How to read output from MinIMU-9

Need help translating output of MinIMU-9 into a 0-359 degree format. I am running MinIMU-9-Arduino-AHRS unchanged except adding:
Serial.print(",");
Serial.print(“Mag Heading:”);
Serial.print(MAG_Heading);
to the output function. The output is below. The MinIMU-9 is mounted on a cylinder on a flat surface with the component side down. “int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1};” is live. “//int SENSOR_SIGN[9] = {1,-1,-1,-1,1,1,1,-1,-1};” is commented out. The output is below and includes me turning the unit slowly counterclockwise approximately 360 degrees trying to keep it flat at that same time. I have not run any type of setup sketch before running MinIMU-9-Arduino-AHRS.

Q: How do I translate the Mag Heading or Yaw to get to a 0-359 degree format?

Pololu MinIMU-9 + Arduino AHRS
10
-8
-4
0
0
3
!ANG:0.00,0.01,0.01,Mag Heading:0.00
!ANG:0.59,-0.08,-0.00,Mag Heading:0.00
!ANG:0.38,-0.23,-0.01,Mag Heading:0.00
!ANG:0.24,-0.24,-0.02,Mag Heading:0.00
!ANG:0.16,0.04,0.01,Mag Heading:0.00
!ANG:-0.26,0.09,0.01,Mag Heading:0.58
!ANG:-0.56,-0.14,3.33,Mag Heading:0.58
!ANG:-0.57,0.05,5.68,Mag Heading:0.58
!ANG:-0.24,-0.37,7.83,Mag Heading:0.58
!ANG:-0.41,-0.49,9.88,Mag Heading:0.58
!ANG:-0.44,-0.70,11.76,Mag Heading:0.58
!ANG:0.12,0.28,13.50,Mag Heading:0.58
!ANG:0.63,-0.14,15.51,Mag Heading:0.58
!ANG:0.43,0.22,16.94,Mag Heading:0.58
!ANG:0.28,0.37,18.23,Mag Heading:0.58
!ANG:-0.00,-0.21,19.42,Mag Heading:0.58
!ANG:-0.02,-0.13,20.56,Mag Heading:0.58
!ANG:0.52,-0.12,21.61,Mag Heading:0.57
!ANG:1.17,0.12,22.79,Mag Heading:0.57
!ANG:1.43,0.00,23.62,Mag Heading:0.57
!ANG:0.95,0.15,24.35,Mag Heading:0.57
!ANG:0.93,0.26,25.05,Mag Heading:0.57
!ANG:0.47,0.77,25.65,Mag Heading:0.57
!ANG:0.07,0.28,26.25,Mag Heading:0.58
!ANG:0.04,0.06,26.96,Mag Heading:0.58
!ANG:0.03,0.33,27.47,Mag Heading:0.58
!ANG:0.38,-0.17,27.95,Mag Heading:0.58
!ANG:0.60,-0.41,28.37,Mag Heading:0.58
!ANG:1.08,-0.29,28.77,Mag Heading:0.58
!ANG:0.70,-0.90,29.12,Mag Heading:0.61
!ANG:1.09,-0.80,29.75,Mag Heading:0.61
!ANG:0.78,-0.75,30.16,Mag Heading:0.61
!ANG:0.92,-0.26,30.52,Mag Heading:0.61
!ANG:0.32,0.82,30.87,Mag Heading:0.61
!ANG:0.16,-0.22,31.13,Mag Heading:0.61
!ANG:0.02,0.45,31.40,Mag Heading:0.58
!ANG:0.41,-0.11,29.14,Mag Heading:0.58
!ANG:-0.18,-0.19,27.49,Mag Heading:0.58
!ANG:-1.11,-1.43,23.88,Mag Heading:0.58
!ANG:-1.31,-1.91,21.92,Mag Heading:0.58
!ANG:-0.10,-2.43,19.36,Mag Heading:0.58
!ANG:-0.31,-2.38,16.50,Mag Heading:0.45
!ANG:0.52,-2.15,13.07,Mag Heading:0.45
!ANG:0.87,-1.79,10.17,Mag Heading:0.45
!ANG:-0.13,-2.23,8.34,Mag Heading:0.45
!ANG:-1.09,-1.66,6.64,Mag Heading:0.45
!ANG:-1.04,-1.79,4.49,Mag Heading:0.45
!ANG:0.79,-2.81,3.05,Mag Heading:0.24
!ANG:2.54,-1.51,-0.78,Mag Heading:0.24
!ANG:2.55,-1.20,-4.07,Mag Heading:0.24
!ANG:2.68,-1.85,-6.07,Mag Heading:0.24
!ANG:3.17,-0.98,-8.74,Mag Heading:0.24
!ANG:2.68,0.05,-11.71,Mag Heading:0.24
!ANG:3.21,-0.13,-14.30,Mag Heading:0.12
!ANG:2.01,-0.68,-16.55,Mag Heading:0.12
!ANG:0.61,-0.83,-18.78,Mag Heading:0.12
!ANG:0.42,-0.19,-21.68,Mag Heading:0.12
!ANG:-0.73,-0.89,-23.25,Mag Heading:0.12
!ANG:-1.34,0.17,-26.22,Mag Heading:0.12
!ANG:-1.73,0.13,-26.88,Mag Heading:-0.18
!ANG:-0.51,-0.69,-29.49,Mag Heading:-0.18
!ANG:-0.14,0.02,-32.18,Mag Heading:-0.18
!ANG:-0.19,-0.73,-34.22,Mag Heading:-0.18
!ANG:0.61,-0.61,-37.66,Mag Heading:-0.18
!ANG:0.02,-0.39,-40.21,Mag Heading:-0.18
!ANG:0.68,0.36,-42.67,Mag Heading:-0.35
!ANG:2.42,-0.97,-42.65,Mag Heading:-0.35
!ANG:2.24,-0.33,-43.26,Mag Heading:-0.35
!ANG:1.28,-1.68,-45.63,Mag Heading:-0.35
!ANG:-0.93,0.32,-46.41,Mag Heading:-0.35
!ANG:-1.30,-1.16,-44.09,Mag Heading:-0.35
!ANG:-1.26,0.20,-44.01,Mag Heading:-0.62
!ANG:-0.36,-0.64,-48.54,Mag Heading:-0.62
!ANG:0.54,0.34,-50.43,Mag Heading:-0.62
!ANG:-1.11,2.33,-50.96,Mag Heading:-0.62
!ANG:-0.44,1.32,-50.18,Mag Heading:-0.62
!ANG:0.73,1.68,-51.38,Mag Heading:-0.62
!ANG:1.06,0.47,-51.25,Mag Heading:-0.02
!ANG:-1.29,3.96,-54.00,Mag Heading:-0.02
!ANG:-0.53,2.47,-57.49,Mag Heading:-0.02
!ANG:1.05,2.72,-56.52,Mag Heading:-0.02
!ANG:1.69,2.22,-53.34,Mag Heading:-0.02
!ANG:2.54,2.73,-50.61,Mag Heading:-0.02
!ANG:1.35,3.02,-47.07,Mag Heading:1.58
!ANG:-0.52,4.15,-49.75,Mag Heading:1.58
!ANG:-1.18,4.81,-51.67,Mag Heading:1.58
!ANG:-3.88,4.47,-51.32,Mag Heading:1.58
!ANG:-2.61,3.86,-50.23,Mag Heading:1.58
!ANG:0.16,3.15,-52.82,Mag Heading:1.58
!ANG:-4.14,6.44,-51.83,Mag Heading:1.85
!ANG:-2.26,5.02,-49.92,Mag Heading:1.85
!ANG:-2.07,5.10,-53.15,Mag Heading:1.85
!ANG:-1.16,4.19,-52.90,Mag Heading:1.85
!ANG:1.40,3.00,-54.84,Mag Heading:1.85
!ANG:-1.30,5.67,-60.42,Mag Heading:1.85
!ANG:-3.19,3.72,-62.13,Mag Heading:1.68
!ANG:-3.25,3.58,-64.11,Mag Heading:1.68
!ANG:-0.75,1.52,-65.11,Mag Heading:1.68
!ANG:-1.37,2.37,-64.66,Mag Heading:1.68
!ANG:-0.83,1.87,-65.01,Mag Heading:1.68
!ANG:-0.81,2.32,-64.22,Mag Heading:1.68
!ANG:-1.76,1.75,-64.09,Mag Heading:1.77
!ANG:-0.88,1.87,-63.49,Mag Heading:1.77
!ANG:-1.92,3.00,-65.44,Mag Heading:1.77
!ANG:1.23,3.56,-65.27,Mag Heading:1.77
!ANG:-0.07,3.51,-65.93,Mag Heading:1.77
!ANG:0.03,3.87,-64.72,Mag Heading:1.77
!ANG:-0.15,4.26,-64.67,Mag Heading:1.65
!ANG:2.39,-5.00,-33.99,Mag Heading:1.65
!ANG:2.69,-6.46,-33.78,Mag Heading:1.65
!ANG:2.56,-4.86,-32.86,Mag Heading:1.65
!ANG:2.08,-3.05,-31.52,Mag Heading:1.65
!ANG:1.90,-1.05,-29.70,Mag Heading:1.65
!ANG:1.06,0.36,-30.77,Mag Heading:1.73
!ANG:0.18,2.29,-32.13,Mag Heading:1.73
!ANG:-0.53,2.44,-32.59,Mag Heading:1.73
!ANG:-1.53,2.56,-34.28,Mag Heading:1.73
!ANG:-2.09,2.43,-34.78,Mag Heading:1.73
!ANG:-2.65,-0.75,-34.86,Mag Heading:1.73
!ANG:-3.88,2.51,-34.06,Mag Heading:1.47
!ANG:-1.41,1.05,-31.82,Mag Heading:1.47
!ANG:-3.04,1.51,-29.90,Mag Heading:1.47
!ANG:-2.48,0.96,-28.49,Mag Heading:1.47
!ANG:-3.49,1.84,-27.16,Mag Heading:1.47
!ANG:-2.09,0.92,-25.87,Mag Heading:1.47
!ANG:-3.08,1.08,-24.52,Mag Heading:1.26
!ANG:-0.57,0.51,-22.47,Mag Heading:1.26
!ANG:-1.21,0.03,-20.12,Mag Heading:1.26
!ANG:-1.17,-0.83,-17.22,Mag Heading:1.26
!ANG:-0.05,-0.52,-13.83,Mag Heading:1.26
!ANG:-0.32,-0.61,-11.01,Mag Heading:1.26
!ANG:0.86,-0.92,-7.12,Mag Heading:1.20
!ANG:0.93,-1.36,-1.80,Mag Heading:1.20
!ANG:2.15,-0.62,1.44,Mag Heading:1.20
!ANG:0.81,-0.09,3.61,Mag Heading:1.20
!ANG:1.11,0.64,6.53,Mag Heading:1.20
!ANG:0.82,1.02,10.98,Mag Heading:1.20
!ANG:1.22,0.74,12.96,Mag Heading:1.13
!ANG:0.76,3.40,16.25,Mag Heading:1.13
!ANG:0.03,1.39,19.18,Mag Heading:1.13
!ANG:-2.48,1.10,22.01,Mag Heading:1.13
!ANG:-2.21,0.28,24.87,Mag Heading:1.13
!ANG:-1.41,0.55,26.65,Mag Heading:1.13
!ANG:-1.83,-0.84,26.92,Mag Heading:1.06
!ANG:-5.92,-0.11,27.93,Mag Heading:1.06
!ANG:-4.74,-0.45,29.71,Mag Heading:1.06
!ANG:-3.07,-0.94,31.07,Mag Heading:1.06
!ANG:-2.59,-0.69,32.60,Mag Heading:1.06
!ANG:-1.78,-1.04,32.32,Mag Heading:1.06
!ANG:-2.18,-1.41,33.64,Mag Heading:1.00
!ANG:0.75,-1.17,32.12,Mag Heading:1.00
!ANG:1.52,-0.81,31.90,Mag Heading:1.00
!ANG:-0.86,-1.73,26.06,Mag Heading:1.00
!ANG:1.87,-3.17,25.14,Mag Heading:1.00
!ANG:0.76,-3.75,20.46,Mag Heading:1.00
!ANG:0.52,-3.43,21.87,Mag Heading:0.91
!ANG:3.59,-3.08,23.74,Mag Heading:0.91
!ANG:2.76,-2.93,24.61,Mag Heading:0.91
!ANG:2.27,-3.72,25.56,Mag Heading:0.91
!ANG:0.47,-2.73,25.29,Mag Heading:0.91
!ANG:-0.79,-2.45,25.80,Mag Heading:0.91
!ANG:-1.72,-3.93,22.86,Mag Heading:0.76
!ANG:-1.86,-1.94,21.90,Mag Heading:0.76
!ANG:0.88,-2.77,19.35,Mag Heading:0.76
!ANG:7.80,-1.85,20.24,Mag Heading:0.76
!ANG:7.87,-2.35,18.71,Mag Heading:0.76
!ANG:5.38,-1.57,18.35,Mag Heading:0.76
!ANG:4.40,-1.32,17.77,Mag Heading:0.67
!ANG:3.44,-0.16,16.57,Mag Heading:0.67
!ANG:2.35,0.45,12.68,Mag Heading:0.67
!ANG:3.75,1.19,10.89,Mag Heading:0.67
!ANG:4.01,-0.34,9.85,Mag Heading:0.67
!ANG:3.76,-1.32,8.51,Mag Heading:0.67
!ANG:3.80,0.46,8.90,Mag Heading:0.51
!ANG:4.49,0.02,7.24,Mag Heading:0.51
!ANG:3.47,0.69,7.78,Mag Heading:0.51
!ANG:3.32,0.62,7.33,Mag Heading:0.51
!ANG:2.84,0.16,8.26,Mag Heading:0.51
!ANG:2.35,0.78,9.27,Mag Heading:0.51
!ANG:2.26,0.91,9.62,Mag Heading:0.37
!ANG:2.18,1.14,9.76,Mag Heading:0.37
!ANG:3.31,0.63,9.71,Mag Heading:0.37
!ANG:3.02,-0.19,9.78,Mag Heading:0.37
!ANG:2.93,0.46,10.48,Mag Heading:0.37
!ANG:3.83,-0.09,11.01,Mag Heading:0.37
!ANG:3.95,-1.15,11.84,Mag Heading:0.39
!ANG:3.91,-0.64,12.90,Mag Heading:0.39
!ANG:3.37,-0.44,13.68,Mag Heading:0.39
!ANG:3.11,-0.32,14.38,Mag Heading:0.39
!ANG:3.27,-0.22,15.03,Mag Heading:0.39
!ANG:3.13,-0.17,15.60,Mag Heading:0.39
!ANG:3.04,-0.19,16.14,Mag Heading:0.36
!ANG:3.12,-0.00,16.62,Mag Heading:0.36

OK. So I found the calibration program; Ran it. Captured 200 readings and changed the default code from:

/*#define M_X_MIN -796
#define M_Y_MIN -457
#define M_Z_MIN -424
#define M_X_MAX 197
#define M_Y_MAX 535
#define M_Z_MAX 397 */

To:
#define M_X_MIN -681
#define M_Y_MIN -697
#define M_Z_MIN -488
#define M_X_MAX 402
#define M_Y_MAX 403
#define M_Z_MAX 556

Updated output posted below. My question is still the same. How do I translate this to a 0-360 degrees or something close?

Photo of the physical device is linked here.

