timeall time xhc yhc b k rmax deltap vmax vmax0 vtr vtrx vtry bias rmse 0 -12 136.50 18.60 1.00 0.00 20000.00 228.34 15.43 8.55 6.89 -3.91 -5.67 6 -6 135.70 17.50 0.53 0.09 20751.71 1916.40 18.00 18.00 5.87 -4.18 -4.12 -0.18 0.37 12 0 134.80 17.00 0.51 0.10 11946.20 2387.40 23.15 19.69 3.71 -3.39 -1.50 0.08 0.58 24 12 134.00 17.10 0.88 0.09 9503.23 2915.37 30.86 28.59 2.48 -2.11 1.29 0.41 1.56 36 24 132.80 17.80 0.98 0.08 9442.12 3919.81 38.58 34.98 3.81 -3.23 2.03 0.32 1.46 48 36 131.50 18.70 1.06 0.07 9304.98 5229.93 46.30 42.13 4.38 -3.28 2.90 0.36 2.11 60 48 130.10 20.00 1.18 0.10 9630.11 6503.98 54.01 49.58 4.67 -3.36 3.25 0.29 1.38 84 72 127.60 21.90 1.14 0.02 9671.53 9491.85 61.73 58.80 3.19 -2.63 1.79 0.10 1.39 108 96 125.70 23.10 1.55 0.08 18510.64 6606.09 59.16 57.22 2.46 -1.89 1.57 -0.35 0.62 132 120 124.40 24.70 1.40 0.03 22314.35 5427.41 51.44 49.25 2.87 -1.26 2.58 -0.05 0.76