# fusion-nav simulated flight - scenario `flight`, seed 8
# sources appearing and dropping out mid-log at 50 Hz: an unobserved initial heading, then aiding lost one source at a time
#
# Navigation origin 40.116400000 -88.369700000 200.000 (lat deg, lon deg, height m; the simulated site)
# Magnetic declination -0.060000 rad
# GNSS antenna 0.000 0.000 0.000 m (forward, right, down from the IMU)
#
# Generated by `cargo run --example simulate -- flight <dir>`; truth in
# `flight.truth.csv`. Do not edit, regenerate. Six decimals throughout, three orders
# below the smallest sigma in the scenario table.
#
# One row per measurement, sorted by time. Blank cells are not applicable.
# imu v0..v2 gyro rad/s v3..v5 accel m/s^2
# gnss_pos v0..v2 NED position m var0..var2 m^2
# gnss_vel v0..v2 NED velocity m/s var0..var2 m^2/s^2
# baro v0 altitude m (up) var0 m^2
# mag v0..v2 field, calibrated var0 heading rad^2
# gnss_yaw v0 heading rad, 2 ant var0 rad^2
# stationary a claim to be stationary var0..var2 m^2/s^2
# t_meas_s when a fix was taken, t_s less the receiver's latency
t_s,source,v0,v1,v2,v3,v4,v5,var0,var1,var2,t_meas_s
0.0000,imu,0.001419,-0.005090,0.003090,0.014744,-0.059709,-9.770545,,,,
0.0000,baro,112.440084,,,,,,0.122500,,,
0.0200,imu,0.002900,-0.000930,0.000468,0.024703,-0.080852,-9.790080,,,,
0.0400,imu,0.004411,-0.002127,-0.000463,0.042633,-0.075481,-9.795374,,,,
0.0600,imu,0.000415,-0.004732,0.001717,0.050849,-0.069264,-9.778275,,,,
0.0800,imu,0.000759,-0.006442,0.003103,0.025034,-0.072347,-9.757104,,,,
0.1000,imu,0.002140,-0.000110,-0.001695,0.037756,-0.081520,-9.787199,,,,
0.1000,baro,112.242353,,,,,,0.122500,,,
0.1200,imu,0.003521,-0.005486,-0.000968,0.023706,-0.067204,-9.759913,,,,
0.1400,imu,0.005072,-0.000919,0.001121,0.051899,-0.066494,-9.756730,,,,
0.1600,imu,0.004923,-0.002333,0.002152,0.051959,-0.057604,-9.785966,,,,
0.1800,imu,-0.000906,-0.005017,0.001225,0.034482,-0.054474,-9.771824,,,,
0.2000,imu,0.005561,0.000029,0.000870,0.049907,-0.043116,-9.771149,,,,
0.2000,baro,111.683625,,,,,,0.122500,,,
0.2200,imu,0.001978,-0.001758,0.002896,0.011823,-0.060113,-9.757330,,,,
0.2400,imu,0.003368,-0.002418,0.002978,0.036957,-0.043507,-9.744687,,,,
0.2600,imu,0.001794,-0.000950,0.001236,0.049647,-0.058420,-9.758302,,,,
0.2800,imu,-0.000120,-0.001910,0.003683,0.047475,-0.054824,-9.773042,,,,
0.3000,imu,0.000447,-0.002896,0.002361,0.037612,-0.078940,-9.769189,,,,
0.3000,baro,111.679323,,,,,,0.122500,,,
0.3200,imu,0.002696,-0.000411,0.000616,0.027373,-0.044465,-9.762506,,,,
0.3400,imu,0.003400,-0.004116,0.003608,0.036480,-0.076145,-9.766206,,,,
0.3600,imu,-0.001149,0.000594,-0.001904,0.041850,-0.081480,-9.765946,,,,
0.3800,imu,0.001763,-0.001053,0.002133,0.048753,-0.082986,-9.754397,,,,
0.4000,imu,0.002957,-0.004544,0.003014,0.058089,-0.050644,-9.765977,,,,
0.4000,baro,111.746260,,,,,,0.122500,,,
0.4200,imu,0.002203,-0.003713,0.000596,0.041114,-0.063526,-9.768963,,,,
0.4400,imu,0.001111,-0.003379,0.001876,0.055743,-0.060983,-9.763709,,,,
0.4600,imu,0.001831,-0.003937,0.000500,0.040787,-0.103843,-9.772389,,,,
0.4800,imu,0.001800,-0.006422,0.000438,0.058000,-0.095473,-9.793050,,,,
0.5000,imu,0.002085,-0.001242,0.000534,0.030353,-0.084254,-9.790309,,,,
0.5000,baro,112.098366,,,,,,0.122500,,,
0.5200,imu,0.001165,-0.004071,0.004132,0.043713,-0.041442,-9.796744,,,,
0.5400,imu,0.002407,-0.004245,0.000094,0.056604,-0.076884,-9.763586,,,,
0.5600,imu,0.002732,-0.002083,-0.000148,0.043031,-0.034934,-9.766793,,,,
0.5800,imu,0.002685,-0.004611,0.000915,0.040230,-0.054382,-9.777290,,,,
0.6000,imu,0.002109,-0.001526,0.003672,0.050093,-0.073025,-9.751991,,,,
0.6000,baro,111.745177,,,,,,0.122500,,,
0.6200,imu,0.000962,-0.004268,0.000221,0.024874,-0.042536,-9.766724,,,,
0.6400,imu,0.001046,-0.003129,0.004117,0.024436,-0.054283,-9.767216,,,,
0.6600,imu,0.002239,-0.001702,0.000070,0.051511,-0.065239,-9.771162,,,,
0.6800,imu,0.001736,-0.005521,-0.000394,0.079762,-0.062685,-9.786567,,,,
0.7000,imu,0.001017,-0.000151,-0.000578,0.053201,-0.081908,-9.788584,,,,
0.7000,baro,111.420883,,,,,,0.122500,,,
0.7200,imu,0.002370,-0.005244,0.001796,0.043068,-0.059016,-9.762449,,,,
0.7400,imu,0.002251,-0.005961,0.001904,0.045962,-0.055215,-9.770473,,,,
0.7600,imu,-0.001112,-0.002307,0.002555,0.046139,-0.063774,-9.756506,,,,