Pololu MinIMU-9 + Arduino AHRS
13
-7
-4
0
14
7
!ANG:-0.00,-0.00,-0.00,Mag Heading:0.00
!ANG:-0.39,-0.09,-0.01,Mag Heading:0.00
!ANG:0.28,0.25,-0.02,Mag Heading:0.00
!ANG:0.48,0.24,-0.03,Mag Heading:0.00
!ANG:0.19,0.37,-0.04,Mag Heading:0.00
!ANG:-0.03,-0.45,-0.06,Mag Heading:-0.07
!ANG:-0.04,-0.34,-0.53,Mag Heading:-0.07
!ANG:-0.27,-0.79,-0.82,Mag Heading:-0.07
!ANG:-0.01,-0.18,-1.12,Mag Heading:-0.07
!ANG:0.22,-0.35,-1.39,Mag Heading:-0.07
!ANG:0.39,-0.47,-1.60,Mag Heading:-0.07
!ANG:0.10,-0.10,-1.81,Mag Heading:-0.06
!ANG:-0.37,-0.09,-2.00,Mag Heading:-0.06
!ANG:-0.32,-0.15,-2.16,Mag Heading:-0.06
!ANG:-0.37,-0.34,-2.29,Mag Heading:-0.06
!ANG:-0.17,-0.53,-2.38,Mag Heading:-0.06
!ANG:-0.25,-0.26,-2.47,Mag Heading:-0.06
!ANG:-0.48,-0.32,-2.55,Mag Heading:-0.09
!ANG:-0.07,0.20,-2.86,Mag Heading:-0.09
!ANG:0.17,0.20,-3.03,Mag Heading:-0.09
!ANG:0.21,0.34,-3.20,Mag Heading:-0.09
!ANG:0.81,0.23,-3.33,Mag Heading:-0.09
!ANG:0.63,-0.31,-3.50,Mag Heading:-0.09
!ANG:0.27,-0.86,-3.64,Mag Heading:-0.06
!ANG:-0.48,-0.69,-3.63,Mag Heading:-0.06
!ANG:-1.03,-0.89,-3.62,Mag Heading:-0.06
!ANG:-0.44,-0.45,-3.63,Mag Heading:-0.06
!ANG:-0.61,-0.22,-3.60,Mag Heading:-0.06
!ANG:-0.63,0.58,-3.62,Mag Heading:-0.06
!ANG:0.12,-0.67,-3.59,Mag Heading:-0.11
!ANG:-0.34,-0.18,-3.88,Mag Heading:-0.11
!ANG:0.00,-0.04,-4.10,Mag Heading:-0.11
!ANG:0.55,0.29,-4.24,Mag Heading:-0.11
!ANG:0.49,0.41,-4.41,Mag Heading:-0.11
!ANG:-0.03,0.33,-4.56,Mag Heading:-0.11
!ANG:-0.18,0.40,-4.69,Mag Heading:-0.09
!ANG:0.03,-0.06,-4.78,Mag Heading:-0.09
!ANG:-0.44,-0.20,-4.83,Mag Heading:-0.09
!ANG:-0.23,0.33,-4.88,Mag Heading:-0.09
!ANG:-0.68,-0.87,-5.10,Mag Heading:-0.09
!ANG:-0.22,-1.22,-5.12,Mag Heading:-0.09
!ANG:-1.40,-0.88,-8.03,Mag Heading:-0.16
!ANG:2.81,-4.83,-15.61,Mag Heading:-0.16
!ANG:3.30,-1.74,-23.67,Mag Heading:-0.16
!ANG:0.12,5.61,-26.20,Mag Heading:-0.16
!ANG:0.26,3.47,-32.25,Mag Heading:-0.16
!ANG:0.79,0.80,-33.41,Mag Heading:-0.16
!ANG:-0.40,-1.02,-42.42,Mag Heading:-0.60
!ANG:-1.26,-2.77,-53.54,Mag Heading:-0.60
!ANG:-0.00,-3.53,-55.65,Mag Heading:-0.60
!ANG:-0.67,-1.48,-54.21,Mag Heading:-0.60
!ANG:-1.80,-1.69,-54.53,Mag Heading:-0.60
!ANG:-1.09,-2.26,-55.83,Mag Heading:-0.60
!ANG:-0.78,-3.51,-54.58,Mag Heading:-1.25
!ANG:0.54,-3.26,-57.93,Mag Heading:-1.25
!ANG:0.39,-3.40,-59.56,Mag Heading:-1.25
!ANG:1.83,-12.03,-57.92,Mag Heading:-1.25
!ANG:0.64,-6.17,-60.63,Mag Heading:-1.25
!ANG:1.94,-9.15,-64.60,Mag Heading:-1.25
!ANG:3.38,-6.47,-70.30,Mag Heading:-1.63
!ANG:3.24,-5.70,-78.12,Mag Heading:-1.63
!ANG:3.96,-8.13,-83.91,Mag Heading:-1.63
!ANG:4.19,-8.75,-86.38,Mag Heading:-1.63
!ANG:3.97,-7.00,-93.10,Mag Heading:-1.63
!ANG:4.27,-7.91,-100.55,Mag Heading:-1.63
!ANG:5.95,-7.65,-108.11,Mag Heading:-2.26
!ANG:6.98,-8.24,-115.17,Mag Heading:-2.26
!ANG:6.33,-6.31,-118.72,Mag Heading:-2.26
!ANG:5.37,-5.71,-125.77,Mag Heading:-2.26
!ANG:6.05,-3.70,-132.59,Mag Heading:-2.26
!ANG:7.69,-5.95,-138.38,Mag Heading:-2.26
!ANG:6.93,-5.14,-143.69,Mag Heading:-2.81
!ANG:8.02,-3.40,-153.93,Mag Heading:-2.81
!ANG:8.91,-1.50,-161.27,Mag Heading:-2.81
!ANG:8.66,-0.55,-168.21,Mag Heading:-2.81
!ANG:8.43,-1.21,-174.60,Mag Heading:-2.81
!ANG:8.72,-1.97,-178.54,Mag Heading:-2.81
!ANG:9.64,-1.39,177.32,Mag Heading:2.85
!ANG:9.71,-2.70,171.82,Mag Heading:2.85
!ANG:8.29,-0.33,166.26,Mag Heading:2.85
!ANG:8.17,-1.23,162.24,Mag Heading:2.85
!ANG:7.40,-1.80,159.85,Mag Heading:2.85
!ANG:7.96,-1.78,158.62,Mag Heading:2.85
!ANG:8.34,-2.79,158.46,Mag Heading:2.55
!ANG:8.86,-1.96,155.33,Mag Heading:2.55
!ANG:5.54,-2.14,150.59,Mag Heading:2.55
!ANG:9.25,-0.19,143.56,Mag Heading:2.55
!ANG:10.72,-0.55,138.84,Mag Heading:2.55
!ANG:10.42,-0.73,135.09,Mag Heading:2.55
!ANG:11.28,1.78,133.07,Mag Heading:2.19
!ANG:11.71,2.96,130.12,Mag Heading:2.19
!ANG:9.31,5.50,128.40,Mag Heading:2.19
!ANG:7.66,3.42,126.73,Mag Heading:2.19
!ANG:7.77,3.00,124.27,Mag Heading:2.19
!ANG:6.75,2.76,121.20,Mag Heading:2.19
!ANG:8.28,1.62,118.79,Mag Heading:1.90
!ANG:8.67,1.89,114.73,Mag Heading:1.90
!ANG:9.10,-0.11,107.70,Mag Heading:1.90
!ANG:11.04,0.65,102.83,Mag Heading:1.90
!ANG:6.97,1.85,98.23,Mag Heading:1.90
!ANG:7.00,2.32,93.89,Mag Heading:1.90
!ANG:6.82,1.74,92.44,Mag Heading:1.59
!ANG:7.06,2.75,85.46,Mag Heading:1.59
!ANG:13.16,-1.04,82.78,Mag Heading:1.59
!ANG:8.66,2.12,80.38,Mag Heading:1.59
!ANG:8.32,3.41,77.60,Mag Heading:1.59
!ANG:5.69,5.38,75.86,Mag Heading:1.59
!ANG:5.64,7.83,73.35,Mag Heading:1.17
!ANG:7.58,4.99,71.38,Mag Heading:1.17
!ANG:5.24,4.69,68.63,Mag Heading:1.17
!ANG:13.71,2.96,90.83,Mag Heading:1.17
!ANG:13.82,0.59,84.30,Mag Heading:1.17
!ANG:9.03,3.59,81.41,Mag Heading:1.17
!ANG:8.80,2.93,79.58,Mag Heading:1.17
!ANG:8.41,2.90,75.55,Mag Heading:1.17
!ANG:6.39,1.80,73.02,Mag Heading:1.17
!ANG:5.51,2.04,67.97,Mag Heading:1.17
!ANG:4.41,5.30,63.95,Mag Heading:1.17
!ANG:6.60,7.03,62.12,Mag Heading:1.17
!ANG:6.69,4.81,61.12,Mag Heading:0.83
!ANG:5.19,9.96,55.41,Mag Heading:0.83
!ANG:6.27,8.17,50.85,Mag Heading:0.83
!ANG:3.49,6.31,47.27,Mag Heading:0.83
!ANG:3.49,6.24,44.08,Mag Heading:0.83
!ANG:4.06,7.18,41.02,Mag Heading:0.83
!ANG:3.13,5.31,37.55,Mag Heading:0.47
!ANG:3.54,4.15,32.60,Mag Heading:0.47
!ANG:4.06,4.00,29.34,Mag Heading:0.47
!ANG:5.08,4.45,26.61,Mag Heading:0.47
!ANG:4.90,3.38,22.86,Mag Heading:0.47
!ANG:5.76,3.26,20.23,Mag Heading:0.47
!ANG:5.54,2.32,17.26,Mag Heading:0.31
!ANG:6.01,1.52,12.31,Mag Heading:0.31
!ANG:5.35,0.85,8.19,Mag Heading:0.31
!ANG:4.73,1.14,5.49,Mag Heading:0.31
!ANG:4.42,1.46,3.35,Mag Heading:0.31
!ANG:4.05,1.94,2.13,Mag Heading:0.31
!ANG:3.95,1.83,1.08,Mag Heading:-0.05
!ANG:4.28,0.59,-0.91,Mag Heading:-0.05
!ANG:5.28,-1.70,-2.41,Mag Heading:-0.05
!ANG:3.96,-0.94,-3.72,Mag Heading:-0.05
!ANG:4.15,-0.43,-4.08,Mag Heading:-0.05
!ANG:4.70,-0.28,-5.05,Mag Heading:-0.05
!ANG:5.25,-1.18,-6.02,Mag Heading:-0.22
!ANG:6.54,-2.13,-8.75,Mag Heading:-0.22
!ANG:6.53,-1.38,-10.78,Mag Heading:-0.22
!ANG:5.55,-1.11,-12.55,Mag Heading:-0.22
!ANG:4.58,-1.32,-14.14,Mag Heading:-0.22
!ANG:4.94,-1.59,-15.47,Mag Heading:-0.22
!ANG:5.44,-2.38,-17.31,Mag Heading:-0.42
!ANG:5.66,-2.54,-20.69,Mag Heading:-0.42
!ANG:6.17,-2.13,-21.84,Mag Heading:-0.42
!ANG:5.27,-1.78,-22.51,Mag Heading:-0.42
!ANG:5.85,-1.61,-22.69,Mag Heading:-0.42
!ANG:5.90,-2.18,-22.90,Mag Heading:-0.42
!ANG:6.04,-2.66,-22.95,Mag Heading:-0.49
!ANG:5.22,-2.75,-23.33,Mag Heading:-0.49
!ANG:5.26,-3.07,-23.04,Mag Heading:-0.49
!ANG:5.04,-2.10,-20.79,Mag Heading:-0.49
!ANG:4.87,-2.40,-16.93,Mag Heading:-0.49
!ANG:6.08,-2.40,-11.43,Mag Heading:-0.49
!ANG:5.49,-2.24,-3.02,Mag Heading:-0.17
!ANG:6.21,1.37,6.47,Mag Heading:-0.17
!ANG:5.86,1.99,13.01,Mag Heading:-0.17
!ANG:4.48,0.41,18.01,Mag Heading:-0.17
!ANG:5.87,0.72,23.38,Mag Heading:-0.17
!ANG:8.16,-0.32,28.47,Mag Heading:-0.17
!ANG:8.04,0.15,32.25,Mag Heading:0.73
!ANG:9.76,0.01,42.70,Mag Heading:0.73
!ANG:10.73,-0.69,50.53,Mag Heading:0.73
!ANG:9.77,0.75,57.14,Mag Heading:0.73
!ANG:8.21,1.30,62.87,Mag Heading:0.73
!ANG:7.67,3.42,65.28,Mag Heading:0.73
!ANG:8.25,3.94,70.74,Mag Heading:1.20
!ANG:9.05,1.94,84.43,Mag Heading:1.20
!ANG:12.25,3.82,92.05,Mag Heading:1.20
!ANG:11.65,2.07,98.23,Mag Heading:1.20
!ANG:11.97,1.69,103.08,Mag Heading:1.20
!ANG:12.11,1.43,103.55,Mag Heading:1.20
!ANG:12.11,-0.41,106.71,Mag Heading:1.90
!ANG:10.29,-2.01,112.90,Mag Heading:1.90
!ANG:11.86,-1.63,116.18,Mag Heading:1.90
!ANG:10.69,-3.09,123.41,Mag Heading:1.90
!ANG:9.65,-1.00,125.99,Mag Heading:1.90
!ANG:7.73,-1.25,126.52,Mag Heading:1.90
!ANG:10.56,-1.57,126.28,Mag Heading:2.46
!ANG:8.44,-3.92,138.60,Mag Heading:2.46
!ANG:9.19,-3.06,149.45,Mag Heading:2.46
!ANG:3.25,-1.03,157.69,Mag Heading:2.46
!ANG:5.17,-0.93,166.83,Mag Heading:2.46
!ANG:5.81,-1.04,175.34,Mag Heading:2.46
