0.00048,0.00036,1.6,1.6,0.015,5.5,5.5,0.052,1.1e-08,1.1e-08,4.6e-08,4e-06,4e-06,7.3e-08,0,0,0,0,0,0,0,0
9490000,0.98,-0.0053,-0.013,0.19,0.0094,0.11,-0.0044,0.0061,0.17,-0.027,-1.7e-05,-5.7e-05,1.2e-06,0,0,-0.0014,0.2,0.002,0.43,0,0,0,0,0,0.00019,0.00047,0.00047,0.00035,1.6,1.6,0.015,5.8,5.8,0.051,1e-08,1e-08,4.2e-08,4e-06,4e-06,7e-08,0,0,0,0,0,0,0,0
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@ -266,7 +266,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -278,7 +278,7 @@ 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]
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