0.7800,imu,0.004718,-0.002821,0.000772,0.058744,-0.055984,-9.788082,,,,
0.8000,imu,0.005330,-0.002779,0.000591,0.049605,-0.031991,-9.772332,,,,
0.8000,baro,112.362054,,,,,,0.122500,,,
0.8200,imu,0.001410,-0.001988,0.001224,0.031099,-0.071530,-9.784605,,,,
0.8400,imu,0.001944,-0.002047,-0.000968,0.053020,-0.050927,-9.750164,,,,
0.8600,imu,0.004283,-0.001843,0.000895,0.047582,-0.046772,-9.771319,,,,
0.8800,imu,0.002835,-0.002313,0.000942,0.025224,-0.076615,-9.775635,,,,
0.9000,imu,0.000639,-0.003766,0.003438,0.034405,-0.062411,-9.767675,,,,
0.9000,baro,112.008268,,,,,,0.122500,,,
0.9200,imu,0.002496,-0.003005,0.000356,0.036963,-0.070131,-9.786531,,,,
0.9400,imu,0.002155,-0.004203,0.002407,0.039739,-0.045510,-9.759931,,,,
0.9600,imu,0.001593,-0.002898,0.003568,0.036188,-0.025293,-9.785027,,,,
0.9800,imu,0.000459,-0.001107,-0.001190,0.051118,-0.062355,-9.765064,,,,
1.0000,imu,0.005843,-0.002644,0.004132,0.056488,-0.061057,-9.780092,,,,
1.0000,baro,112.626138,,,,,,0.122500,,,
1.0200,imu,0.000579,-0.003978,-0.001668,0.045375,-0.058305,-9.764391,,,,
1.0400,imu,0.000507,-0.000452,0.003257,0.018407,-0.037242,-9.773395,,,,
1.0600,imu,0.002757,-0.003523,-0.000210,0.050735,-0.053402,-9.781635,,,,
1.0800,imu,0.002197,-0.002220,0.001503,0.054499,-0.067808,-9.775628,,,,
1.1000,imu,0.002091,-0.005425,0.002420,0.037228,-0.055120,-9.790525,,,,
1.1000,baro,111.448664,,,,,,0.122500,,,
1.1200,imu,0.001937,-0.001219,0.004950,0.069154,-0.051751,-9.807543,,,,
1.1400,imu,0.000686,-0.005765,0.002169,0.042419,-0.068105,-9.778872,,,,
1.1600,imu,0.001918,-0.003121,0.001723,0.067230,-0.060649,-9.806525,,,,
1.1800,imu,0.003769,-0.002938,-0.001258,0.011655,-0.056053,-9.754526,,,,
1.2000,imu,0.000999,-0.003256,0.003521,0.040778,-0.041572,-9.760894,,,,
1.2000,baro,112.271204,,,,,,0.122500,,,
1.2200,imu,0.003190,-0.005185,0.003268,0.035258,-0.083516,-9.751864,,,,
1.2400,imu,0.000982,-0.003050,-0.002761,0.055246,-0.061717,-9.764549,,,,
1.2600,imu,0.003553,-0.003663,0.001033,0.066230,-0.053061,-9.766037,,,,
1.2800,imu,-0.002675,-0.001306,0.002390,0.064288,-0.058300,-9.776963,,,,
1.3000,imu,-0.001231,-0.003708,-0.001923,0.050908,-0.060056,-9.797400,,,,
1.3000,baro,111.602860,,,,,,0.122500,,,
1.3200,imu,0.002113,-0.001927,-0.001782,0.057338,-0.075779,-9.778974,,,,
1.3400,imu,0.000154,-0.005428,0.003018,0.050993,-0.051129,-9.799966,,,,
1.3600,imu,0.000693,-0.003736,0.000558,0.059443,-0.052236,-9.790793,,,,
1.3800,imu,0.001500,-0.004429,-0.000035,0.064139,-0.053681,-9.758230,,,,
1.4000,imu,0.003170,-0.003458,0.001979,0.050802,-0.070213,-9.815074,,,,
1.4000,baro,111.586839,,,,,,0.122500,,,
1.4200,imu,0.005242,-0.003015,0.003702,0.031852,-0.070448,-9.760867,,,,
1.4400,imu,0.004332,-0.004040,0.001511,0.054004,-0.067945,-9.762554,,,,
1.4600,imu,0.001746,-0.001495,0.000325,0.036974,-0.076857,-9.783386,,,,
1.4800,imu,0.003925,-0.003896,-0.000165,0.048914,-0.044434,-9.762691,,,,
1.5000,imu,0.002996,-0.002380,0.001746,0.049832,-0.047259,-9.769872,,,,
1.5000,baro,112.566791,,,,,,0.122500,,,
1.5200,imu,0.002655,-0.004475,-0.000295,0.041924,-0.054162,-9.784837,,,,
1.5400,imu,0.001857,-0.002361,-0.000400,0.042817,-0.051367,-9.810305,,,,
1.5600,imu,0.002573,-0.004153,0.001547,0.058877,-0.056713,-9.786919,,,,
1.5800,imu,-0.001766,-0.003240,0.003259,0.037558,-0.062591,-9.777046,,,,
1.6000,imu,0.001471,-0.004953,-0.003127,0.059202,-0.081989,-9.793624,,,,
1.6000,baro,112.472395,,,,,,0.122500,,,
1.6200,imu,0.001280,-0.006391,0.002713,0.052859,-0.056743,-9.788451,,,,
1.6400,imu,0.004018,-0.005828,0.003148,0.032850,-0.075907,-9.790124,,,,
1.6600,imu,0.001828,-0.004858,0.001095,0.050601,-0.040945,-9.758026,,,,
1.6800,imu,0.001140,-0.001504,-0.000406,0.045113,-0.092979,-9.778218,,,,
1.7000,imu,0.004500,-0.005122,0.002920,0.039448,-0.055062,-9.784584,,,,
1.7000,baro,111.985008,,,,,,0.122500,,,
1.7200,imu,0.004047,-0.004032,0.002532,0.028052,-0.038120,-9.771076,,,,
1.7400,imu,0.005627,-0.002348,-0.000779,0.013193,-0.047874,-9.778903,,,,
1.7600,imu,0.003900,-0.002436,0.001416,0.037071,-0.064159,-9.750213,,,,
1.7800,imu,0.000318,-0.001295,0.001278,0.034617,-0.073104,-9.798009,,,,
1.8000,imu,0.004982,-0.003757,-0.000741,0.039565,-0.060951,-9.792763,,,,
1.8000,baro,112.538140,,,,,,0.122500,,,
1.8200,imu,0.005182,-0.003893,0.000209,0.030951,-0.039723,-9.798299,,,,