!ANG:9.33,-5.71,-174.15,Mag Heading:-2.80
!ANG:12.46,-4.70,-158.96,Mag Heading:-2.80
!ANG:12.88,-5.51,-150.81,Mag Heading:-2.80
!ANG:12.80,-7.37,-142.01,Mag Heading:-2.80
!ANG:12.04,-6.47,-132.93,Mag Heading:-2.80
!ANG:9.84,-7.53,-126.19,Mag Heading:-2.80
!ANG:7.83,-6.16,-121.06,Mag Heading:-1.97
!ANG:11.74,-4.52,-110.54,Mag Heading:-1.97
!ANG:11.70,-3.00,-104.55,Mag Heading:-1.97
!ANG:11.07,-2.86,-98.14,Mag Heading:-1.97
!ANG:-0.14,-0.73,-94.99,Mag Heading:-1.97
!ANG:2.24,-1.14,-92.25,Mag Heading:-1.97
!ANG:5.15,-2.80,-90.92,Mag Heading:-1.17
!ANG:5.91,-3.56,-84.84,Mag Heading:-1.17
!ANG:4.28,-4.89,-80.10,Mag Heading:-1.17
!ANG:3.96,-4.48,-74.69,Mag Heading:-1.17
!ANG:3.15,-3.84,-70.22,Mag Heading:-1.17
!ANG:3.21,-3.53,-64.96,Mag Heading:-1.17
!ANG:4.03,-3.86,-62.78,Mag Heading:-0.87
!ANG:3.87,-2.85,-56.36,Mag Heading:-0.87
!ANG:3.23,-3.46,-48.30,Mag Heading:-0.87
!ANG:2.46,-0.76,-39.06,Mag Heading:-0.87
!ANG:1.35,-3.20,-31.33,Mag Heading:-0.87
!ANG:-1.29,-2.61,-25.16,Mag Heading:-0.87
!ANG:0.48,-2.24,-18.44,Mag Heading:-0.14
!ANG:0.93,1.52,-8.81,Mag Heading:-0.14
!ANG:1.13,1.30,-4.44,Mag Heading:-0.14
!ANG:2.58,1.48,-0.79,Mag Heading:-0.14
!ANG:1.16,1.61,2.12,Mag Heading:-0.14
!ANG:-0.03,1.70,4.08,Mag Heading:-0.14
!ANG:-1.13,2.70,6.17,Mag Heading:0.50
!ANG:0.48,0.49,11.84,Mag Heading:0.50
!ANG:0.18,1.81,13.86,Mag Heading:0.50
!ANG:0.42,2.80,14.63,Mag Heading:0.50
!ANG:1.98,4.54,15.22,Mag Heading:0.50
!ANG:2.05,1.77,11.87,Mag Heading:0.50
!ANG:-0.43,1.11,8.81,Mag Heading:0.55
!ANG:1.06,0.12,1.98,Mag Heading:0.55
!ANG:1.24,-5.28,1.82,Mag Heading:0.55
!ANG:1.59,-4.96,-1.03,Mag Heading:0.55
!ANG:7.29,1.35,1.82,Mag Heading:0.55
!ANG:5.82,0.94,2.63,Mag Heading:0.55
!ANG:3.86,2.15,2.84,Mag Heading:0.32
!ANG:1.32,0.85,-0.94,Mag Heading:0.32
!ANG:1.46,0.03,-2.15,Mag Heading:0.32
!ANG:0.97,1.81,-2.46,Mag Heading:0.32
!ANG:0.55,2.41,-4.63,Mag Heading:0.32
!ANG:0.17,3.46,-4.80,Mag Heading:0.32
!ANG:1.06,3.89,-4.23,Mag Heading:-0.17
!ANG:1.65,5.50,-8.26,Mag Heading:-0.17
!ANG:2.03,1.94,-9.26,Mag Heading:-0.17
!ANG:1.29,0.82,-9.42,Mag Heading:-0.17
!ANG:1.39,0.30,-9.42,Mag Heading:-0.17
!ANG:1.88,-1.30,-9.42,Mag Heading:-0.17
!ANG:1.16,-0.28,-9.45,Mag Heading:-0.22
!ANG:1.39,0.44,-9.79,Mag Heading:-0.22
!ANG:1.09,-0.36,-9.99,Mag Heading:-0.22
!ANG:0.20,-0.48,-10.24,Mag Heading:-0.22
!ANG:0.61,0.14,-10.44,Mag Heading:-0.22
!ANG:0.47,0.13,-10.61,Mag Heading:-0.22
!ANG:0.65,-0.76,-10.76,Mag Heading:-0.27
!ANG:0.59,-0.80,-11.30,Mag Heading:-0.27
!ANG:1.00,-1.05,-11.65,Mag Heading:-0.27
!ANG:0.73,-0.56,-11.97,Mag Heading:-0.27
!ANG:0.55,-0.49,-12.28,Mag Heading:-0.27
!ANG:1.40,-0.71,-12.59,Mag Heading:-0.27
!ANG:1.46,-0.78,-12.86,Mag Heading:-0.23
!ANG:2.19,-0.28,-12.88,Mag Heading:-0.23
!ANG:1.95,-0.20,-12.93,Mag Heading:-0.23
!ANG:1.94,-0.19,-12.96,Mag Heading:-0.23
!ANG:1.74,0.18,-12.98,Mag Heading:-0.23
!ANG:1.68,-0.40,-13.00,Mag Heading:-0.23
!ANG:1.90,-0.24,-13.01,Mag Heading:-0.22
!ANG:1.55,-0.10,-13.03,Mag Heading:-0.22
!ANG:1.58,0.18,-13.01,Mag Heading:-0.22
!ANG:1.49,-0.41,-13.00,Mag Heading:-0.22
!ANG:1.61,-0.82,-13.01,Mag Heading:-0.22
!ANG:1.63,-0.38,-12.99,Mag Heading:-0.22
!ANG:1.22,0.26,-12.95,Mag Heading:-0.24
!ANG:0.82,-0.14,-13.02,Mag Heading:-0.24
!ANG:1.31,-0.26,-13.11,Mag Heading:-0.24
!ANG:1.32,-0.76,-13.16,Mag Heading:-0.24
!ANG:1.18,-1.20,-13.23,Mag Heading:-0.24
!ANG:1.13,-1.23,-13.28,Mag Heading:-0.24
!ANG:0.80,-1.11,-13.32,Mag Heading:-0.26
!ANG:1.24,-1.11,-13.52,Mag Heading:-0.26
!ANG:0.97,-1.25,-13.62,Mag Heading:-0.26
!ANG:1.17,-1.03,-13.72,Mag Heading:-0.26
!ANG:1.38,-0.83,-13.84,Mag Heading:-0.26
!ANG:1.27,-0.93,-13.93,Mag Heading:-0.26
!ANG:1.45,-0.83,-14.01,Mag Heading:-0.24
!ANG:1.20,-1.37,-14.02,Mag Heading:-0.24
!ANG:0.58,-0.89,-14.03,Mag Heading:-0.24
!ANG:1.16,-1.30,-14.07,Mag Heading:-0.24
!ANG:1.25,-0.70,-14.08,Mag Heading:-0.24
!ANG:1.70,-0.83,-14.09,Mag Heading:-0.24
!ANG:1.57,-0.22,-14.08,Mag Heading:-0.23
!ANG:1.01,-0.06,-13.98,Mag Heading:-0.23
!ANG:0.88,0.12,-13.92,Mag Heading:-0.23
!ANG:1.37,0.00,-13.86,Mag Heading:-0.23
!ANG:1.29,-0.39,-13.80,Mag Heading:-0.23
!ANG:0.99,-0.63,-13.73,Mag Heading:-0.23
!ANG:1.27,-0.26,-13.68,Mag Heading:-0.24
!ANG:0.79,0.68,-13.76,Mag Heading:-0.24
!ANG:1.38,0.57,-13.79,Mag Heading:-0.24
!ANG:1.79,0.52,-13.81,Mag Heading:-0.24
!ANG:1.72,-0.05,-13.80,Mag Heading:-0.24
!ANG:1.59,0.12,-13.81,Mag Heading:-0.24
!ANG:1.88,-0.30,-13.83,Mag Heading:-0.21
!ANG:1.49,-0.01,-13.65,Mag Heading:-0.21
!ANG:1.74,-0.07,-13.54,Mag Heading:-0.21
!ANG:1.99,-0.05,-13.43,Mag Heading:-0.21
!ANG:1.98,-0.01,-13.36,Mag Heading:-0.21
!ANG:1.74,0.22,-13.28,Mag Heading:-0.21
!ANG:0.99,0.01,-13.18,Mag Heading:-0.22
!ANG:0.95,-0.29,-13.16,Mag Heading:-0.22
!ANG:0.77,-0.50,-13.12,Mag Heading:-0.22
!ANG:0.27,-0.55,-13.09,Mag Heading:-0.22
!ANG:1.21,-1.02,-13.10,Mag Heading:-0.22
!ANG:0.79,-0.33,-13.07,Mag Heading:-0.22
!ANG:1.33,-0.22,-13.06,Mag Heading:-0.26
!ANG:1.16,-0.42,-13.26,Mag Heading:-0.26
!ANG:0.76,0.50,-13.40,Mag Heading:-0.26
!ANG:0.86,0.42,-13.51,Mag Heading:-0.26
!ANG:1.26,-0.04,-13.61,Mag Heading:-0.26
!ANG:1.06,-0.27,-13.71,Mag Heading:-0.26
!ANG:1.74,-1.43,-13.82,Mag Heading:-0.24
!ANG:1.44,-0.17,-13.85,Mag Heading:-0.24
!ANG:1.40,-0.11,-13.86,Mag Heading:-0.24
!ANG:1.39,-0.31,-13.85,Mag Heading:-0.24
!ANG:1.45,-0.23,-13.86,Mag Heading:-0.24
!ANG:1.43,-0.11,-13.87,Mag Heading:-0.24
!ANG:1.64,-0.46,-13.89,Mag Heading:-0.23
!ANG:2.04,-0.54,-13.83,Mag Heading:-0.23
!ANG:1.73,-0.14,-13.80,Mag Heading:-0.23
!ANG:1.76,0.22,-13.77,Mag Heading:-0.23
!ANG:1.84,0.04,-13.74,Mag Heading:-0.23
!ANG:1.60,0.30,-13.68,Mag Heading:-0.23
!ANG:1.67,0.17,-13.62,Mag Heading:-0.22
!ANG:1.13,1.39,-13.52,Mag Heading:-0.22
!ANG:0.60,0.14,-13.47,Mag Heading:-0.22
!ANG:0.55,-0.26,-13.41,Mag Heading:-0.22
!ANG:0.76,-0.03,-13.34,Mag Heading:-0.22
!ANG:1.25,0.03,-13.28,Mag Heading:-0.22
!ANG:0.74,-0.37,-13.21,Mag Heading:-0.24
!ANG:1.82,-0.71,-13.31,Mag Heading:-0.24
!ANG:1.42,-0.85,-13.37,Mag Heading:-0.24
!ANG:2.25,-0.91,-13.45,Mag Heading:-0.24
!ANG:1.68,-0.50,-13.49,Mag Heading:-0.24
!ANG:0.63,-0.46,-13.56,Mag Heading:-0.24
!ANG:1.26,-0.81,-13.61,Mag Heading:-0.26
!ANG:1.59,-0.96,-13.77,Mag Heading:-0.26
!ANG:1.21,-0.94,-13.88,Mag Heading:-0.26
!ANG:1.52,-0.72,-13.99,Mag Heading:-0.26
!ANG:1.61,-0.48,-14.11,Mag Heading:-0.26
!ANG:2.00,-0.63,-14.20,Mag Heading:-0.26
!ANG:1.95,-0.70,-14.31,Mag Heading:-0.21
!ANG:1.57,-0.91,-14.11,Mag Heading:-0.21
!ANG:1.58,-1.01,-13.99,Mag Heading:-0.21
!ANG:1.56,-1.27,-13.88,Mag Heading:-0.21
!ANG:2.11,-0.38,-13.76,Mag Heading:-0.21
!ANG:1.22,-0.61,-13.65,Mag Heading:-0.21
!ANG:1.34,-0.41,-13.52,Mag Heading:-0.24
!ANG:2.00,0.54,-13.55,Mag Heading:-0.24
!ANG:-0.08,0.05,-13.57,Mag Heading:-0.24
!ANG:0.72,-0.56,-13.58,Mag Heading:-0.24
!ANG:1.00,-0.08,-13.61,Mag Heading:-0.24
!ANG:1.50,0.02,-13.61,Mag Heading:-0.24
!ANG:1.67,0.02,-13.62,Mag Heading:-0.23
!ANG:1.22,-0.49,-13.56,Mag Heading:-0.23
!ANG:1.41,-0.69,-13.55,Mag Heading:-0.23
!ANG:1.00,-0.16,-13.53,Mag Heading:-0.23
!ANG:1.49,-0.12,-13.52,Mag Heading:-0.23
!ANG:1.23,-0.22,-13.49,Mag Heading:-0.23
!ANG:1.85,-0.24,-13.46,Mag Heading:-0.25
!ANG:1.10,-0.84,-13.55,Mag Heading:-0.25
!ANG:1.81,-0.19,-13.62,Mag Heading:-0.25
!ANG:1.26,-1.45,-13.70,Mag Heading:-0.25
!ANG:1.59,-0.36,-13.77,Mag Heading:-0.25
!ANG:1.49,-0.32,-13.84,Mag Heading:-0.25
!ANG:1.92,-0.44,-13.90,Mag Heading:-0.22
!ANG:1.60,-0.86,-13.77,Mag Heading:-0.22
!ANG:1.49,-0.67,-13.69,Mag Heading:-0.22
!ANG:0.83,-0.75,-13.61,Mag Heading:-0.22
!ANG:1.10,-0.63,-13.55,Mag Heading:-0.22
!ANG:1.54,-0.41,-13.47,Mag Heading:-0.22
!ANG:1.41,-0.25,-13.39,Mag Heading:-0.24
!ANG:1.49,-0.35,-13.42,Mag Heading:-0.24
!ANG:0.97,-0.

