diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index edc2a4d..c53e6a0 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -137,7 +137,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
       case MAVLINK_MSG_ID_PID:              //182
           memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
           mavlink_msg_pid_decode(&message, &mlSinglePid);
-          qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
+        //  qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
 
           emit slugsPidValues(uasId, mlSinglePid);
 
@@ -220,7 +220,7 @@ void SlugsMAV::emitSignals (void){
 #ifdef MAVLINK_ENABLED_SLUGS
 void SlugsMAV::emitGpsSignals (void){
 
-    qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
+   // qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
 
 
     //ToDo Uncomment if. it was comment only to test
@@ -248,7 +248,7 @@ void SlugsMAV::emitGpsSignals (void){
 
 void SlugsMAV::emitPidSignal()
 {
-     qDebug() << "\nSLUGS RECEIVED PID Message";
+    // qDebug() << "\nSLUGS RECEIVED PID Message";
     emit slugsPidValues(uasId, mlSinglePid);
 
 }
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index d1761bd..09cd9bc 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASWaypointManager.h"
 #include "UAS.h"
+#include "mavlink_types.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 40        ///< minimum delay between sent messages
@@ -600,22 +601,26 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
 void UASWaypointManager::sendWaypoint(quint16 seq)
 {
     mavlink_message_t message;
+    qDebug() <<" WP Buffer count: "<<waypoint_buffer.count();
 
     if (seq < waypoint_buffer.count())
     {
+
         mavlink_waypoint_t *wp;
 
+
         wp = waypoint_buffer.at(seq);
         wp->target_system = uas.getUASID();
         wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER;
 
         emit updateStatusString(QString("sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
 
+        qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<<waypoint_buffer.count();
+
         mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
         uas.sendMessage(message);
         MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
-        qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
     }
 }
 
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index c8a12cd..79d97e9 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -104,7 +104,7 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
  ui->m_GpsLongitude->setText(QString::number(lon));
  ui->m_GpsHeight->setText(QString::number(alt));
 
- qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
+ //qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
 }
 
 
@@ -154,7 +154,7 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
     ui->m_Pitch->setPlainText(QString::number(slugpitch));
     ui->m_Yaw->setPlainText(QString::number(slugyaw));
 
-     qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
+    // qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
 