1.8400,imu,-0.001137,-0.008341,-0.000178,0.044121,-0.072178,-9.779583,,,,
1.8600,imu,0.001936,-0.003688,0.000251,0.051202,-0.036557,-9.793059,,,,
1.8800,imu,0.001982,-0.003540,0.001423,0.055377,-0.044354,-9.784188,,,,
1.9000,imu,0.000227,-0.003756,0.002161,0.049094,-0.076321,-9.779125,,,,
1.9000,baro,112.203164,,,,,,0.122500,,,
1.9200,imu,0.000390,-0.001919,-0.000059,0.031568,-0.067485,-9.778990,,,,
1.9400,imu,0.003999,-0.003786,0.003449,0.032964,-0.068334,-9.737556,,,,
1.9600,imu,0.001770,-0.003986,-0.002711,0.043517,-0.048471,-9.789732,,,,
1.9800,imu,0.003358,-0.003852,0.002333,0.049210,-0.018044,-9.785413,,,,
2.0000,imu,0.002950,-0.004877,0.000878,0.033883,-0.048606,-9.770456,,,,
2.0000,gnss_pos,-0.657021,0.044413,-2.353527,,,,0.810000,0.810000,3.240000,2.0000
2.0000,gnss_vel,0.019648,0.178278,-0.063970,,,,0.022500,0.022500,0.022500,2.0000
2.0000,baro,112.181785,,,,,,0.122500,,,
2.0200,imu,0.002797,-0.001651,-0.000381,0.063068,-0.067676,-9.795414,,,,
2.0400,imu,-0.001676,-0.003396,0.002927,0.084172,-0.076094,-9.784613,,,,
2.0600,imu,0.004047,-0.002274,-0.000681,0.155247,-0.074715,-9.792182,,,,
2.0800,imu,0.001855,-0.005336,0.003061,0.207677,-0.064114,-9.787127,,,,
2.1000,imu,0.000276,-0.006680,0.003766,0.303834,-0.054615,-9.821350,,,,
2.1000,baro,111.429001,,,,,,0.122500,,,
2.1200,imu,0.001558,-0.003890,0.004942,0.393487,-0.056993,-9.837172,,,,
2.1400,imu,0.006745,-0.000482,-0.000229,0.509735,-0.053598,-9.867630,,,,
2.1600,imu,0.005697,-0.000431,0.007039,0.656129,-0.078525,-9.907116,,,,
2.1800,imu,0.001970,-0.002972,0.004148,0.798143,-0.066108,-9.922894,,,,
2.2000,imu,0.003297,-0.000830,0.001224,1.005430,-0.069333,-9.923797,,,,
2.2000,gnss_pos,0.991910,1.120774,1.669566,,,,0.810000,0.810000,3.240000,2.2000
2.2000,gnss_vel,0.249805,0.348450,0.059450,,,,0.022500,0.022500,0.022500,2.2000
2.2000,baro,111.693036,,,,,,0.122500,,,
2.2200,imu,0.001402,-0.004431,0.002607,1.118318,-0.103936,-9.958811,,,,
2.2400,imu,0.004118,-0.003935,0.004472,1.304921,-0.087521,-9.953417,,,,
2.2600,imu,0.004895,-0.005012,0.001489,1.487863,-0.077449,-10.029461,,,,
2.2800,imu,0.004764,-0.003078,0.002445,1.652762,-0.057603,-10.033518,,,,
2.3000,imu,0.002827,-0.004875,0.005028,1.906611,-0.079447,-10.103364,,,,
2.3000,baro,112.007803,,,,,,0.122500,,,
2.3200,imu,0.004034,-0.001359,0.001243,2.070646,-0.109301,-10.107489,,,,
2.3400,imu,0.001052,0.002780,0.003091,2.302343,-0.089739,-10.163601,,,,
2.3600,imu,0.003190,0.000709,0.007884,2.504264,-0.101721,-10.175735,,,,
2.3800,imu,0.010281,0.000061,0.006881,2.736481,-0.120962,-10.232947,,,,
2.4000,imu,0.002794,-0.002628,0.009033,2.942922,-0.126582,-10.274277,,,,
2.4000,gnss_pos,-2.276689,-0.199858,1.634797,,,,0.810000,0.810000,3.240000,2.4000
2.4000,gnss_vel,0.401741,0.411106,-0.028624,,,,0.022500,0.022500,0.022500,2.4000
2.4000,baro,112.668480,,,,,,0.122500,,,
2.4200,imu,0.006579,0.006603,0.004794,3.159091,-0.127737,-10.304852,,,,
2.4400,imu,0.001428,0.001551,0.012904,3.375225,-0.110130,-10.367310,,,,
2.4600,imu,0.008324,0.001479,0.011235,3.568563,-0.112341,-10.385138,,,,
2.4800,imu,0.008459,0.002776,0.012839,3.824846,-0.120944,-10.413899,,,,
2.5000,imu,0.008332,0.001198,0.014144,4.027105,-0.155865,-10.480858,,,,
2.5000,baro,112.672126,,,,,,0.122500,,,
2.5200,imu,0.006770,0.005133,0.016146,4.232306,-0.144249,-10.465691,,,,
2.5400,imu,0.009227,0.002144,0.016603,4.455892,-0.127160,-10.507088,,,,
2.5600,imu,0.011220,0.003813,0.018211,4.668872,-0.145414,-10.580284,,,,
2.5800,imu,0.011014,0.004738,0.019512,4.829047,-0.173504,-10.610968,,,,
2.6000,imu,0.011299,0.004005,0.022821,5.033769,-0.157788,-10.641098,,,,
2.6000,gnss_pos,-1.175718,1.652526,-1.569801,,,,0.810000,0.810000,3.240000,2.6000
2.6000,gnss_vel,1.100606,0.694987,-0.270902,,,,0.022500,0.022500,0.022500,2.6000
2.6000,baro,111.972789,,,,,,0.122500,,,
2.6200,imu,0.015879,0.008218,0.022199,5.226517,-0.183585,-10.662253,,,,
2.6400,imu,0.014819,0.004994,0.023191,5.436018,-0.165591,-10.701527,,,,
2.6600,imu,0.013351,0.008702,0.021630,5.573287,-0.204493,-10.725673,,,,
2.6800,imu,0.019146,0.007620,0.027255,5.768772,-0.202290,-10.748900,,,,
2.7000,imu,0.015156,0.013733,0.031592,5.924576,-0.216693,-10.748690,,,,
2.7000,baro,112.039600,,,,,,0.122500,,,
2.7200,imu,0.020010,0.010969,0.028732,6.106425,-0.214649,-10.788438,,,,