Hello,

What type of Arduino are you running the AHRS program on, and what version of the Arduino environment are you using?

The outputs of the AHRS program should already be in units of degrees, while MAG_Heading should be in radians. Your updated magnetometer offsets look reasonable, so I would like to see if the output from one of the other sensors might be bad. Could you try changing line 88 of MinIMU9AHRS.pde from “#define PRINT_ANALOGS 0” to “#define PRINT_ANALOGS 1” and then capture some more of the output from the program?

- Kevin

Q: What type of Arduino are you running the AHRS program on? A: Arduino Uno
Q: What version of the Arduino environment are you using? A: 1.0

Made the change suggested above. Output is below. I slowly rotated the unit counter clockwise and then clockwise. The MinIMU is at the end of a 2 foot wire 6 feet from my laptop and about 12 inches from the Arduino.

Pololu MinIMU-9 + Arduino AHRS
11
-7
-4
2
34
7
!ANG:0.01,-0.01,-0.00,Mag Heading:0.00,AN:16,-12,-6,5,33,-258,0.00,0.00,0.00
!ANG:0.10,0.22,-0.01,Mag Heading:0.00,AN:15,-8,-6,9,28,-243,0.00,0.00,0.00
!ANG:0.55,0.65,-0.03,Mag Heading:0.00,AN:14,-15,-9,0,34,-253,0.00,0.00,0.00
!ANG:0.36,0.26,-0.04,Mag Heading:0.00,AN:12,-10,-5,3,36,-248,0.00,0.00,0.00
!ANG:0.07,0.21,-0.03,Mag Heading:0.00,AN:11,-15,-4,2,40,-245,0.00,0.00,0.00
!ANG:-0.41,0.15,-0.03,Mag Heading:2.86,AN:14,-5,-3,-3,36,-245,-0.23,-0.06,0.49
!ANG:-0.42,-0.44,1.68,Mag Heading:2.86,AN:15,-8,-10,4,38,-247,-0.23,-0.06,0.49
!ANG:-0.58,-0.10,3.19,Mag Heading:2.86,AN:11,-4,-1,7,35,-251,-0.23,-0.06,0.49
!ANG:-0.46,0.32,4.81,Mag Heading:2.86,AN:8,-9,-1,4,38,-248,-0.23,-0.06,0.49
!ANG:-0.61,0.33,6.55,Mag Heading:2.86,AN:13,-15,-6,7,38,-249,-0.23,-0.06,0.49
!ANG:-0.71,0.61,8.35,Mag Heading:2.86,AN:10,-8,-8,2,35,-243,-0.23,-0.06,0.49
!ANG:-0.53,0.38,10.36,Mag Heading:2.88,AN:15,-10,-6,10,41,-232,-0.23,-0.07,0.49
!ANG:-0.93,0.98,13.06,Mag Heading:2.88,AN:13,-9,-6,0,33,-251,-0.23,-0.07,0.49
!ANG:-0.55,0.47,15.37,Mag Heading:2.88,AN:9,-3,-2,7,40,-244,-0.23,-0.07,0.49
!ANG:-0.82,0.73,17.84,Mag Heading:2.88,AN:10,-3,-5,-4,27,-244,-0.23,-0.07,0.49
!ANG:-0.01,-0.04,20.52,Mag Heading:2.88,AN:12,-8,-6,-2,37,-243,-0.23,-0.07,0.49
!ANG:-0.28,-0.36,23.46,Mag Heading:2.88,AN:8,-12,-1,8,33,-251,-0.23,-0.07,0.49
!ANG:-0.05,0.26,26.60,Mag Heading:2.88,AN:12,-6,0,6,34,-247,-0.22,-0.06,0.49
!ANG:-0.01,0.56,30.76,Mag Heading:2.88,AN:11,-6,-6,0,33,-252,-0.22,-0.06,0.49
!ANG:0.08,0.19,34.26,Mag Heading:2.88,AN:17,-8,-4,0,34,-255,-0.22,-0.06,0.49
!ANG:0.04,-0.03,37.92,Mag Heading:2.88,AN:11,-7,-4,0,31,-245,-0.22,-0.06,0.49
!ANG:0.26,-0.20,41.88,Mag Heading:2.88,AN:12,-9,-4,4,38,-250,-0.22,-0.06,0.49
!ANG:-0.13,0.04,45.96,Mag Heading:2.88,AN:13,-10,-6,2,31,-247,-0.22,-0.06,0.49
!ANG:0.16,0.04,50.28,Mag Heading:2.87,AN:11,-1,-6,4,34,-249,-0.23,-0.06,0.49
!ANG:0.10,0.19,55.95,Mag Heading:2.87,AN:11,-13,2,0,35,-258,-0.23,-0.06,0.49
!ANG:-0.02,-0.04,60.60,Mag Heading:2.87,AN:12,-12,1,1,36,-258,-0.23,-0.06,0.49
!ANG:-0.15,-0.09,65.43,Mag Heading:2.87,AN:15,-6,-10,0,26,-254,-0.23,-0.06,0.49
!ANG:0.52,-0.27,70.30,Mag Heading:2.87,AN:12,-7,-5,10,43,-255,-0.23,-0.06,0.49
!ANG:-0.31,0.50,75.13,Mag Heading:2.87,AN:7,-9,-10,0,26,-246,-0.23,-0.06,0.49
!ANG:0.41,0.15,80.08,Mag Heading:2.87,AN:11,2,-2,2,35,-251,-0.22,-0.06,0.49
!ANG:0.12,0.05,86.26,Mag Heading:2.87,AN:13,-16,-8,2,30,-250,-0.22,-0.06,0.49
!ANG:0.40,0.02,90.87,Mag Heading:2.87,AN:13,-6,-9,5,33,-258,-0.22,-0.06,0.49
!ANG:0.36,0.24,95.55,Mag Heading:2.87,AN:13,-8,-3,8,32,-251,-0.22,-0.06,0.49
!ANG:0.42,0.62,100.08,Mag Heading:2.87,AN:11,-8,-7,1,38,-258,-0.22,-0.06,0.49
!ANG:-0.03,0.35,104.46,Mag Heading:2.87,AN:14,-10,-6,7,33,-249,-0.22,-0.06,0.49
!ANG:0.10,0.62,108.81,Mag Heading:2.87,AN:14,-8,-4,4,40,-253,-0.23,-0.06,0.49
!ANG:-0.56,0.61,113.94,Mag Heading:2.87,AN:10,-6,-5,5,36,-243,-0.23,-0.06,0.49
!ANG:-0.52,0.62,117.80,Mag Heading:2.87,AN:12,-9,-5,3,27,-246,-0.23,-0.06,0.49
!ANG:0.22,0.46,121.45,Mag Heading:2.87,AN:9,-1,-5,-3,37,-247,-0.23,-0.06,0.49
!ANG:-0.13,-0.06,124.76,Mag Heading:2.87,AN:10,-3,-7,5,31,-248,-0.23,-0.06,0.49
!ANG:0.16,0.19,127.99,Mag Heading:2.87,AN:6,-9,-6,7,28,-252,-0.23,-0.06,0.49
!ANG:0.59,0.49,130.90,Mag Heading:2.87,AN:10,-8,-2,2,37,-258,-0.22,-0.06,0.49
!ANG:-0.03,0.38,134.35,Mag Heading:2.87,AN:3,4,-10,1,26,-239,-0.22,-0.06,0.49
!ANG:0.60,0.05,136.89,Mag Heading:2.87,AN:14,-26,0,21,43,-248,-0.22,-0.06,0.49
!ANG:-0.21,1.49,138.99,Mag Heading:2.87,AN:28,-31,-33,11,82,-252,-0.22,-0.06,0.49
!ANG:-2.88,2.98,140.45,Mag Heading:2.87,AN:209,237,-113,12,-2,-247,-0.22,-0.06,0.49
!ANG:0.45,2.28,142.77,Mag Heading:2.87,AN:-125,-69,10,48,57,-239,-0.22,-0.06,0.49
!ANG:-1.11,3.94,144.80,Mag Heading:2.84,AN:81,-260,58,-45,98,-222,-0.23,-0.06,0.49
!ANG:-6.97,-1.92,146.68,Mag Heading:2.84,AN:7,-27,3,11,27,-236,-0.23,-0.06,0.49
!ANG:-3.84,-1.20,147.74,Mag Heading:2.84,AN:74,-101,-63,-21,79,-262,-0.23,-0.06,0.49
!ANG:-5.53,-3.29,145.87,Mag Heading:2.84,AN:38,-114,-637,2,-14,-285,-0.23,-0.06,0.49
!ANG:-0.64,-1.83,143.58,Mag Heading:2.84,AN:73,121,-680,15,36,-248,-0.23,-0.06,0.49
!ANG:-0.73,0.69,139.83,Mag Heading:2.84,AN:-21,148,-1046,3,12,-254,-0.23,-0.06,0.49
!ANG:1.20,1.14,137.65,Mag Heading:2.69,AN:7,109,-812,2,35,-243,-0.22,-0.11,0.49
!ANG:0.38,1.73,133.17,Mag Heading:2.69,AN:7,151,-980,-9,53,-231,-0.22,-0.11,0.49
!ANG:-1.23,1.11,130.13,Mag Heading:2.69,AN:7,139,-953,16,33,-227,-0.22,-0.11,0.49
!ANG:-0.92,2.75,125.95,Mag Heading:2.69,AN:36,207,-1219,-3,-31,-253,-0.22,-0.11,0.49
!ANG:4.21,2.49,120.34,Mag Heading:2.69,AN:63,125,-1612,-5,69,-236,-0.22,-0.11,0.49
!ANG:-0.05,2.20,115.61,Mag Heading:2.69,AN:16,158,-1472,17,89,-247,-0.22,-0.11,0.49
!ANG:-4.77,3.80,112.39,Mag Heading:2.07,AN:17,275,-1197,-8,21,-253,-0.14,-0.23,0.47
!ANG:-1.62,2.60,106.05,Mag Heading:2.07,AN:2,274,-1103,-8,-20,-268,-0.14,-0.23,0.47
!ANG:2.63,1.95,101.90,Mag Heading:2.07,AN:53,134,-1050,32,30,-251,-0.14,-0.23,0.47
!ANG:1.67,4.55,98.21,Mag Heading:2.07,AN:9,146,-1031,3,64,-234,-0.14,-0.23,0.47
!ANG:-1.80,4.26,94.69,Mag Heading:2.07,AN:-65,211,-1019,10,29,-251,-0.14,-0.23,0.47
!ANG:-1.61,4.22,91.05,Mag Heading:2.07,AN:-79,199,-1134,12,24,-243,-0.14,-0.23,0.47
!ANG:-0.47,3.82,88.61,Mag Heading:1.53,AN:40,62,-966,7,39,-244,-0.02,-0.29,0.45
!ANG:-1.80,3.48,81.70,Mag Heading:1.53,AN:-83,161,-1049,6,33,-266,-0.02,-0.29,0.45
!ANG:-1.64,3.42,76.49,Mag Heading:1.53,AN:-24,193,-1159,42,31,-243,-0.02,-0.29,0.45
!ANG:-1.75,6.27,73.08,Mag Heading:1.53,AN:-89,178,-865,5,57,-237,-0.02,-0.29,0.45
!ANG:-3.41,5.16,69.85,Mag Heading:1.53,AN:-2,174,-861,9,24,-256,-0.02,-0.29,0.45
!ANG:-1.57,4.57,68.94,Mag Heading:1.53,AN:28,155,-511,-2,23,-261,-0.02,-0.29,0.45
!ANG:-0.28,2.60,68.42,Mag Heading:1.18,AN:25,-11,-440,16,47,-251,0.08,-0.29,0.45
!ANG:-1.66,3.17,64.86,Mag Heading:1.18,AN:13,63,-530,-7,71,-251,0.08,-0.29,0.45
!ANG:-4.33,1.47,61.84,Mag Heading:1.18,AN:-37,70,-627,12,77,-235,0.08,-0.29,0.45
!ANG:-6.23,1.94,56.59,Mag Heading:1.18,AN:37,155,-1138,3,15,-253,0.08,-0.29,0.45
!ANG:-2.41,2.06,51.53,Mag Heading:1.18,AN:70,204,-1205,7,25,-240,0.08,-0.29,0.45
!ANG:-0.77,2.36,48.57,Mag Heading:1.18,AN:75,133,-865,-23,47,-251,0.08,-0.29,0.45
!ANG:-1.42,0.17,44.35,Mag Heading:0.90,AN:47,153,-1154,18,42,-254,0.16,-0.23,0.46
!ANG:-1.63,2.37,39.01,Mag Heading:0.90,AN:37,126,-956,39,31,-247,0.16,-0.23,0.46
!ANG:-1.04,4.94,36.07,Mag Heading:0.90,AN:22,98,-816,26,48,-248,0.16,-0.23,0.46
!ANG:-2.05,5.65,33.60,Mag Heading:0.90,AN:32,127,-738,14,36,-243,0.16,-0.23,0.46
!ANG:-1.71,5.18,30.88,Mag Heading:0.90,AN:48,127,-849,17,28,-257,0.16,-0.23,0.46
!ANG:-0.73,4.99,29.23,Mag Heading:0.90,AN:55,108,-696,-3,32,-248,0.16,-0.23,0.46
!ANG:-0.36,3.14,29.13,Mag Heading:0.48,AN:33,75,-401,-11,34,-245,0.20,-0.13,0.47
!ANG:0.13,1.21,24.00,Mag Heading:0.48,AN:75,121,-770,-11,26,-240,0.20,-0.13,0.47
!ANG:1.13,0.42,20.41,Mag Heading:0.48,AN:104,101,-785,9,61,-241,0.20,-0.13,0.47
!ANG:-1.07,1.47,16.70,Mag Heading:0.48,AN:82,140,-864,-1,44,-251,0.20,-0.13,0.47
!ANG:-1.37,1.20,14.00,Mag Heading:0.48,AN:50,114,-725,14,45,-246,0.20,-0.13,0.47
!ANG:-1.69,2.35,11.43,Mag Heading:0.48,AN:52,137,-735,13,23,-254,0.20,-0.13,0.47
!ANG:-0.07,2.70,10.12,Mag Heading:0.10,AN:57,70,-539,8,40,-257,0.21,-0.04,0.49
!ANG:-0.41,2.44,6.60,Mag Heading:0.10,AN:63,59,-479,14,48,-251,0.21,-0.04,0.49
!ANG:-1.16,2.63,4.50,Mag Heading:0.10,AN:71,27,-412,5,46,-252,0.21,-0.04,0.49
!ANG:-1.73,1.76,3.45,Mag Heading:0.10,AN:11,-29,-234,30,12,-247,0.21,-0.04,0.49
!ANG:0.67,3.60,3.29,Mag Heading:0.10,AN:13,39,-99,3,25,-259,0.21,-0.04,0.49
!ANG:1.21,2.64,1.90,Mag Heading:0.10,AN:51,25,-344,41,36,-251,0.21,-0.04,0.49
!ANG:0.70,4.85,-0.56,Mag Heading:-0.03,AN:69,15,-566,30,23,-273,0.19,0.02,0.49
!ANG:1.11,5.63,-3.49,Mag Heading:-0.03,AN:17,53,-450,24,33,-253,0.19,0.02,0.49
!ANG:0.75,5.63,-5.22,Mag Heading:-0.03,AN:39,49,-378,-15,22,-255,0.19,0.02,0.49
