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uint64 timestamp # Timestamp in microseconds since boot
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float32[6] vel_pos_innov # velocity and position innovations
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float32[3] mag_innov # earth magnetic field innovations
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float32 heading_innov # heading innovation
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float32 airspeed_innov # airspeed innovation
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float32[2] flow_innov # flow innovation
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float32 hagl_innov # innovation from the terrain estimator for the height above ground level measurement (m)
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float32[6] vel_pos_innov_var # velocity and position innovation variances
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float32[3] mag_innov_var # earth magnetic field innovation variance
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float32 heading_innov_var # heading innovation variance
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float32 airspeed_innov_var # Airspeed innovation variance
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float32[2] flow_innov_var # flow innovation variance
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float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2)
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