2.7400,imu,0.017650,0.014276,0.032335,6.221158,-0.251912,-10.795859,,,,
2.7600,imu,0.018762,0.010728,0.038837,6.377174,-0.245514,-10.830863,,,,
2.7800,imu,0.021591,0.015527,0.038713,6.497337,-0.230766,-10.875444,,,,
2.8000,imu,0.021859,0.014986,0.041580,6.607933,-0.268596,-10.886260,,,,
2.8000,gnss_pos,-0.139107,0.475691,-0.109628,,,,0.810000,0.810000,3.240000,2.8000
2.8000,gnss_vel,1.814243,1.381485,-0.581756,,,,0.022500,0.022500,0.022500,2.8000
2.8000,baro,112.410929,,,,,,0.122500,,,
2.8200,imu,0.019299,0.015870,0.044820,6.662680,-0.268553,-10.894116,,,,
2.8400,imu,0.023770,0.016140,0.045505,6.785570,-0.310793,-10.900972,,,,
2.8600,imu,0.024252,0.019891,0.049264,6.889272,-0.277967,-10.925962,,,,
2.8800,imu,0.023961,0.019888,0.046701,6.920238,-0.321907,-10.939344,,,,
2.9000,imu,0.025401,0.017892,0.052007,7.004388,-0.345087,-10.914399,,,,
2.9000,baro,112.468071,,,,,,0.122500,,,
2.9200,imu,0.027466,0.017938,0.054262,7.071715,-0.360693,-10.961305,,,,
2.9400,imu,0.028766,0.019154,0.058052,7.120871,-0.388163,-10.936866,,,,
2.9600,imu,0.028957,0.022900,0.057640,7.137502,-0.373747,-10.964072,,,,
2.9800,imu,0.028494,0.024585,0.063027,7.154823,-0.400129,-10.966297,,,,
3.0000,imu,0.035922,0.024843,0.063973,7.145550,-0.448103,-10.958718,,,,
3.0000,gnss_pos,2.111563,-0.169883,-2.153108,,,,0.810000,0.810000,3.240000,3.0000
3.0000,gnss_vel,3.323755,2.211351,-0.723491,,,,0.022500,0.022500,0.022500,3.0000
3.0000,baro,112.446863,,,,,,0.122500,,,
3.0200,imu,0.031345,0.027108,0.066441,7.156574,-0.450637,-10.914629,,,,
3.0400,imu,0.033493,0.029906,0.065166,7.118052,-0.456920,-10.902586,,,,
3.0600,imu,0.033563,0.031138,0.071179,7.081231,-0.491220,-10.911334,,,,
3.0800,imu,0.035152,0.029086,0.068882,7.026776,-0.544128,-10.895304,,,,
3.1000,imu,0.040767,0.028529,0.074755,6.982531,-0.523605,-10.883155,,,,
3.1000,baro,112.463694,,,,,,0.122500,,,
3.1200,imu,0.041112,0.031100,0.080979,6.925917,-0.558095,-10.851496,,,,
3.1400,imu,0.039511,0.035055,0.082032,6.853331,-0.557299,-10.848720,,,,
3.1600,imu,0.042900,0.030608,0.082967,6.753373,-0.584996,-10.796906,,,,
3.1800,imu,0.039047,0.035504,0.084342,6.637719,-0.617891,-10.786417,,,,
3.2000,imu,0.041598,0.037161,0.082383,6.534909,-0.665264,-10.792717,,,,
3.2000,gnss_pos,1.355455,1.107774,-2.143318,,,,0.810000,0.810000,3.240000,3.2000
3.2000,gnss_vel,4.122471,2.914051,-0.903769,,,,0.022500,0.022500,0.022500,3.2000
3.2000,baro,112.697647,,,,,,0.122500,,,
3.2200,imu,0.041681,0.034941,0.087479,6.403401,-0.712748,-10.773210,,,,
3.2400,imu,0.041673,0.038699,0.091505,6.278349,-0.717555,-10.732226,,,,
3.2600,imu,0.046596,0.038354,0.092950,6.114697,-0.721815,-10.735948,,,,
3.2800,imu,0.047582,0.035410,0.093876,5.982072,-0.713228,-10.677311,,,,
3.3000,imu,0.046454,0.040406,0.098525,5.800087,-0.764497,-10.631860,,,,
3.3000,baro,112.396218,,,,,,0.122500,,,
3.3200,imu,0.049315,0.040476,0.095608,5.629455,-0.785693,-10.593825,,,,
3.3400,imu,0.048919,0.042557,0.100336,5.441434,-0.785355,-10.592560,,,,
3.3600,imu,0.051768,0.043975,0.103068,5.249786,-0.831267,-10.554124,,,,
3.3800,imu,0.054112,0.042929,0.104192,5.044819,-0.859999,-10.529848,,,,
3.4000,imu,0.049920,0.041229,0.104559,4.843451,-0.865338,-10.490420,,,,
3.4000,gnss_pos,3.461874,1.899941,-1.931703,,,,0.810000,0.810000,3.240000,3.4000
3.4000,gnss_vel,5.004379,3.505301,-1.027936,,,,0.022500,0.022500,0.022500,3.4000
3.4000,baro,113.025209,,,,,,0.122500,,,
3.4200,imu,0.052633,0.043075,0.102562,4.641534,-0.888136,-10.420808,,,,
3.4400,imu,0.051699,0.046256,0.106578,4.406355,-0.914949,-10.406389,,,,
3.4600,imu,0.053465,0.044981,0.107202,4.203835,-0.910330,-10.357460,,,,
3.4800,imu,0.047553,0.044572,0.108832,3.957679,-0.894144,-10.363352,,,,
3.5000,imu,0.053875,0.047585,0.110795,3.753500,-0.939052,-10.299687,,,,
3.5000,baro,112.678203,,,,,,0.122500,,,
3.5000,mag,0.154358,-0.125270,0.450212,,,,0.002997,,,
3.5200,imu,0.051281,0.049706,0.112076,3.500557,-0.940100,-10.267697,,,,
3.5400,imu,0.050628,0.047712,0.112324,3.248630,-0.957373,-10.234465,,,,
3.5600,imu,0.054230,0.047602,0.111051,3.028756,-0.992729,-10.199150,,,,
3.5800,imu,0.057338,0.049816,0.114345,2.790764,-0.976023,-10.128876,,,,
3.6000,imu,0.052605,0.049100,0.117405,2.551025,-0.997607,-10.136916,,,,
3.6000,gnss_pos,5.161139,3.871140,-2.907594,,,,0.810000,0.810000,3.240000,3.6000