!ANG:1.38,2.79,-7.63,Mag Heading:-0.03,AN:37,57,-576,11,5,-251,0.19,0.02,0.49
!ANG:3.23,2.94,-10.42,Mag Heading:-0.03,AN:54,50,-688,22,20,-248,0.19,0.02,0.49
!ANG:3.22,4.06,-12.85,Mag Heading:-0.03,AN:55,70,-641,32,41,-247,0.19,0.02,0.49
!ANG:1.53,5.32,-14.56,Mag Heading:-0.21,AN:61,36,-511,-2,28,-236,0.17,0.07,0.50
!ANG:2.44,2.33,-18.37,Mag Heading:-0.21,AN:183,-92,-621,7,8,-258,0.17,0.07,0.50
!ANG:2.58,3.43,-20.48,Mag Heading:-0.21,AN:-153,281,-559,0,24,-253,0.17,0.07,0.50
!ANG:2.72,2.08,-23.20,Mag Heading:-0.21,AN:92,-24,-686,27,24,-257,0.17,0.07,0.50
!ANG:2.51,2.22,-22.81,Mag Heading:-0.21,AN:10,-214,-106,0,43,-246,0.17,0.07,0.50
!ANG:1.23,2.33,-25.00,Mag Heading:-0.21,AN:98,192,-624,119,173,-217,0.17,0.07,0.50
!ANG:-7.51,9.38,-27.54,Mag Heading:-0.72,AN:118,123,-543,3,-12,-245,0.13,0.14,0.50
!ANG:2.04,5.87,-32.82,Mag Heading:-0.72,AN:250,39,-743,-15,18,-249,0.13,0.14,0.50
!ANG:4.05,2.39,-37.53,Mag Heading:-0.72,AN:323,-58,-796,20,0,-261,0.13,0.14,0.50
!ANG:6.22,3.14,-41.94,Mag Heading:-0.72,AN:269,-42,-824,8,-13,-254,0.13,0.14,0.50
!ANG:8.29,2.77,-45.53,Mag Heading:-0.72,AN:181,-55,-748,-19,-15,-258,0.13,0.14,0.50
!ANG:9.28,1.14,-52.25,Mag Heading:-0.72,AN:88,-59,-1424,9,-26,-256,0.13,0.14,0.50
!ANG:10.87,2.46,-58.56,Mag Heading:-1.24,AN:137,-36,-1468,4,-45,-262,0.04,0.23,0.48
!ANG:13.38,3.41,-67.63,Mag Heading:-1.24,AN:105,-13,-1207,19,-29,-252,0.04,0.23,0.48
!ANG:13.53,4.25,-72.86,Mag Heading:-1.24,AN:90,-85,-981,0,13,-251,0.04,0.23,0.48
!ANG:10.30,3.61,-80.94,Mag Heading:-1.24,AN:110,-86,-1631,12,-33,-240,0.04,0.23,0.48
!ANG:12.13,4.16,-86.36,Mag Heading:-1.24,AN:95,-54,-1257,13,-24,-242,0.04,0.23,0.48
!ANG:12.32,4.30,-90.29,Mag Heading:-1.24,AN:52,-74,-1048,21,-23,-251,0.04,0.23,0.48
!ANG:12.02,5.06,-95.16,Mag Heading:-1.98,AN:49,-110,-1301,23,-10,-261,-0.10,0.25,0.47
!ANG:10.33,5.29,-104.49,Mag Heading:-1.98,AN:42,-109,-1082,32,-18,-255,-0.10,0.25,0.47
!ANG:10.21,6.21,-110.67,Mag Heading:-1.98,AN:42,-89,-1073,24,-14,-247,-0.10,0.25,0.47
!ANG:9.86,6.45,-117.40,Mag Heading:-1.98,AN:48,-72,-1252,18,-27,-257,-0.10,0.25,0.47
!ANG:10.57,6.33,-121.77,Mag Heading:-1.98,AN:38,9,-967,12,-3,-238,-0.10,0.25,0.47
!ANG:9.71,5.33,-124.47,Mag Heading:-1.98,AN:39,-37,-655,20,-9,-250,-0.10,0.25,0.47
!ANG:9.33,5.33,-128.16,Mag Heading:-2.60,AN:35,-54,-927,23,-24,-248,-0.19,0.17,0.48
!ANG:10.53,5.70,-137.01,Mag Heading:-2.60,AN:45,-85,-1017,8,-40,-252,-0.19,0.17,0.48
!ANG:12.18,4.96,-142.97,Mag Heading:-2.60,AN:41,-62,-1010,18,-15,-253,-0.19,0.17,0.48
!ANG:11.42,4.87,-147.94,Mag Heading:-2.60,AN:42,-77,-841,-11,-20,-249,-0.19,0.17,0.48
!ANG:11.57,2.58,-151.81,Mag Heading:-2.60,AN:34,-42,-745,25,4,-260,-0.19,0.17,0.48
!ANG:9.60,3.82,-155.64,Mag Heading:-2.60,AN:33,-52,-776,15,-23,-246,-0.19,0.17,0.48
!ANG:10.56,4.05,-160.37,Mag Heading:2.98,AN:48,-79,-1060,-7,-45,-253,-0.24,0.05,0.48
!ANG:13.52,2.35,-168.42,Mag Heading:2.98,AN:46,-65,-792,52,-6,-257,-0.24,0.05,0.48
!ANG:11.53,5.37,-173.41,Mag Heading:2.98,AN:28,-83,-594,17,-24,-255,-0.24,0.05,0.48
!ANG:11.65,4.78,-178.11,Mag Heading:2.98,AN:15,-91,-634,23,-15,-243,-0.24,0.05,0.48
!ANG:11.07,4.89,176.18,Mag Heading:2.98,AN:16,-147,-906,10,-10,-248,-0.24,0.05,0.48
!ANG:10.12,3.87,170.28,Mag Heading:2.98,AN:-14,-160,-1053,-11,-31,-250,-0.24,0.05,0.48
!ANG:11.34,2.02,164.28,Mag Heading:2.49,AN:3,-132,-1203,7,-31,-243,-0.21,-0.05,0.49
!ANG:12.55,2.28,155.81,Mag Heading:2.49,AN:0,-109,-957,-5,-16,-248,-0.21,-0.05,0.49
!ANG:11.84,1.32,149.09,Mag Heading:2.49,AN:-4,-130,-1075,27,-30,-254,-0.21,-0.05,0.49
!ANG:12.10,3.01,144.21,Mag Heading:2.49,AN:-26,-121,-845,11,-26,-261,-0.21,-0.05,0.49
!ANG:11.72,3.01,140.40,Mag Heading:2.49,AN:-63,-70,-724,9,-23,-258,-0.21,-0.05,0.49
!ANG:11.45,2.57,138.31,Mag Heading:2.49,AN:-54,-70,-446,4,-18,-249,-0.21,-0.05,0.49
!ANG:11.05,1.74,137.44,Mag Heading:2.06,AN:-63,-54,-241,-7,-12,-251,-0.14,-0.14,0.50
!ANG:10.21,0.06,133.69,Mag Heading:2.06,AN:-63,-32,-254,0,-30,-250,-0.14,-0.14,0.50
!ANG:10.77,-0.61,132.20,Mag Heading:2.06,AN:-154,-99,-11,24,0,-251,-0.14,-0.14,0.50
!ANG:9.02,0.62,132.67,Mag Heading:2.06,AN:-99,-84,352,0,-27,-245,-0.14,-0.14,0.50
!ANG:10.31,-0.61,132.77,Mag Heading:2.06,AN:-70,-121,285,-21,8,-262,-0.14,-0.14,0.50
!ANG:7.64,-3.41,133.90,Mag Heading:2.06,AN:-167,-175,485,-18,-63,-260,-0.14,-0.14,0.50
!ANG:13.04,-5.03,139.90,Mag Heading:2.30,AN:405,45,1491,-24,3,-253,-0.14,-0.13,0.50
!ANG:9.02,-6.63,148.08,Mag Heading:2.30,AN:-11,27,1353,-5,40,-257,-0.14,-0.13,0.50
!ANG:5.38,-5.22,152.11,Mag Heading:2.30,AN:111,38,995,-16,-16,-255,-0.14,-0.13,0.50
!ANG:7.32,-5.13,154.39,Mag Heading:2.30,AN:78,18,804,-11,24,-259,-0.14,-0.13,0.50
!ANG:5.60,-4.78,158.47,Mag Heading:2.30,AN:131,30,1138,7,-15,-266,-0.14,-0.13,0.50
!ANG:7.33,-3.39,161.13,Mag Heading:2.30,AN:113,3,977,-30,-26,-253,-0.14,-0.13,0.50
!ANG:9.48,-5.30,164.41,Mag Heading:2.84,AN:129,38,1146,-18,1,-259,-0.20,-0.01,0.50
!ANG:7.95,-5.62,171.81,Mag Heading:2.84,AN:54,40,1142,-14,-28,-261,-0.20,-0.01,0.50
!ANG:9.77,-5.45,176.46,Mag Heading:2.84,AN:136,68,1102,-5,-17,-265,-0.20,-0.01,0.50
!ANG:9.83,-4.76,179.68,Mag Heading:2.84,AN:37,21,869,0,-34,-242,-0.20,-0.01,0.50
!ANG:11.84,-4.02,-176.17,Mag Heading:2.84,AN:82,52,1119,-9,-52,-248,-0.20,-0.01,0.50
!ANG:14.14,-4.85,-170.31,Mag Heading:2.84,AN:106,89,1528,-16,-17,-251,-0.20,-0.01,0.50
!ANG:12.69,-6.13,-164.28,Mag Heading:-3.08,AN:102,55,1583,13,32,-261,-0.17,0.14,0.49
!ANG:6.77,-3.15,-157.69,Mag Heading:-3.08,AN:39,22,1138,5,11,-259,-0.17,0.14,0.49
!ANG:6.07,-2.01,-154.30,Mag Heading:-3.08,AN:42,58,948,4,-8,-246,-0.17,0.14,0.49
!ANG:7.44,-1.19,-152.97,Mag Heading:-3.08,AN:46,52,626,2,-21,-261,-0.17,0.14,0.49
!ANG:9.09,-1.04,-151.94,Mag Heading:-3.08,AN:57,30,590,17,-12,-261,-0.17,0.14,0.49
!ANG:9.40,0.21,-151.36,Mag Heading:-3.08,AN:32,43,515,-13,-31,-252,-0.17,0.14,0.49
!ANG:11.14,-1.42,-149.95,Mag Heading:-2.28,AN:23,45,688,9,-19,-248,-0.11,0.21,0.48
!ANG:11.49,-0.33,-144.01,Mag Heading:-2.28,AN:12,63,552,0,-24,-253,-0.11,0.21,0.48
!ANG:11.89,-0.71,-139.80,Mag Heading:-2.28,AN:16,54,568,16,-7,-253,-0.11,0.21,0.48
!ANG:10.91,0.14,-134.54,Mag Heading:-2.28,AN:25,50,833,-6,-25,-238,-0.11,0.21,0.48
!ANG:11.80,-1.09,-130.90,Mag Heading:-2.28,AN:9,29,634,-6,-20,-241,-0.11,0.21,0.48
!ANG:12.01,-1.91,-127.97,Mag Heading:-2.28,AN:32,11,562,-9,-16,-262,-0.11,0.21,0.48
!ANG:11.43,-2.90,-125.47,Mag Heading:-2.01,AN:22,-57,526,17,4,-262,-0.05,0.24,0.48
!ANG:9.49,-1.55,-122.09,Mag Heading:-2.01,AN:69,-164,350,14,-10,-263,-0.05,0.24,0.48
!ANG:9.70,-1.14,-118.33,Mag Heading:-2.01,AN:74,-89,629,-2,-30,-252,-0.05,0.24,0.48
!ANG:11.25,-2.51,-109.78,Mag Heading:-2.01,AN:83,33,1608,-19,-49,-249,-0.05,0.24,0.48
!ANG:13.44,-4.66,-101.88,Mag Heading:-2.01,AN:93,105,1639,17,7,-247,-0.05,0.24,0.48
!ANG:10.77,-2.66,-96.11,Mag Heading:-2.01,AN:103,56,1312,-13,4,-258,-0.05,0.24,0.48
!ANG:9.24,-3.78,-90.28,Mag Heading:-1.21,AN:100,62,1439,14,-49,-248,0.08,0.24,0.47
!ANG:13.36,-2.62,-80.81,Mag Heading:-1.21,AN:66,23,1124,-15,-20,-251,0.08,0.24,0.47
!ANG:12.72,-4.30,-73.03,Mag Heading:-1.21,AN:96,39,1325,-4,-28,-236,0.08,0.24,0.47
!ANG:12.99,-5.00,-62.70,Mag Heading:-1.21,AN:121,107,1971,-6,-29,-250,0.08,0.24,0.47
!ANG:13.21,-4.84,-57.48,Mag Heading:-1.21,AN:87,55,1117,-20,-15,-258,0.08,0.24,0.47
!ANG:12.04,-5.71,-52.46,Mag Heading:-1.21,AN:79,66,1171,0,-40,-238,0.08,0.24,0.47
!ANG:13.59,-4.94,-46.93,Mag Heading:-0.23,AN:75,79,1373,3,-7,-249,0.21,0.14,0.47
!ANG:11.32,-4.03,-30.42,Mag Heading:-0.23,AN:123,129,2000,24,-26,-248,0.21,0.14,0.47
!ANG:12.19,-1.81,-22.95,Mag Heading:-0.23,AN:65,68,1177,-9,-16,-251,0.21,0.14,0.47
!ANG:11.75,-2.98,-15.58,Mag Heading:-0.23,AN:79,70,1269,-21,20,-255,0.21,0.14,0.47
!ANG:8.34,-4.14,-8.66,Mag Heading:-0.23,AN:53,99,1262,-42,-16,-252,0.21,0.14,0.47
!ANG:8.78,-6.98,-1.71,Mag Heading:-0.23,AN:93,29,1477,-12,-33,-238,0.21,0.14,0.47
!ANG:10.84,-6.17,2.13,Mag Heading:0.49,AN:59,69,1002,0,-16,-240,0.24,-0.02,0.47
!ANG:10.75,-4.53,12.78,Mag Heading:0.49,AN:37,85,1251,-28,-7,-247,0.24,-0.02,0.47
!ANG:9.73,-6.22,19.60,Mag Heading:0.49,AN:46,-3,1082,-5,7,-243,0.24,-0.02,0.47
!ANG:8.44,-5.12,22.08,Mag Heading:0.49,AN:23,-56,340,0,-22,-264,0.24,-0.02,0.47
!ANG:9.84,-4.61,25.21,Mag Heading:0.49,AN:111,-119,557,-11,-8,-259,0.24,-0.02,0.47
!ANG:9.54,-3.93,31.90,Mag Heading:0.49,AN:96,214,1256,-9,-27,-258,0.24,-0.02,0.47
!ANG:10.66,-3.59,35.87,Mag Heading:0.87,AN:55,118,870,-17,-25,-253,0.20,-0.12,0.48
!ANG:11.56,-4.85,42.00,Mag Heading:0.87,AN:61,-16,714,-6,-4,-270,0.20,-0.12,0.48
!ANG:10.31,-4.39,45.89,Mag Heading:0.87,AN:49,-12,625,-2,6,-253,0.20,-0.12,0.48
!ANG:8.81,-3.42,50.48,Mag Heading:0.87,AN:62,51,794,2,-10,-252,0.20,-0.12,0.48
!ANG:9.25,-2.69,56.06,Mag Heading:0.87,AN:88,78,1117,-25,-6,-251,0.20,-0.12,0.48
!ANG:9.18,-4.51,60.91,Mag Heading:0.87,AN:106,31,1082,-8,-15,-241,0.20,-0.12,0.48
!ANG:9.88,-3.93,63.24,Mag Heading:1.25,AN:51,62,649,-27,-33,-236,0.12,-0.18,0.49