3.6000,gnss_vel,5.589339,3.958595,-1.057570,,,,0.022500,0.022500,0.022500,3.6000
3.6000,baro,112.368269,,,,,,0.122500,,,
3.6000,mag,0.150725,-0.131888,0.463498,,,,0.002997,,,
3.6200,imu,0.054308,0.048087,0.113234,2.297370,-0.990097,-10.100449,,,,
3.6400,imu,0.055017,0.049539,0.116807,2.067657,-1.001574,-10.025522,,,,
3.6600,imu,0.055587,0.049910,0.121671,1.847159,-1.039369,-10.050499,,,,
3.6800,imu,0.054510,0.049857,0.116698,1.618232,-1.031966,-9.985073,,,,
3.7000,imu,0.055679,0.047882,0.118529,1.388121,-1.003503,-9.951562,,,,
3.7000,baro,113.197847,,,,,,0.122500,,,
3.7000,mag,0.157523,-0.124597,0.438158,,,,0.002997,,,
3.7200,imu,0.054034,0.048178,0.116709,1.165240,-1.030588,-9.926804,,,,
3.7400,imu,0.052034,0.052179,0.120129,0.980086,-1.005901,-9.879777,,,,
3.7600,imu,0.055362,0.048318,0.123071,0.759193,-1.024367,-9.891939,,,,
3.7800,imu,0.058531,0.050106,0.118295,0.589515,-1.014261,-9.832790,,,,
3.8000,imu,0.053094,0.046932,0.118582,0.377911,-1.027677,-9.815296,,,,
3.8000,gnss_pos,5.645071,4.266249,-4.307501,,,,0.810000,0.810000,3.240000,3.8000
3.8000,gnss_vel,6.153674,3.880276,-1.289757,,,,0.022500,0.022500,0.022500,3.8000
3.8000,baro,113.513760,,,,,,0.122500,,,
3.8000,mag,0.145851,-0.103580,0.452973,,,,0.002997,,,
3.8200,imu,0.049650,0.049039,0.116132,0.224037,-1.040089,-9.790934,,,,
3.8400,imu,0.055451,0.051376,0.120373,0.060455,-1.030923,-9.770288,,,,
3.8600,imu,0.051071,0.051225,0.118625,-0.059377,-1.046851,-9.761195,,,,
3.8800,imu,0.048704,0.050475,0.117838,-0.196391,-1.027798,-9.727101,,,,
3.9000,imu,0.050186,0.045978,0.116355,-0.311059,-1.016347,-9.730894,,,,
3.9000,baro,112.852776,,,,,,0.122500,,,
3.9000,mag,0.126266,-0.136442,0.443938,,,,0.002997,,,
3.9200,imu,0.050870,0.046369,0.120928,-0.422178,-1.050892,-9.714212,,,,
3.9400,imu,0.051755,0.046289,0.116759,-0.512025,-1.029320,-9.705241,,,,
3.9600,imu,0.051615,0.046645,0.119701,-0.559083,-1.024471,-9.680583,,,,
3.9800,imu,0.051746,0.044962,0.114477,-0.615583,-1.037927,-9.703498,,,,
4.0000,imu,0.047948,0.044761,0.117831,-0.627023,-1.063309,-9.656986,,,,
4.0000,gnss_pos,6.402604,3.894514,-2.713932,,,,0.810000,0.810000,3.240000,4.0000
4.0000,gnss_vel,5.959407,3.682615,-1.129484,,,,0.022500,0.022500,0.022500,4.0000
4.0000,baro,113.390587,,,,,,0.122500,,,
4.0000,mag,0.141106,-0.118301,0.474456,,,,0.002997,,,
4.0200,imu,0.053469,0.044673,0.114915,-0.655281,-1.072979,-9.701054,,,,
4.0400,imu,0.051666,0.044911,0.118854,-0.660000,-1.090957,-9.670376,,,,
4.0600,imu,0.047527,0.046153,0.117430,-0.686742,-1.108815,-9.706908,,,,
4.0800,imu,0.049923,0.048560,0.114714,-0.709380,-1.126316,-9.715120,,,,
4.1000,imu,0.047976,0.047568,0.118015,-0.720314,-1.128595,-9.681479,,,,
4.1000,baro,113.642119,,,,,,0.122500,,,
4.1000,mag,0.132800,-0.114128,0.457745,,,,0.002997,,,
4.1200,imu,0.047861,0.045915,0.114718,-0.727388,-1.123490,-9.685171,,,,
4.1400,imu,0.044853,0.041664,0.115219,-0.734793,-1.185545,-9.693281,,,,
4.1600,imu,0.048737,0.046815,0.114021,-0.752262,-1.164423,-9.703661,,,,
4.1800,imu,0.047798,0.045172,0.119496,-0.770522,-1.176713,-9.671699,,,,
4.2000,imu,0.044456,0.039333,0.112781,-0.772260,-1.209967,-9.675584,,,,
4.2000,gnss_pos,6.150184,4.730050,-6.876980,,,,0.810000,0.810000,3.240000,4.2000
4.2000,gnss_vel,5.852515,3.499625,-1.268692,,,,0.022500,0.022500,0.022500,4.2000
4.2000,baro,113.658787,,,,,,0.122500,,,
4.2000,mag,0.110253,-0.138848,0.455269,,,,0.002997,,,
4.2200,imu,0.045601,0.042783,0.110710,-0.806672,-1.217954,-9.677088,,,,
4.2400,imu,0.042540,0.040846,0.118965,-0.827318,-1.236188,-9.715617,,,,
4.2600,imu,0.045279,0.043646,0.113365,-0.842006,-1.252458,-9.694392,,,,
4.2800,imu,0.044702,0.042994,0.110913,-0.833992,-1.235886,-9.664623,,,,
4.3000,imu,0.045562,0.039888,0.114817,-0.893994,-1.257243,-9.708978,,,,
4.3000,baro,114.238637,,,,,,0.122500,,,
4.3000,mag,0.114605,-0.126240,0.463091,,,,0.002997,,,
4.3200,imu,0.043420,0.040257,0.111891,-0.868496,-1.241712,-9.683508,,,,
4.3400,imu,0.040390,0.039759,0.110663,-0.888148,-1.291752,-9.687032,,,,
4.3600,imu,0.040082,0.037245,0.114370,-0.924925,-1.306891,-9.675864,,,,
4.3800,imu,0.041655,0.038765,0.109038,-0.933159,-1.311310,-9.687682,,,,
4.4000,imu,0.044091,0.037017,0.115994,-0.952273,-1.330941,-9.675247,,,,
4.4000,gnss_pos,8.750229,5.371386,0.297868,,,,0.810000,0.810000,3.240000,4.4000
4.4000,gnss_vel,5.241186,3.131650,-1.063385,,,,0.022500,0.022500,0.022500,4.4000
4.4000,baro,113.681279,,,,,,0.122500,,,
4.4000,mag,0.113475,-0.132299,0.448113,,,,0.002997,,,
4.4200,imu,0.040804,0.035088,0.112150,-0.968165,-1.341718,-9.657769,,,,
4.4400,imu,0.041562,0.034470,0.112135,-0.934577,-1.341691,-9.638510,,,,
4.4600,imu,0.039458,0.034019,0.109418,-0.957099,-1.337654,-9.641604,,,,
4.4800,imu,0.038092,0.034410,0.108714,-0.992408,-1.338887,-9.678480,,,,
4.5000,imu,0.036076,0.033435,0.110106,-1.012261,-1.345298,-9.661427,,,,
4.5000,baro,114.161431,,,,,,0.122500,,,
4.5000,mag,0.112677,-0.110935,0.471597,,,,0.002997,,,
4.5200,imu,0.040780,0.033689,0.111432,-1.010720,-1.366976,-9.676028,,,,
4.5400,imu,0.034938,0.032283,0.106285,-1.043210,-1.353475,-9.652820,,,,
4.5600,imu,0.035762,0.031549,0.106546,-1.059294,-1.367636,-9.667882,,,,
4.5800,imu,0.038623,0.034816,0.107002,-1.096514,-1.414079,-9.654620,,,,
4.6000,imu,0.035630,0.032123,0.110962,-1.091971,-1.369281,-9.639900,,,,
4.6000,gnss_pos,9.865542,5.857617,-0.902168,,,,0.810000,0.810000,3.240000,4.6000
4.6000,gnss_vel,5.150664,2.602536,-1.330225,,,,0.022500,0.022500,0.022500,4.6000
4.6000,baro,113.898229,,,,,,0.122500,,,
4.6000,mag,0.106679,-0.093378,0.451135,,,,0.002997,,,
4.6200,imu,0.035691,0.030634,0.107177,-1.091331,-1.395595,-9.679159,,,,
4.6400,imu,0.037293,0.028970,0.105380,-1.123512,-1.384730,-9.650737,,,,
4.6600,imu,0.035681,0.031366,0.105093,-1.125972,-1.405377,-9.653564,,,,
4.6800,imu,0.034914,0.024260,0.106823,-1.169023,-1.441317,-9.636334,,,,
4.7000,imu,0.034458,0.030262,0.105768,-1.151764,-1.429238,-9.651509,,,,
4.7000,baro,114.611863,,,,,,0.122500,,,
4.7000,mag,0.116524,-0.124498,0.468838,,,,0.002997,,,
4.7200,imu,0.036191,0.030353,0.106653,-1.184567,-1.442730,-9.654082,,,,
4.7400,imu,0.033311,0.022995,0.106467,-1.205100,-1.443163,-9.657900,,,,
4.7600,imu,0.029718,0.023187,0.106855,-1.189636,-1.442742,-9.664541,,,,
4.7800,imu,0.029650,0.023687,0.106264,-1.207556,-1.487910,-9.646684,,,,
4.8000,imu,0.029304,0.021525,0.103221,-1.241872,-1.459743,-9.676883,,,,
4.8000,gnss_pos,11.253805,7.217129,-3.323443,,,,0.810000,0.810000,3.240000,4.8000
4.8000,gnss_vel,5.068698,2.290846,-1.158980,,,,0.022500,0.022500,0.022500,4.8000
4.8000,baro,113.651998,,,,,,0.122500,,,
4.8000,mag,0.118433,-0.123144,0.456747,,,,0.002997,,,
4.8200,imu,0.029915,0.022723,0.104271,-1.258125,-1.460759,-9.656973,,,,
4.8400,imu,0.032616,0.022809,0.101880,-1.274836,-1.483769,-9.666438,,,,
4.8600,imu,0.030089,0.021997,0.102287,-1.282761,-1.492373,-9.655912,,,,
4.8800,imu,0.030671,0.020649,0.104744,-1.291359,-1.503117,-9.638011,,,,
4.9000,imu,0.027021,0.020539,0.105075,-1.287666,-1.450194,-9.641117,,,,
4.9000,baro,115.147360,,,,,,0.122500,,,
4.9000,mag,0.106547,-0.120627,0.470679,,,,0.002997,,,
4.9200,imu,0.022451,0.018645,0.105451,-1.312388,-1.470669,-9.633155,,,,
4.9400,imu,0.029485,0.016540,0.099998,-1.315564,-1.481239,-9.665812,,,,
4.9600,imu,0.025916,0.020418,0.099199,-1.369190,-1.497335,-9.681943,,,,
4.9800,imu,0.024125,0.019431,0.102168,-1.351058,-1.478880,-9.623754,,,,
5.0000,imu,0.025630,0.019514,0.103123,-1.383176,-1.493677,-9.640177,,,,
5.0000,gnss_pos,12.497754,7.606015,0.199274,,,,0.810000,0.810000,3.240000,5.0000
5.0000,gnss_vel,5.300951,1.854725,-0.989561,,,,0.022500,0.022500,0.022500,5.0000
5.0000,baro,113.909728,,,,,,0.122500,,,
5.0000,mag,0.081389,-0.102630,0.463573,,,,0.002997,,,
5.0200,imu,0.025832,0.017509,0.102992,-1.364558,-1.499116,-9.648487,,,,
5.0400,imu,0.024164,0.014747,0.099685,-1.421646,-1.495639,-9.638911,,,,
5.0600,imu,0.025049,0.014739,0.096990,-1.418802,-1.490776,-9.649932,,,,
5.0800,imu,0.024433,0.012481,0.102762,-1.412244,-1.479283,-9.639393,,,,
5.1000,imu,0.022850,0.016087,0.097807,-1.450106,-1.477291,-9.661618,,,,
5.1000,baro,114.548780,,,,,,0.122500,,,
5.1000,mag,0.106754,-0.116292,0.457035,,,,0.002997,,,
5.1200,imu,0.022603,0.015518,0.099431,-1.478037,-1.487722,-9.660053,,,,
5.1400,imu,0.020204,0.012168,0.098929,-1.470271,-1.493176,-9.628080,,,,
5.1600,imu,0.020179,0.010089,0.097926,-1.485617,-1.501140,-9.634231,,,,
5.1800,imu,0.020278,0.011921,0.095662,-1.491982,-1.522638,-9.647867,,,,
5.2000,imu,0.018051,0.008466,0.097856,-1.534443,-1.484169,-9.628344,,,,
5.2000,gnss_pos,11.650729,7.781802,-1.418613,,,,0.810000,0.810000,3.240000,5.2000