!ANG:12.43,-6.05,67.67,Mag Heading:1.25,AN:77,-14,588,-32,-10,-258,0.12,-0.18,0.49
!ANG:11.18,-7.31,73.64,Mag Heading:1.25,AN:107,38,1089,5,19,-255,0.12,-0.18,0.49
!ANG:8.34,-5.41,81.53,Mag Heading:1.25,AN:160,30,1541,31,-107,-271,0.12,-0.18,0.49
!ANG:13.03,-3.62,84.40,Mag Heading:1.25,AN:95,5,814,-32,-43,-236,0.12,-0.18,0.49
!ANG:14.80,-5.51,85.45,Mag Heading:1.25,AN:59,23,454,-53,62,-258,0.12,-0.18,0.49
!ANG:7.54,-8.32,88.98,Mag Heading:1.64,AN:49,6,775,-78,6,-266,0.02,-0.19,0.50
!ANG:6.13,-11.52,94.95,Mag Heading:1.64,AN:62,77,803,5,-25,-253,0.02,-0.19,0.50
!ANG:8.35,-7.53,97.11,Mag Heading:1.64,AN:44,11,515,1,-78,-247,0.02,-0.19,0.50
!ANG:13.13,-5.67,100.04,Mag Heading:1.64,AN:38,69,752,-11,-7,-252,0.02,-0.19,0.50
!ANG:11.21,-4.87,102.07,Mag Heading:1.64,AN:-29,43,466,-31,10,-250,0.02,-0.19,0.50
!ANG:8.57,-5.51,105.31,Mag Heading:1.64,AN:-15,158,702,-25,-65,-258,0.02,-0.19,0.50
!ANG:11.86,-5.73,111.02,Mag Heading:2.01,AN:40,225,1361,7,-31,-253,-0.07,-0.18,0.50
!ANG:11.69,-5.08,124.06,Mag Heading:2.01,AN:0,16,1960,-3,0,-242,-0.07,-0.18,0.50
!ANG:9.21,-5.58,133.92,Mag Heading:2.01,AN:-9,-31,2102,-16,-25,-260,-0.07,-0.18,0.50
!ANG:9.56,-6.46,141.13,Mag Heading:2.01,AN:48,-11,1760,6,17,-244,-0.07,-0.18,0.50
!ANG:7.07,-4.80,146.25,Mag Heading:2.01,AN:48,-6,1385,-23,-12,-248,-0.07,-0.18,0.50
!ANG:7.73,-6.22,150.80,Mag Heading:2.01,AN:50,-50,1420,-16,-5,-248,-0.07,-0.18,0.50
!ANG:7.83,-6.19,154.13,Mag Heading:2.76,AN:89,4,1233,-20,-11,-249,-0.19,-0.03,0.50
!ANG:8.28,-6.78,163.11,Mag Heading:2.76,AN:80,-3,1335,-29,-10,-255,-0.19,-0.03,0.50
!ANG:8.09,-8.10,171.82,Mag Heading:2.76,AN:131,-20,1786,-19,15,-258,-0.19,-0.03,0.50
!ANG:6.06,-7.81,179.31,Mag Heading:2.76,AN:116,-17,1660,-24,-24,-258,-0.19,-0.03,0.50
!ANG:7.34,-8.36,-171.69,Mag Heading:2.76,AN:144,-4,2171,12,108,-255,-0.19,-0.03,0.50
!ANG:-0.80,-5.23,-164.87,Mag Heading:2.76,AN:128,-28,1632,-31,-27,-261,-0.19,-0.03,0.50
!ANG:3.71,-6.21,-160.75,Mag Heading:-2.43,AN:111,-32,1437,-31,0,-246,-0.14,0.15,0.50
!ANG:4.84,-7.79,-147.82,Mag Heading:-2.43,AN:126,-22,1644,-25,25,-259,-0.14,0.15,0.50
!ANG:3.28,-7.60,-139.20,Mag Heading:-2.43,AN:106,-25,1499,-13,0,-251,-0.14,0.15,0.50
!ANG:4.57,-6.67,-132.04,Mag Heading:-2.43,AN:112,-28,1405,4,11,-259,-0.14,0.15,0.50
!ANG:4.56,-4.69,-125.90,Mag Heading:-2.43,AN:90,-15,1316,-1,-10,-254,-0.14,0.15,0.50
!ANG:6.38,-3.82,-121.45,Mag Heading:-2.43,AN:82,-10,1115,3,18,-244,-0.14,0.15,0.50
!ANG:5.51,-2.96,-117.65,Mag Heading:-1.67,AN:84,-21,1029,-3,12,-260,0.02,0.22,0.49
!ANG:5.32,-2.53,-110.27,Mag Heading:-1.67,AN:63,-10,744,3,-17,-262,0.02,0.22,0.49
!ANG:7.34,-2.15,-105.22,Mag Heading:-1.67,AN:58,-17,741,-14,-11,-244,0.02,0.22,0.49
!ANG:8.45,-3.16,-101.17,Mag Heading:-1.67,AN:49,-4,618,-22,0,-258,0.02,0.22,0.49
!ANG:7.96,-4.22,-97.66,Mag Heading:-1.67,AN:32,-1,586,-12,2,-252,0.02,0.22,0.49
!ANG:7.71,-4.35,-94.78,Mag Heading:-1.67,AN:63,-48,527,8,6,-259,0.02,0.22,0.49
!ANG:7.18,-2.60,-92.70,Mag Heading:-1.08,AN:39,-7,413,-16,6,-252,0.11,0.21,0.48
!ANG:6.69,-3.51,-86.98,Mag Heading:-1.08,AN:33,-14,366,-12,0,-252,0.11,0.21,0.48
!ANG:6.92,-3.47,-83.60,Mag Heading:-1.08,AN:10,-3,248,-10,12,-259,0.11,0.21,0.48
!ANG:6.09,-2.92,-82.83,Mag Heading:-1.08,AN:-21,6,-225,-1,13,-249,0.11,0.21,0.48
!ANG:5.52,-1.74,-83.75,Mag Heading:-1.08,AN:-27,2,-539,-22,-8,-258,0.11,0.21,0.48
!ANG:6.69,-2.63,-85.21,Mag Heading:-1.08,AN:-28,-21,-647,-8,-3,-248,0.11,0.21,0.48
!ANG:7.23,-2.30,-83.72,Mag Heading:-1.15,AN:-9,16,-98,0,6,-258,0.09,0.21,0.48
!ANG:6.72,-1.39,-83.19,Mag Heading:-1.15,AN:2,-33,-225,-6,17,-257,0.09,0.21,0.48
!ANG:5.39,-0.91,-85.59,Mag Heading:-1.15,AN:-56,27,-779,-18,-14,-259,0.09,0.21,0.48
!ANG:6.87,-1.62,-87.44,Mag Heading:-1.15,AN:-45,1,-700,-1,20,-245,0.09,0.21,0.48
!ANG:5.27,-0.70,-91.73,Mag Heading:-1.15,AN:-71,-19,-1218,-15,-7,-251,0.09,0.21,0.48
!ANG:6.08,-0.70,-97.54,Mag Heading:-1.15,AN:-122,45,-1581,-35,-8,-254,0.09,0.21,0.48
!ANG:6.98,-2.70,-99.78,Mag Heading:-1.62,AN:-58,-5,-957,-32,21,-254,-0.00,0.22,0.50
!ANG:4.33,-3.63,-111.36,Mag Heading:-1.62,AN:-221,32,-1919,-24,11,-246,-0.00,0.22,0.50
!ANG:4.28,-3.71,-115.55,Mag Heading:-1.62,AN:-139,51,-1136,4,7,-253,-0.00,0.22,0.50
!ANG:4.41,-1.28,-121.23,Mag Heading:-1.62,AN:-137,51,-1480,-19,5,-247,-0.00,0.22,0.50
!ANG:4.82,-1.68,-126.23,Mag Heading:-1.62,AN:-107,46,-1429,-32,4,-247,-0.00,0.22,0.50
!ANG:5.35,-3.30,-128.72,Mag Heading:-1.62,AN:-75,14,-1021,11,16,-248,-0.00,0.22,0.50
!ANG:4.41,-0.27,-133.87,Mag Heading:-2.68,AN:-119,57,-1588,-27,-44,-246,-0.14,0.13,0.51
!ANG:10.12,-1.47,-143.49,Mag Heading:-2.68,AN:-47,-3,-1120,-16,8,-253,-0.14,0.13,0.51
!ANG:8.21,-1.53,-149.30,Mag Heading:-2.68,AN:-67,26,-955,-7,6,-240,-0.14,0.13,0.51
!ANG:7.49,-1.27,-152.76,Mag Heading:-2.68,AN:-30,0,-605,5,0,-243,-0.14,0.13,0.51
!ANG:7.37,0.35,-153.03,Mag Heading:-2.68,AN:-35,160,-61,-26,2,-254,-0.14,0.13,0.51
!ANG:7.13,-0.25,-154.68,Mag Heading:-2.68,AN:-18,284,-359,-11,-2,-247,-0.14,0.13,0.51
!ANG:7.80,1.08,-156.91,Mag Heading:-3.14,AN:71,373,-498,-22,30,-250,-0.20,0.06,0.50
!ANG:4.97,-0.01,-163.34,Mag Heading:-3.14,AN:65,255,-638,31,-22,-244,-0.20,0.06,0.50
!ANG:8.42,3.85,-166.81,Mag Heading:-3.14,AN:173,195,-437,20,20,-255,-0.20,0.06,0.50
!ANG:4.84,3.36,-169.45,Mag Heading:-3.14,AN:-294,-117,-256,61,-27,-244,-0.20,0.06,0.50
!ANG:7.55,6.45,-170.08,Mag Heading:-3.14,AN:-61,-80,8,1,38,-255,-0.20,0.06,0.50
!ANG:3.81,3.46,-171.31,Mag Heading:-3.14,AN:-146,-122,-20,-19,32,-252,-0.20,0.06,0.50
!ANG:2.84,0.70,-172.70,Mag Heading:3.12,AN:53,36,-120,50,-39,-245,-0.24,0.03,0.49
!ANG:8.05,2.97,-175.21,Mag Heading:3.12,AN:-81,-382,-248,-12,41,-244,-0.24,0.03,0.49
!ANG:6.29,-2.71,178.12,Mag Heading:3.12,AN:255,-821,-1093,-8,-17,-253,-0.24,0.03,0.49
!ANG:8.04,-2.25,177.32,Mag Heading:3.12,AN:4,23,-157,-4,-8,-249,-0.24,0.03,0.49
!ANG:8.53,-1.73,176.83,Mag Heading:3.12,AN:7,10,-122,-32,25,-244,-0.24,0.03,0.49
!ANG:6.28,-3.90,176.40,Mag Heading:3.12,AN:16,-19,-138,-12,-4,-259,-0.24,0.03,0.49
!ANG:6.59,-2.53,176.06,Mag Heading:2.89,AN:-66,185,-120,17,3,-252,-0.20,-0.00,0.51
!ANG:6.28,0.36,175.41,Mag Heading:2.89,AN:-51,29,74,-15,-2,-250,-0.20,-0.00,0.51
!ANG:6.76,-0.69,174.39,Mag Heading:2.89,AN:-26,72,-47,2,9,-247,-0.20,-0.00,0.51
!ANG:6.15,0.28,173.60,Mag Heading:2.89,AN:-31,133,-26,10,8,-242,-0.20,-0.00,0.51
!ANG:5.95,1.22,172.81,Mag Heading:2.89,AN:-20,71,-31,-22,16,-252,-0.20,-0.00,0.51
!ANG:5.26,-1.17,172.50,Mag Heading:2.89,AN:6,-11,61,-13,7,-257,-0.20,-0.00,0.51
!ANG:6.03,-1.75,172.22,Mag Heading:2.91,AN:118,27,59,23,-9,-253,-0.21,-0.01,0.50
!ANG:8.25,1.01,172.69,Mag Heading:2.91,AN:107,-13,159,-25,12,-258,-0.21,-0.01,0.50
!ANG:7.03,-1.05,172.82,Mag Heading:2.91,AN:1,66,112,13,-15,-249,-0.21,-0.01,0.50
!ANG:8.28,0.35,172.21,Mag Heading:2.91,AN:-20,13,-22,0,4,-254,-0.21,-0.01,0.50
!ANG:7.92,0.60,171.92,Mag Heading:2.91,AN:55,101,15,-6,6,-249,-0.21,-0.01,0.50
!ANG:7.67,0.63,172.08,Mag Heading:2.91,AN:76,185,89,1,8,-252,-0.21,-0.01,0.50
!ANG:7.69,1.50,171.42,Mag Heading:2.93,AN:151,219,-76,10,5,-248,-0.23,0.02,0.50
!ANG:7.07,2.34,170.60,Mag Heading:2.93,AN:0,94,-78,29,-28,-246,-0.23,0.02,0.50
!ANG:8.74,3.30,170.41,Mag Heading:2.93,AN:-138,-76,-4,8,16,-246,-0.23,0.02,0.50
!ANG:6.99,2.39,170.03,Mag Heading:2.93,AN:-16,-54,-11,16,5,-242,-0.23,0.02,0.50
!ANG:7.05,2.91,169.78,Mag Heading:2.93,AN:41,39,-18,3,14,-237,-0.23,0.02,0.50
!ANG:7.25,2.65,169.50,Mag Heading:2.93,AN:196,108,-30,7,6,-253,-0.23,0.02,0.50
!ANG:7.85,2.94,169.75,Mag Heading:2.97,AN:200,170,58,11,0,-242,-0.25,0.02,0.48
!ANG:8.30,3.38,169.30,Mag Heading:2.97,AN:85,110,-99,48,-52,-247,-0.25,0.02,0.48
!ANG:11.04,5.00,169.70,Mag Heading:2.97,AN:-141,-111,28,22,-16,-253,-0.25,0.02,0.48
!ANG:10.24,4.75,169.55,Mag Heading:2.97,AN:-139,-16,-41,24,1,-252,-0.25,0.02,0.48
!ANG:9.18,4.59,169.61,Mag Heading:2.97,AN:11,-42,19,12,9,-252,-0.25,0.02,0.48
!ANG:8.49,4.12,169.53,Mag Heading:2.97,AN:130,66,-21,20,4,-247,-0.25,0.02,0.48
!ANG:8.59,4.54,169.86,Mag Heading:2.95,AN:149,90,44,22,-4,-247,-0.26,0.03,0.48
!ANG:9.53,5.05,169.93,Mag Heading:2.95,AN:157,81,8,32,-18,-252,-0.26,0.03,0.48
!ANG:10.81,5.93,170.01,Mag Heading:2.95,AN:129,68,2,28,-21,-248,-0.26,0.03,0.48
!ANG:11.60,6.31,169.95,Mag Heading:2.95,AN:62,79,-26,28,-17,-254,-0.26,0.03,0.48
!ANG:11.50,6.39,170.18,Mag Heading:2.95,AN:15,71,47,33,-24,-258,-0.26,0.03,0.48
!ANG:12.08,6.58,170.09,Mag Heading:2.95,AN:62,18,-13,29,-25,-253,-0.26,0.03,0.48
!ANG:12.59,6.36,170.05,Mag Heading:2.92,AN:54,4,-1,31,-21,-254,-0.28,0.05,0.47
!ANG:10.29,7.37,168.64,Mag Heading:2.92,AN:-279,127,-195,9,-7,-253,-0.28,0.05,0.47
!ANG:9.45,5.37,167.65,Mag Heading:2.92,AN:-48,-6,-165,53,2,-245,-0.28,0.05,0.47
!ANG:6.85,3.96,169.48,Mag Heading:2.92,AN:-397,-672,503,-7,-21,-247,-0.28,0.05,0.47
!ANG:7.23,-1.62,169.68,Mag Heading:2.92,AN:-307,-666,130,34,-5,-241,-0.28,0.05,0.47
!ANG:6.99,-1.98,168.42,Mag Heading:2.92,AN:-169,-723,-115,-24,39,-264,-0.28,0.05,0.47