5.2000,gnss_vel,4.683530,1.815779,-1.097571,,,,0.022500,0.022500,0.022500,5.2000
5.2000,baro,115.171268,,,,,,0.122500,,,
5.2000,mag,0.108090,-0.128604,0.462515,,,,0.002997,,,
5.2200,imu,0.021072,0.008673,0.094182,-1.513115,-1.475732,-9.628888,,,,
5.2400,imu,0.018999,0.011475,0.098000,-1.514971,-1.502211,-9.656911,,,,
5.2600,imu,0.019075,0.005008,0.099595,-1.537064,-1.479569,-9.621145,,,,
5.2800,imu,0.015463,0.006000,0.096225,-1.570695,-1.501275,-9.639117,,,,
5.3000,imu,0.018569,0.001934,0.094695,-1.600438,-1.520620,-9.638041,,,,
5.3000,baro,115.009755,,,,,,0.122500,,,
5.3000,mag,0.091776,-0.117999,0.450196,,,,0.002997,,,
5.3200,imu,0.017693,0.004935,0.093924,-1.592730,-1.484070,-9.627120,,,,
5.3400,imu,0.015675,0.000445,0.092142,-1.597959,-1.478982,-9.639388,,,,
5.3600,imu,0.014214,0.002211,0.096094,-1.633698,-1.492736,-9.651306,,,,
5.3800,imu,0.013845,0.000890,0.094689,-1.643396,-1.450086,-9.662622,,,,
5.4000,imu,0.013425,0.003068,0.090300,-1.631040,-1.482697,-9.654371,,,,
5.4000,gnss_pos,14.716616,8.533643,-5.297487,,,,0.810000,0.810000,3.240000,5.4000
5.4000,gnss_vel,4.867489,1.372713,-1.088523,,,,0.022500,0.022500,0.022500,5.4000
5.4000,baro,115.102183,,,,,,0.122500,,,
5.4000,mag,0.117412,-0.115413,0.435976,,,,0.002997,,,
5.4200,imu,0.013916,-0.000976,0.092745,-1.676970,-1.453205,-9.649680,,,,
5.4400,imu,0.013984,0.002196,0.094101,-1.656012,-1.476399,-9.655398,,,,
5.4600,imu,0.011857,0.001787,0.089754,-1.701314,-1.464152,-9.639067,,,,
5.4800,imu,0.009882,-0.000306,0.087796,-1.701671,-1.493615,-9.633084,,,,
5.5000,imu,0.012259,-0.004039,0.092680,-1.717265,-1.471030,-9.653217,,,,
5.5000,baro,114.827742,,,,,,0.122500,,,
5.5000,mag,0.093487,-0.129648,0.460447,,,,0.002997,,,
5.5200,imu,0.012433,-0.001204,0.091737,-1.740044,-1.442348,-9.629723,,,,
5.5400,imu,0.012163,-0.002261,0.090529,-1.757480,-1.428809,-9.646750,,,,
5.5600,imu,0.006584,-0.010170,0.090014,-1.746433,-1.476849,-9.624283,,,,
5.5800,imu,0.006842,-0.006201,0.086609,-1.783842,-1.431293,-9.627859,,,,
5.6000,imu,0.008793,-0.004413,0.087279,-1.777855,-1.414652,-9.631029,,,,
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6.1000,mag,0.110656,-0.121230,0.470745,,,,0.002997,,,
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6.2000,mag,0.109203,-0.126776,0.461118,,,,0.002997,,,
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6.3000,mag,0.098235,-0.129472,0.443365,,,,0.002997,,,
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6.5000,mag,0.099644,-0.124631,0.440134,,,,0.002997,,,
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6.6000,mag,0.107750,-0.127087,0.447302,,,,0.002997,,,
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6.7000,mag,0.112822,-0.129910,0.474231,,,,0.002997,,,
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6.7600,imu,-0.022997,-0.049215,0.052892,-2.268527,-0.754704,-9.579719,,,,
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6.8000,imu,-0.025948,-0.049377,0.054256,-2.272448,-0.718298,-9.557561,,,,
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6.8000,mag,0.102751,-0.145639,0.425231,,,,0.002997,,,
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6.9000,imu,-0.031007,-0.053227,0.045836,-2.311850,-0.653364,-9.560544,,,,
6.9000,baro,116.260197,,,,,,0.122500,,,
6.9000,mag,0.088069,-0.147646,0.470412,,,,0.002997,,,
6.9200,imu,-0.034657,-0.050879,0.051044,-2.324519,-0.619168,-9.533711,,,,
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6.9600,imu,-0.031718,-0.048233,0.048689,-2.320885,-0.585738,-9.549888,,,,
6.9800,imu,-0.028064,-0.049435,0.043724,-2.294615,-0.585299,-9.561768,,,,
7.0000,imu,-0.028576,-0.050555,0.047597,-2.336491,-0.572338,-9.531073,,,,
7.0000,baro,116.743562,,,,,,0.122500,,,
7.0000,mag,0.108377,-0.147408,0.468077,,,,0.002997,,,
7.0200,imu,-0.029647,-0.054624,0.044144,-2.340013,-0.534254,-9.564287,,,,
7.0400,imu,-0.031888,-0.052715,0.042299,-2.340231,-0.497483,-9.527117,,,,
7.0600,imu,-0.033893,-0.051458,0.043089,-2.327274,-0.490877,-9.543212,,,,
7.0800,imu,-0.032240,-0.052252,0.041203,-2.301025,-0.480325,-9.546240,,,,
7.1000,imu,-0.037598,-0.053574,0.041665,-2.330169,-0.475542,-9.530112,,,,
7.1000,baro,116.267285,,,,,,0.122500,,,
7.1000,mag,0.095575,-0.156933,0.449432,,,,0.002997,,,
7.1200,imu,-0.034640,-0.054807,0.042909,-2.347923,-0.452788,-9.542597,,,,