!ANG:3.96,-3.61,168.53,Mag Heading:2.90,AN:-46,-87,22,-8,9,-257,-0.20,0.01,0.50
!ANG:4.38,-2.19,167.36,Mag Heading:2.90,AN:-36,98,-141,-47,-1,-239,-0.20,0.01,0.50
!ANG:6.14,-4.66,164.93,Mag Heading:2.90,AN:59,87,-451,-3,9,-267,-0.20,0.01,0.50
!ANG:5.81,-2.97,161.38,Mag Heading:2.90,AN:-34,4,-714,-27,6,-263,-0.20,0.01,0.50
!ANG:5.90,-3.73,159.16,Mag Heading:2.90,AN:-18,2,-518,-21,7,-258,-0.20,0.01,0.50
!ANG:5.88,-4.02,158.82,Mag Heading:2.90,AN:-6,1,-189,-5,2,-261,-0.20,0.01,0.50
!ANG:6.16,-2.98,159.49,Mag Heading:2.80,AN:-6,23,9,-10,8,-261,-0.19,-0.03,0.51
!ANG:5.93,-2.79,159.64,Mag Heading:2.80,AN:12,-6,4,-12,5,-242,-0.19,-0.03,0.51
!ANG:6.04,-2.48,161.24,Mag Heading:2.80,AN:-10,111,290,-23,15,-246,-0.19,-0.03,0.51
!ANG:5.29,-3.43,163.11,Mag Heading:2.80,AN:9,72,361,0,-1,-245,-0.19,-0.03,0.51
!ANG:6.30,-1.66,164.26,Mag Heading:2.80,AN:26,159,267,-7,-6,-254,-0.19,-0.03,0.51
!ANG:7.29,-1.12,164.08,Mag Heading:2.80,AN:29,121,19,-7,9,-251,-0.19,-0.03,0.51
!ANG:6.89,-0.81,163.70,Mag Heading:2.83,AN:54,115,-31,-4,1,-253,-0.21,-0.01,0.50
!ANG:7.18,-0.84,163.91,Mag Heading:2.83,AN:26,31,57,1,5,-250,-0.21,-0.01,0.50
!ANG:6.92,-0.72,163.84,Mag Heading:2.83,AN:8,-27,19,3,1,-248,-0.21,-0.01,0.50
!ANG:6.89,-0.56,163.71,Mag Heading:2.83,AN:-35,-42,8,2,0,-257,-0.21,-0.01,0.50
!ANG:7.04,-0.36,163.54,Mag Heading:2.83,AN:4,-7,-4,-5,3,-245,-0.21,-0.01,0.50
!ANG:7.23,-0.68,163.40,Mag Heading:2.83,AN:44,16,-6,0,4,-247,-0.21,-0.01,0.50
!ANG:7.13,-0.56,163.29,Mag Heading:2.85,AN:20,-1,-1,-1,-5,-249,-0.22,-0.01,0.50
!ANG:7.71,-0.73,163.29,Mag Heading:2.85,AN:-16,-26,4,-3,1,-255,-0.22,-0.01,0.50
!ANG:7.62,-0.84,163.31,Mag Heading:2.85,AN:24,-3,2,-5,1,-248,-0.22,-0.01,0.50
!ANG:7.64,-1.04,163.25,Mag Heading:2.85,AN:26,4,-13,9,-6,-253,-0.22,-0.01,0.50
!ANG:8.00,-0.16,163.25,Mag Heading:2.85,AN:-2,-14,0,-1,0,-250,-0.22,-0.01,0.50
!ANG:7.82,-0.41,163.25,Mag Heading:2.85,AN:3,-21,0,-8,-2,-257,-0.22,-0.01,0.50
!ANG:7.87,-1.02,163.24,Mag Heading:2.81,AN:19,-6,-3,4,7,-246,-0.22,-0.01,0.50
!ANG:7.06,-0.32,162.97,Mag Heading:2.81,AN:8,-6,-7,6,1,-252,-0.22,-0.01,0.50
!ANG:7.16,0.10,162.79,Mag Heading:2.81,AN:10,-12,-2,-7,-3,-254,-0.22,-0.01,0.50
!ANG:7.52,-0.62,162.65,Mag Heading:2.81,AN:12,-7,0,0,4,-252,-0.22,-0.01,0.50
!ANG:7.22,-0.54,162.49,Mag Heading:2.81,AN:11,-5,-6,-4,1,-255,-0.22,-0.01,0.50
!ANG:7.23,-0.84,162.36,Mag Heading:2.81,AN:10,-13,-2,3,6,-253,-0.22,-0.01,0.50
!ANG:6.87,-0.45,162.21,Mag Heading:2.84,AN:12,-8,-8,4,5,-251,-0.22,-0.01,0.50
!ANG:6.70,-0.04,162.29,Mag Heading:2.84,AN:12,-8,-1,4,4,-250,-0.22,-0.01,0.50
!ANG:6.73,0.14,162.33,Mag Heading:2.84,AN:14,-8,-4,4,0,-250,-0.22,-0.01,0.50
!ANG:7.06,0.23,162.33,Mag Heading:2.84,AN:14,-12,-10,-5,0,-251,-0.22,-0.01,0.50
!ANG:7.24,-0.41,162.37,Mag Heading:2.84,AN:9,-8,-2,3,2,-253,-0.22,-0.01,0.50
!ANG:7.18,-0.17,162.40,Mag Heading:2.84,AN:8,-6,-5,-2,2,-250,-0.22,-0.01,0.50
!ANG:7.18,-0.44,162.41,Mag Heading:2.84,AN:11,-9,-8,-1,9,-260,-0.22,-0.01,0.50
!ANG:6.38,-0.52,162.46,Mag Heading:2.84,AN:8,-6,-5,-3,8,-249,-0.22,-0.01,0.50
!ANG:6.19,-0.74,162.50,Mag Heading:2.84,AN:10,-8,-2,-1,2,-248,-0.22,-0.01,0.50
!ANG:6.58,-0.69,162.54,Mag Heading:2.84,AN:11,-3,-3,1,-1,-246,-0.22,-0.01,0.50
!ANG:7.10,-0.51,162.56,Mag Heading:2.84,AN:12,-7,-3,5,-1,-257,-0.22,-0.01,0.50
!ANG:7.30,-0.10,162.57,Mag Heading:2.84,AN:12,-8,-7,-5,7,-255,-0.22,-0.01,0.50
!ANG:6.85,-0.60,162.58,Mag Heading:2.82,AN:14,-9,-8,6,8,-257,-0.22,-0.01,0.50
!ANG:6.31,0.03,162.51,Mag Heading:2.82,AN:8,-13,-1,-4,1,-252,-0.22,-0.01,0.50
!ANG:6.70,-0.46,162.42,Mag Heading:2.82,AN:15,-9,-8,-6,5,-255,-0.22,-0.01,0.50
!ANG:6.57,-0.94,162.37,Mag Heading:2.82,AN:7,-11,-4,6,2,-253,-0.22,-0.01,0.50
!ANG:6.75,-0.28,162.32,Mag Heading:2.82,AN:8,-6,-2,-7,-5,-260,-0.22,-0.01,0.50
!ANG:7.31,-0.84,162.27,Mag Heading:2.82,AN:8,-7,-5,-6,3,-252,-0.22,-0.01,0.50
!ANG:7.18,-1.21,162.25,Mag Heading:2.86,AN:15,-13,1,3,5,-248,-0.22,-0.00,0.50
!ANG:6.86,-0.55,162.44,Mag Heading:2.86,AN:6,-11,0,-5,0,-243,-0.22,-0.00,0.50
!ANG:7.21,-0.94,162.55,Mag Heading:2.86,AN:12,-11,-2,8,8,-241,-0.22,-0.00,0.50
!ANG:6.82,-0.17,162.67,Mag Heading:2.86,AN:8,-8,-1,7,7,-248,-0.22,-0.00,0.50
!ANG:6.55,0.33,162.78,Mag Heading:2.86,AN:9,-5,-1,-1,1,-244,-0.22,-0.00,0.50
!ANG:6.92,-0.04,162.85,Mag Heading:2.86,AN:11,-9,-5,0,6,-245,-0.22,-0.00,0.50
!ANG:6.73,-0.18,162.91,Mag Heading:2.86,AN:9,-7,-7,13,3,-252,-0.22,-0.00,0.50
!ANG:6.80,1.02,162.96,Mag Heading:2.86,AN:9,-7,-9,-17,7,-252,-0.22,-0.00,0.50
!ANG:6.53,-0.82,163.03,Mag Heading:2.86,AN:11,-6,-2,-5,4,-249,-0.22,-0.00,0.50
!ANG:6.60,-1.09,163.08,Mag Heading:2.86,AN:8,-7,-6,0,2,-255,-0.22,-0.00,0.50
!ANG:6.75,-0.86,163.15,Mag Heading:2.86,AN:8,-9,0,0,6,-259,-0.22,-0.00,0.50
!ANG:6.51,-0.70,163.18,Mag Heading:2.86,AN:9,-6,-8,-8,8,-247,-0.22,-0.00,0.50
!ANG:6.31,-1.29,163.22,Mag Heading:2.87,AN:14,-10,-4,2,8,-258,-0.22,-0.01,0.50
!ANG:6.00,-0.71,163.34,Mag Heading:2.87,AN:7,-9,-2,1,4,-251,-0.22,-0.01,0.50
!ANG:6.27,-0.54,163.44,Mag Heading:2.87,AN:13,-9,1,-6,-7,-259,-0.22,-0.01,0.50
!ANG:7.17,-0.96,163.48,Mag Heading:2.87,AN:10,-8,-5,0,6,-255,-0.22,-0.01,0.50
!ANG:6.83,-0.77,163.53,Mag Heading:2.87,AN:13,-8,-7,-2,5,-253,-0.22,-0.01,0.50
!ANG:6.71,-0.81,163.57,Mag Heading:2.87,AN:14,-8,-8,4,13,-241,-0.22,-0.01,0.50
!ANG:6.11,-0.39,163.63,Mag Heading:2.86,AN:13,-10,-2,1,1,-261,-0.22,-0.01,0.50
!ANG:6.59,-0.29,163.65,Mag Heading:2.86,AN:16,-5,-6,-3,4,-251,-0.22,-0.01,0.50
!ANG:6.65,-0.61,163.68,Mag Heading:2.86,AN:13,-12,-3,0,2,-250,-0.22,-0.01,0.50
!ANG:6.84,-0.55,163.71,Mag Heading:2.86,AN:10,-8,-3,-2,-4,-250,-0.22,-0.01,0.50
!ANG:7.43,-0.69,163.72,Mag Heading:2.86,AN:10,-10,-4,6,10,-252,-0.22,-0.01,0.50
!ANG:6.68,-0.10,163.73,Mag Heading:2.86,AN:12,-6,-8,6,8,-253,-0.22,-0.01,0.50
!ANG:6.35,0.27,163.73,Mag Heading:2.86,AN:9,-6,-7,13,-9,-249,-0.22,-0.01,0.50
!ANG:7.84,1.26,163.73,Mag Heading:2.86,AN:8,-10,-4,-2,4,-249,-0.22,-0.01,0.50
!ANG:7.47,0.47,163.72,Mag Heading:2.86,AN:13,-10,-3,2,5,-257,-0.22,-0.01,0.50
!ANG:7.07,0.30,163.72,Mag Heading:2.86,AN:10,-8,0,0,4,-251,-0.22,-0.01,0.50
!ANG:6.96,0.03,163.69,Mag Heading:2.86,AN:15,-9,-8,0,0,-249,-0.22,-0.01,0.50
!ANG:7.20,-0.15,163.66,Mag Heading:2.86,AN:8,-10,-7,1,4,-249,-0.22,-0.01,0.50
!ANG:7.04,-0.18,163.64,Mag Heading:2.84,AN:11,-9,-6,3,4,-255,-0.22,-0.01,0.50
!ANG:6.82,-0.00,163.54,Mag Heading:2.84,AN:7,-8,-4,-3,13,-261,-0.22,-0.01,0.50
!ANG:6.03,-0.38,163.46,Mag Heading:2.84,AN:13,-8,-7,13,3,-253,-0.22,-0.01,0.50
!ANG:6.33,0.63,163.40,Mag Heading:2.84,AN:8,-8,-4,-5,5,-248,-0.22,-0.01,0.50
!ANG:6.41,-0.17,163.33,Mag Heading:2.84,AN:10,-10,-7,1,8,-253,-0.22,-0.01,0.50
!ANG:6.16,-0.18,163.28,Mag Heading:2.84,AN:7,-6,-4,3,2,-257,-0.22,-0.01,0.50
!ANG:6.45,-0.04,163.23,Mag Heading:2.87,AN:9,-8,-5,1,1,-253,-0.22,-0.01,0.50
!ANG:6.88,-0.14,163.38,Mag Heading:2.87,AN:15,-10,-5,-4,2,-257,-0.22,-0.01,0.50
!ANG:6.91,-0.56,163.49,Mag Heading:2.87,AN:9,-8,-4,2,2,-257,-0.22,-0.01,0.50
!ANG:6.93,-0.36,163.57,Mag Heading:2.87,AN:10,-8,-8,1,-1,-251,-0.22,-0.01,0.50
!ANG:7.26,-0.31,163.69,Mag Heading:2.87,AN:11,-8,2,4,1,-251,-0.22,-0.01,0.50
!ANG:7.30,-0.04,163.77,Mag Heading:2.87,AN:12,-7,-6,1,-2,-252,-0.22,-0.01,0.50
!ANG:7.54,-0.09,163.86,Mag Heading:2.84,AN:8,-5,-1,-3,3,-242,-0.22,-0.00,0.50
!ANG:7.40,-0.57,163.71,Mag Heading:2.84,AN:15,-8,-6,0,-7,-260,-0.22,-0.00,0.50
!ANG:7.89,-0.53,163.62,Mag Heading:2.84,AN:11,-10,-4,-1,7,-255,-0.22,-0.00,0.50
!ANG:7.19,-0.58,163.56,Mag Heading:2.84,AN:9,-7,0,-4,6,-253,-0.22,-0.00,0.50
!ANG:6.85,-0.85,163.50,Mag Heading:2.84,AN:12,-8,-2,-9,6,-257,-0.22,-0.00,0.50
!ANG:6.60,-1.39,163.43,Mag Heading:2.84,AN:11,-8,-5,-7,4,-257,-0.22,-0.00,0.50
!ANG:6.57,-1.61,163.36,Mag Heading:2.88,AN:8,-12,-5,5,-8,-244,-0.22,-0.00,0.50
!ANG:7.98,-0.54,163.49,Mag Heading:2.88,AN:10,-7,-6,-4,5,-250,-0.22,-0.00,0.50
!ANG:7.44,-0.83,163.63,Mag Heading:2.88,AN:11,-7,-1,0,1,-248,-0.22,-0.00,0.50
!ANG:7.44,-0.68,163.74,Mag Heading:2.88,AN:10,-6,-2,0,8,-248,-0.22,-0.00,0.50
!ANG:6.87,-0.60,163.83,Mag Heading:2.88,AN:9,-10,-6,-4,0,-249,-0.22,-0.00,0.50
!ANG:7.14,-0.87,163.91,Mag Heading:2.88,AN:8,-6,-5,-11,12,-246,-0.22,-0.00,0.50
!ANG:6.38,-1.62,164.02,Mag Heading:2.86,AN:12,-7,-3,-1,5,-249,-0.22,-0.00,0.50
!ANG:6.43,-1.20,163.98,Mag Heading:2.86,AN:7,-11,-3,2,2,-255,-0.22,-0.00,0.50
!ANG:6.63,-0.76,163.98,Mag Heading:2.86,AN:8,-6,3,-3,11,-256,-0.22,-0.00,0.50
!ANG:6.08,-0.88,163.95,Mag Heading:2.86,AN:11,-8,-5,-3,7,-254,-0.22,-0.00,0.50
!ANG:6.05,-0.95,163.88,Mag Heading:2.86,AN:12,-6,-11,-1,-1,-257,-0.22,-0.00,0.50
!ANG:6.62,-0.84,163.86,Mag Heading:2.86,AN:11,-8,-2,-1,0,-257,-0.22,-0.00,0.50
!ANG:6.94,-0.75,163.81,Mag Heading:2.87,AN:18,-4,-10,0,1,-245,-0.22,-0.01,0.50
!ANG:7.24,-0.59,163.83,Mag Heading:2.87,AN:14,-4,-9,8,2,-244,-0.22,-0.01,0.50
!ANG:7.27,0.09,163.86,Mag Heading:2.87,AN:9,-11,-6,-2,0,-255,-0.22,-0.01,0.50
!ANG:7.36,-0.24,163.90,Mag Heading:2.87,AN:14,-6,-5,0,1,-256,-0.22,-0.01,0.50
!ANG:7.31,-0.31,163.94,Mag Heading:2.87,AN:11,-8,-4,-1,2,-242,-0.22,-0.01,0.50
!ANG:7.35,-0.42,163.97,Mag Heading:2.87,AN:12,-4,-5,-6,-1,-246,-0.22,-0.01,0.50
!ANG:7.57,-0.94,163.99,Mag Heading:2.83,AN:10,-8,-6,-6,2,-249,-0.22,-0.01,0.50
!ANG:7.41,-1.33,163.85,Mag Heading:2.83,AN:13,-7,2,-7,0,-257,-0.22,-0.01,0.50
!ANG:7.40,-1.56,163.70,Mag Heading:2.83,AN:8,-11,-7,1,0,-250,-0.22,-0.01,0.50
!ANG:7.48,-1.07,163.57,Mag Heading:2.83,AN:11,-7,-6,-3,1,-249,-0.22,-0.01,0.50
!ANG:7.45,-1.10,163.46,Mag Heading:2.83,AN:9,-10,-3,0,8,-252,-0.22,-0.01,0.50
!ANG:6.84,-0.84,163.36,Mag Heading:2.83,AN:10,-4,-7,7,6,-257,-0.22,-0.01,0.50
!ANG:6.58,-0.14,163.26,Mag Heading:2.86,AN:9,-6,-6,0,-3,-259,-0.22,-0.01,0.50
!ANG:7.20,-0.27,163.34,Mag Heading:2.86,AN:9,-8,-4,3,3,-259,-0.22,-0.01,0.50
!ANG:7.04,-0.11,163.40,Mag Heading:2.86,AN:13,-9,-4,1,0,-251,-0.22,-0.01,0.50
!ANG:7.26,-0.13,163.41,Mag Heading:2.86,AN:15,-5,-13,5,13,-241,-0.22,-0.01,0.50
!ANG:6.44,0.16,163.44,Mag Heading:2.86,AN:8,-6,-9,2,-2,-251,-0.22,-0.01,0.50
!ANG:6.98,0.10,163.49,Mag Heading:2.86,AN:5,-9,-3,5,8,-260,-0.22,-0.01,0.50
!ANG:6.53,0.29,163.52,Mag Heading:2.85,AN:13,-7,-7,0,1,-250,-0.22,-0.00,0.50
!ANG:6.93,-0.06,163.51,Mag Heading:2.85,AN:11,-9,-3,-9,8,-249,-0.22,-0.00,0.50
!ANG:6.52,-0.91,163.49,Mag Heading:2.85,AN:4,-4,-8,0,2,-258,-0.22,-0.00,0.50
!ANG:6.68,-0.75,163.49,Mag Heading:2.85,AN:11,-9,-1,6,1,-260,-0.22,-0.00,0.50
!ANG:6.83,-0.18,163.48,Mag Heading:2.85,AN:10,-7,-5,-9,3,-249,-0.22,-0.00,0.50
!ANG:6.90,-1.01,163.46,Mag Heading:2.85,AN:13,-8,-6,-4,-2,-253,-0.22,-0.00,0.50
!ANG:7.27,-1.12,163.44,Mag Heading:2.86,AN:9,-8,-5,1,2,-257,-0.22,-0.00,0.50
!ANG:7.14,-0.68,163.51,Mag Heading:2.86,AN:10,-3,-3,1,-4,-252,-0.22,-0.00,0.50
!ANG:7.63,-0.53,163.54,Mag Heading:2.86,AN:15,-10,-4,0,1,-253,-0.22,-0.00,0.50
!ANG:7.51,-0.50,163.57,Mag Heading:2.86,AN:10,-9,-5,-1,0,-250,-0.22,-0.00,0.50
!ANG:7.55,-0.58,163.62,Mag Heading:2.86,AN:11,-11,-1,6,-3,-243,-0.22,-0.00,0.50
!ANG:7.88,-0.07,163.64,Mag Heading:2.86,AN:9,-12,-6,0,4,-247,-0.22,-0.00,0.50
!ANG:7.49,-0.23,163.66,Mag Heading:2.81,AN:13,-11,-5,0,0,-253,-0.22,-0.01,0.50
!ANG:7.50,-0.33,163.35,Mag Heading:2.81,AN:10,-9,-1,2,2,-253,-0.22,-0.01,0.50
!ANG:7.33,-0.22,163.13,Mag Heading:2.81,AN:7,-8,-4,4,3,-259,-0.22,-0.01,0.50
!ANG:7.11,0.02,162.93,Mag Heading:2.81,AN:8,-6,-3,-2,1,-248,-0.22,-0.01,0.50
!ANG:7.23,-0.32,162.73,Mag Heading:2.81,AN:10,-8,-5,0,4,-252,-0.22,-0.01,0.50
!ANG:7.03,-0.37,162.55,Mag Heading:2.81,AN:11,-10,-6,-5,-2,-246,-0.22,-0.01,0.50
!ANG:7.45,-0.81,162.39,Mag Heading:2.85,AN:11,-7,-5,1,0,-257,-0.22,-0.00,0.50
!ANG:7.43,-0.52,162.47,Mag Heading:2.85,AN:10,-6,-7,-9,-9,-258,-0.22,-0.00,0.50
!ANG:8.08,-1.15,162.52,Mag Heading:2.85,AN:10,-7,-8,-4,1,-245,-0.22,-0.00,0.50
!ANG:7.86,-1.22,162.61,Mag Heading:2.85,AN:8,-5,-1,-1,5,-251,-0.22,-0.00,0.50
!ANG:7.38,-1.02,162.67,Mag Heading:2.85,AN:13,-9,-7,-2,3,-256,-0.22,-0.00,0.50
!ANG:7.17,-0.96,162.73,Mag Heading:2.85,AN:10,-6,-4,3,-3,-251,-0.22,-0.00,0.50
!ANG:7.56,-0.54,162.78,Mag Heading:2.86,AN:11,-11,-4,4,8,-252,-0.22,-0.00,0.50
!ANG:6.74,-0.11,162.89,Mag Heading:2.86,AN:10,-12,-9,5,-1,-252,-0.22,-0.00,0.50
!ANG:7.11,0.19,162.98,Mag Heading:2.86,AN:9,-5,-8,4,3,-250,-0.22,-0.00,0.50
!ANG:7.05,0.28,163.07,Mag Heading:2.86,AN:11,-8,-5,-7,-1,-261,-0.22,-0.00,0.50
!ANG:7.22,-0.50,163.17,Mag Heading:2.86,AN:12,-14,-1,1,0,-258,-0.22,-0.00,0.50
!ANG:7.28,-0.42,163.24,Mag Heading:2.86,AN:12,-11,-6,11,10,-259,-0.22,-0.00,0.50
!ANG:6.54,0.41,163.30,Mag Heading:2.84,AN:8,-9,-7,0,2,-257,-0.22,-0.00,0.50
!ANG:6.74,0.05,163.24,Mag Heading:2.84,AN:10,-6,-7,-4,4,-252,-0.22,-0.00,0.50
!ANG:6.70,-0.43,163.21,Mag Heading:2.84,AN:8,-7,-5,-11,-2,-245,-0.22,-0.00,0.50
!ANG:7.25,-1.35,163.16,Mag Heading:2.84,AN:9,-8,-7,0,3,-247,-0.22,-0.00,0.50
!ANG:7.18,-1.02,163.14,Mag Heading:2.84,AN:13,-9,-3,5,4,-243,-0.22,-0.00,0.50
!ANG:7.08,-0.42,163.10,Mag Heading:2.84,AN:9,-8,-8,-5,0,-252,-0.22,-0.00,0.50
!ANG:7.25,-0.83,163.05,Mag Heading:2.84,AN:11,-10,-9,-2,1,-255,-0.21,-0.01,0.50
!ANG:7.28,-0.84,163.00,Mag Heading:2.84,AN:15,-7,-4,4,-1,-257,-0.21,-0.01,0.50
!ANG:7.39,-0.40,162.96,Mag Heading:2.84,AN:8,-10,-5,-1,4,-252,-0.21,-0.01,0.50
!ANG:7.13,-0.50,162.92,Mag Heading:2.84,AN:10,-8,-5,1,2,-248,-0.21,-0.01,0.50
!ANG:7.16,-0.40,162.89,Mag Heading:2.84,AN:11,-9,-3,0,1,-245,-0.21,-0.01,0.50
!ANG:7.29,-0.42,162.88,Mag Heading:2.84,AN:9,-7,-1,0,3,-253,-0.21,-0.01,0.50
!ANG:7.12,-0.43,162.86,Mag Heading:2.85,AN:8,-9,-3,-1,-6,-254,-0.21,-0.00,0.50
!ANG:7.89,-0.54,162.88,Mag Heading:2.85,AN:11,-8,-4,-4,0,-251,-0.21,-0.00,0.50
!ANG:7.76,-0.84,162.89,Mag Heading:2.85,AN:7,-11,-4,0,7,-250,-0.21,-0.00,0.50
!ANG:7.12,-0.72,162.93,Mag Heading:2.85,AN:9,-12,0,-4,4,-248,-0.21,-0.00,0.50
!ANG:6.99,-0.94,162.92,Mag Heading:2.85,AN:9,-7,-9,-3,0,-255,-0.21,-0.00,0.50
!ANG:7.17,-1.00,162.93,Mag Heading:2.85,AN:12,-9,-5,5,11,-251,-0.21,-0.00,0.50
!ANG:6.42,-0.37,162.95,Mag Heading:2.84,AN:9,-4,-4,-5,4,-254,-0.21,-0.01,0.50
!ANG:6.53,-0.90,162.87,Mag Heading:2.84,AN:12,-7,-11,-5,-1,-251,-0.21,-0.01,0.50
!ANG:6.99,-1.14,162.83,Mag Heading:2.84,AN:10,-9,-5,0,6,-250,-0.21,-0.01,0.50
!ANG:6.72,-0.88,162.84,Mag Heading:2.84,AN:7,-6,0,1,3,-267,-0.21,-0.01,0.50
!ANG:6.65,-0.66,162.80,Mag Heading:2.84,AN:10,-9,-8,4,-4,-249,-0.21,-0.01,0.50
!ANG:7.35,-0.26,162.78,Mag Heading:2.84,AN:12,-10,-3,2,-3,-258,-0.21,-0.01,0.50
!ANG:7.58,-0.15,162.76,Mag Heading:2.84,AN:11,-4,-6,-3,7,-251,-0.21,-0.00,0.50
!ANG:6.89,-0.59,162.75,Mag Heading:2.84,AN:15,-7,-7,-11,3,-257,-0.21,-0.00,0.50
!ANG:6.84,-1.39,162.77,Mag Heading:2.84,AN:9,-10,-3,-6,5,-251,-0.21,-0.00,0.50
!ANG:6.72,-1.52,162.75,Mag Heading:2.84,AN:13,-7,-9,6,1,-249,-0.21,-0.00,0.50
!ANG:6.98,-0.64,162.75,Mag Heading:2.84,AN:11,-9,-5,1,0,-248,-0.21,-0.00,0.50
!ANG:7.23,-0.48,162.73,Mag Heading:2.84,AN:11,-8,-9,9,1,-251,-0.21,-0.00,0.50
!ANG:7.30,0.24,162.78,Mag Heading:2.85,AN:15,-11,3,1,1,-260,-0.22,-0.00,0.50
!ANG:7.24,0.02,162.81,Mag Heading:2.85,AN:13,-11,-4,5,0,-247,-0.22,-0.00,0.50
!ANG:7.39,0.25,162.87,Mag Heading:2.85,AN:8,-8,2,4,0,-242,-0.22,-0.00,0.50
!ANG:7.54,0.33,162.90,Mag Heading:2.85,AN:9,-7,-3,6,4,-244,-0.22,-0.00,0.50
!ANG:7.32,0.52,162.92,Mag Heading:2.85,AN:13,-9,-2,0,-1,-245,-0.22,-0.00,0.50
!ANG:7.56,0.17,162.96,Mag Heading:2.85,AN:10,-8,-1,-3,1,-250,-0.22,-0.00,0.50
!ANG:7.48,-0.30,162.98,Mag Heading:2.82,AN:8,-10,-3,-3,0,-248,-0.22,-0.01,0.50
!ANG:7.58,-0.68,162.82,Mag Heading:2.82,AN:12,-6,-1,0,2,-254,-0.22,-0.01,0.50
!ANG:7.40,-0.59,162.71,Mag Heading:2.82,AN:11,-6,-4,2,3,-251,-0.22,-0.01,0.50
!ANG:7.21,-0.39,162.60,Mag Heading:2.82,AN:9,-11,-4,-1,0,-242,-0.22,-0.01,0.50
!ANG:7.43,-0.45,162.50,Mag Heading:2.82,AN:9,0,-5,4,0,-249,-0.22,-0.01,0.50
!ANG:7.48,-0.12,162.40,Mag Heading:2.82,AN:6,-7,-6,1,0,-259,-0.22,-0.01,0.50
!ANG:7.43,-0.16,162.31,Mag Heading:2.82,AN:9,-8,-4,1,1,-259,-0.21,-0.01,0.50
!ANG:7.29,-0.21,162.24,Mag Heading:2.82,AN:9,-12,-4,3,8,-257,-0.21,-0.01,0.50
!ANG:6.73,-0.10,162.20,Mag Heading:2.82,AN:14,-16,-3,3,-6,-253,-0.21,-0.01,0.50
!ANG:7.49,0.04,162.12,Mag Heading:2.82,AN:10,-3,-10,0,5,-249,-0.21,-0.01,0.50
!ANG:7.12,-0.12,162.10,Mag Heading:2.82,AN:7,-5,-2,2,7,-246,-0.21,-0.01,0.50
!ANG:6.80,-0.07,162.05,Mag Heading:2.82,AN:15,-7,-7,1,8,-247,-0.21,-0.01,0.50
!ANG:6.48,-0.13,161.98,Mag Heading:2.86,AN:13,-9,-11,-3,0,-244,-0.22,-0.00,0.50
!ANG:7.03,-0.62,162.21,Mag Heading:2.86,AN:3,-12,-5,-3,0,-248,-0.22,-0.00,0.50
!ANG:7.26,-0.81,162.39,Mag Heading:2.86,AN:10,-7,-1,1,5,-250,-0.22,-0.00,0.50
!ANG:6.98,-0.61,162.57,Mag Heading:2.86,AN:10,-10,1,-2,5,-249,-0.22,-0.00,0.50
!ANG:6.82,-0.69,162.74,Mag Heading:2.86,AN:11,-3,1,-2,-3,-259,-0.22,-0.00,0.50
!ANG:7.22,-0.76,162.85,Mag Heading:2.86,AN:9,-9,-3,-2,-5,-258,-0.22,-0.00,0.50
!ANG:7.63,-0.83,162.98,Mag Heading:2.84,AN:7,-15,2,-1,8,-247,-0.22,-0.01,0.50
!ANG:6.84,-0.75,162.94,Mag Heading:2.84,AN:16,-7,-7,-9,0,-246,-0.22,-0.01,0.50
!ANG:7.17,-1.39,162.92,Mag Heading:2.84,AN:11,-10,-3,0,7,-256,-0.22,-0.01,0.50
!ANG:6.72,-1.05,162.89,Mag Heading:2.84,AN:11,-8,-9,-3,8,-265,-0.22,-0.01,0.50
!ANG:6.31,-1.05,162.89,Mag Heading:2.84,AN:10,-8,-1,2,-2,-239,-0.22,-0.01,0.50
!ANG:7.04,-0.71,162.85,Mag Heading:2.84,AN:15,-11,-7,0,0,-257,-0.22,-0.01,0.50
!ANG:7.16,-0.61,162.82,Mag Heading:2.85,AN:8,-7,-6,3,7,-247,-0.21,-0.00,0.50
!ANG:6.67,-0.25,162.88,Mag Heading:2.85,AN:10,-13,-5,-9,-5,-245,-0.21,-0.00,0.50
!ANG:7.49,-1.09,162.88,Mag Heading:2.85,AN:13,-12,-10,3,9,-250,-0.21,-0.00,0.50
!ANG:6.79,-0.61,162.96,Mag Heading:2.85,A

Actually, now that I look at your output data again, you do seem to be getting a range of -180 to 180 on the yaw angle reading (the third number after “ANG:”), at least after you calibrated the compass. It seems like your IMU is working correctly. If you need the heading to be in a 0-360 degree range, you can simply add 360 to the yaw angle reading if it is negative.

- Kevin