7.1400,imu,-0.034706,-0.051996,0.040071,-2.320272,-0.449532,-9.543714,,,,
7.1600,imu,-0.035090,-0.050671,0.038364,-2.316299,-0.423007,-9.506560,,,,
7.1800,imu,-0.035244,-0.055806,0.035453,-2.357353,-0.405929,-9.532751,,,,
7.2000,imu,-0.033599,-0.058660,0.036837,-2.352061,-0.397707,-9.514167,,,,
7.2000,baro,116.276574,,,,,,0.122500,,,
7.2000,mag,0.107465,-0.131464,0.465955,,,,0.002997,,,
7.2200,imu,-0.038688,-0.055362,0.035600,-2.336359,-0.371273,-9.531636,,,,
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7.2600,imu,-0.035625,-0.054654,0.039594,-2.341761,-0.322626,-9.540466,,,,
7.2800,imu,-0.037174,-0.058609,0.033055,-2.330351,-0.281586,-9.507332,,,,
7.3000,imu,-0.037796,-0.055751,0.032290,-2.331601,-0.287099,-9.514831,,,,
7.3000,baro,116.388041,,,,,,0.122500,,,
7.3000,mag,0.110099,-0.135963,0.458746,,,,0.002997,,,
7.3200,imu,-0.037035,-0.054872,0.034823,-2.312783,-0.248316,-9.502796,,,,
7.3400,imu,-0.037642,-0.050732,0.031630,-2.312208,-0.220025,-9.497441,,,,
7.3600,imu,-0.040541,-0.059637,0.032297,-2.342302,-0.213816,-9.505509,,,,
7.3800,imu,-0.039580,-0.055687,0.036045,-2.328360,-0.179041,-9.499266,,,,
7.4000,imu,-0.039498,-0.052859,0.026518,-2.332808,-0.170760,-9.501312,,,,
7.4000,baro,117.125694,,,,,,0.122500,,,
7.4000,mag,0.105368,-0.144004,0.444885,,,,0.002997,,,
7.4200,imu,-0.043303,-0.057593,0.030655,-2.322878,-0.160939,-9.503880,,,,
7.4400,imu,-0.041204,-0.058323,0.028375,-2.318739,-0.121650,-9.505047,,,,
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7.5000,imu,-0.040570,-0.055235,0.024164,-2.329410,-0.084537,-9.471066,,,,
7.5000,baro,116.677153,,,,,,0.122500,,,
7.5000,mag,0.108172,-0.143872,0.422037,,,,0.002997,,,
7.5200,imu,-0.040285,-0.059294,0.023033,-2.310226,-0.049704,-9.488361,,,,
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7.6000,imu,-0.043175,-0.058177,0.022010,-2.319843,0.041738,-9.480896,,,,
7.6000,baro,116.509436,,,,,,0.122500,,,
7.6000,mag,0.123911,-0.150714,0.440583,,,,0.002997,,,
7.6200,imu,-0.046979,-0.055876,0.019086,-2.304960,0.055491,-9.489961,,,,
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7.7000,imu,-0.046576,-0.058259,0.018953,-2.292423,0.120764,-9.469725,,,,
7.7000,baro,116.502701,,,,,,0.122500,,,
7.7000,mag,0.107994,-0.158050,0.447622,,,,0.002997,,,
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7.7600,imu,-0.048393,-0.057382,0.014808,-2.284486,0.160594,-9.459761,,,,
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7.8000,imu,-0.048841,-0.057600,0.013299,-2.258395,0.255152,-9.449434,,,,
7.8000,baro,116.874737,,,,,,0.122500,,,
7.8000,mag,0.128591,-0.176910,0.432149,,,,0.002997,,,
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7.8600,imu,-0.050981,-0.057819,0.011187,-2.269046,0.274116,-9.437410,,,,
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7.9000,imu,-0.051217,-0.058120,0.005915,-2.260362,0.326783,-9.441692,,,,
7.9000,baro,117.047110,,,,,,0.122500,,,
7.9000,mag,0.125454,-0.157927,0.435085,,,,0.002997,,,
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7.9800,imu,-0.052865,-0.056345,0.004722,-2.227560,0.420158,-9.425967,,,,
8.0000,imu,-0.048754,-0.052722,0.005741,-2.213984,0.461670,-9.413337,,,,
8.0000,baro,116.572765,,,,,,0.122500,,,
8.0000,mag,0.110734,-0.176635,0.432169,,,,0.002997,,,
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8.1000,imu,-0.053387,-0.055011,0.002161,-2.178629,0.547854,-9.390980,,,,
8.1000,baro,116.972097,,,,,,0.122500,,,
8.1000,mag,0.128086,-0.149437,0.457878,,,,0.002997,,,
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8.2000,imu,-0.055520,-0.056539,-0.002653,-2.118752,0.641857,-9.431135,,,,
8.2000,baro,116.662758,,,,,,0.122500,,,
8.2000,mag,0.125722,-0.196069,0.439150,,,,0.002997,,,
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8.3000,baro,116.861807,,,,,,0.122500,,,
8.3000,mag,0.123216,-0.166391,0.432157,,,,0.002997,,,
8.3200,imu,-0.059742,-0.050285,-0.009473,-2.089253,0.800174,-9.397109,,,,
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8.3800,imu,-0.054876,-0.047315,-0.012459,-2.034841,0.840815,-9.406636,,,,
8.4000,imu,-0.059040,-0.047014,-0.013127,-2.009712,0.868220,-9.407710,,,,
8.4000,baro,116.939149,,,,,,0.122500,,,
8.4000,mag,0.115817,-0.154501,0.441983,,,,0.002997,,,
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