 }
 
diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui
index 5474afb..7f10004 100644
--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>399</width>
-    <height>604</height>
+    <height>598</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -31,18 +31,18 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_23">
+  <layout class="QGridLayout" name="gridLayout_25">
    <item row="0" column="0">
     <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="tab">
       <attribute name="title">
        <string>Tab 1</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_10">
-       <item>
+      <layout class="QGridLayout" name="gridLayout_24">
+       <item row="0" column="0">
         <layout class="QVBoxLayout" name="verticalLayout_9">
          <item>
           <widget class="QGroupBox" name="position_groupBox">
@@ -2904,1003 +2904,995 @@
       <attribute name="title">
        <string>Tab 3</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_16">
-       <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_4">
-         <item>
-          <widget class="QGroupBox" name="sensorBiases_groupBox_2">
-           <property name="minimumSize">
-            <size>
-             <width>0</width>
-             <height>0</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>132123</width>
-             <height>123123</height>
-            </size>
-           </property>
-           <property name="title">
-            <string>CPU Load</string>
-           </property>
-           <layout class="QVBoxLayout" name="verticalLayout_12">
-            <item>
-             <layout class="QGridLayout" name="gridLayout_10">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_55">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Sensor</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="ed_sens">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_57">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Control</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="ed_control">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_59">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Batt Volt</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="ed_batvolt">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+      <layout class="QGridLayout" name="gridLayout_23">
+       <item row="0" column="0">
+        <widget class="QGroupBox" name="sensorBiases_groupBox_2">
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>132123</width>
+           <height>123123</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>CPU Load</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_20">
+          <item row="0" column="0">
+           <layout class="QGridLayout" name="gridLayout_10">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_55">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Sensor</string>
+              </property>
+             </widget>
             </item>
-           </layout>
-          </widget>
-         </item>
-         <item>
-          <widget class="QGroupBox" name="sensorBiases_groupBox_3">
-           <property name="minimumSize">
-            <size>
-             <width>0</width>
-             <height>0</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>132123</width>
-             <height>123123</height>
-            </size>
-           </property>
-           <property name="title">
-            <string>Air Data</string>
-           </property>
-           <layout class="QVBoxLayout" name="verticalLayout_13">
-            <item>
-             <layout class="QGridLayout" name="gridLayout_11">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_56">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Dynamic</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="ed_dynamic">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_58">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Static</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="ed_static">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_60">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Temperature</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="ed_temp">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="ed_sens">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_57">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Control</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="ed_control">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_59">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Batt Volt</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QTextEdit" name="ed_batvolt">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
             </item>
            </layout>
-          </widget>
-         </item>
-        </layout>
+          </item>
+         </layout>
+        </widget>
        </item>
-       <item>
-        <widget class="QGroupBox" name="sensorBiases_groupBox_4">
+       <item row="0" column="1">
+        <widget class="QGroupBox" name="sensorBiases_groupBox_3">
          <property name="minimumSize">
           <size>
-           <width>311</width>
-           <height>213</height>
+           <width>0</width>
+           <height>0</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
-           <width>371</width>
-           <height>213</height>
+           <width>132123</width>
+           <height>123123</height>
           </size>
          </property>
          <property name="title">
-          <string>Filtered Data</string>
+          <string>Air Data</string>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_14">
-          <item>
-           <layout class="QGridLayout" name="gridLayout_15">
+         <layout class="QGridLayout" name="gridLayout_21">
+          <item row="0" column="0">
+           <layout class="QGridLayout" name="gridLayout_11">
             <item row="0" column="0">
-             <layout class="QGridLayout" name="gridLayout_12">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_20">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Ax</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="m_Axf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_61">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Ay</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="m_Ayf">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_63">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Az</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="m_Azf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+             <widget class="QLabel" name="label_56">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Dynamic</string>
+              </property>
+             </widget>
             </item>
-            <item row="0" column="1" rowspan="2">
-             <layout class="QGridLayout" name="gridLayout_14">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_25">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Gx</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="m_Gxf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_62">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Gy</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="m_Gyf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_64">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Gz</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="m_Gzf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="ed_dynamic">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_58">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Static</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="ed_static">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_60">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Temperature</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QTextEdit" name="ed_temp">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="1" column="0" colspan="2">
+        <widget class="QGroupBox" name="sensorBiases_groupBox_4">
+         <property name="minimumSize">
+          <size>
+           <width>311</width>
+           <height>213</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>371</width>
+           <height>213</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>Filtered Data</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_15">
+          <item row="0" column="0">
+           <layout class="QGridLayout" name="gridLayout_12">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_20">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Ax</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="m_Axf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_61">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Ay</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="m_Ayf">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
             </item>
-            <item row="1" column="0" rowspan="2">
-             <layout class="QGridLayout" name="gridLayout_13">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_66">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Mx</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="m_Mxf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_67">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>My</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="m_Myf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_65">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Mz</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="m_Mzf">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_63">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Az</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QTextEdit" name="m_Azf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item row="0" column="1">
+           <layout class="QGridLayout" name="gridLayout_14">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_25">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Gx</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="m_Gxf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_62">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Gy</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="m_Gyf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_64">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Gz</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QTextEdit" name="m_Gzf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item row="1" column="0">
+           <layout class="QGridLayout" name="gridLayout_13">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_66">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Mx</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="m_Mxf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_67">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>My</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="m_Myf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_65">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Mz</string>
+              </property>
+             </widget>
             </item>
             <item row="2" column="1">
-             <spacer name="verticalSpacer_3">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
+             <widget class="QTextEdit" name="m_Mzf">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
               </property>
-              <property name="sizeHint" stdset="0">
+              <property name="maximumSize">
                <size>
-                <width>20</width>
-                <height>40</height>
+                <width>80</width>
+                <height>18</height>
                </size>
               </property>
-             </spacer>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
             </item>
            </layout>
           </item>
+          <item row="1" column="1">
+           <spacer name="verticalSpacer_3">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>84</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
          </layout>
         </widget>
        </item>
-       <item>
+       <item row="2" column="0" colspan="2">
         <widget class="QGroupBox" name="sensorBiases_groupBox_5">
          <property name="minimumSize">
           <size>
@@ -3917,567 +3909,563 @@
          <property name="title">
           <string>Raw Data</string>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_15">
-          <item>
-           <layout class="QGridLayout" name="gridLayout_16">
+         <layout class="QGridLayout" name="gridLayout_16">
+          <item row="0" column="0">
+           <layout class="QGridLayout" name="gridLayout_17">
             <item row="0" column="0">
-             <layout class="QGridLayout" name="gridLayout_17">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_68">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Ax</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="m_Axr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_69">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Ay</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="m_Ayr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_70">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Az</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="m_Azr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+             <widget class="QLabel" name="label_68">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Ax</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="m_Axr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
             </item>
-            <item row="0" column="1" rowspan="2">
-             <layout class="QGridLayout" name="gridLayout_18">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_71">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Gx</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="m_Gxr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_72">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Gy</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="m_Gyr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_73">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Gz</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="m_Gzr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_69">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Ay</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="m_Ayr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_70">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Az</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QTextEdit" name="m_Azr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item row="0" column="1">
+           <layout class="QGridLayout" name="gridLayout_18">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_71">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Gx</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="m_Gxr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_72">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Gy</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="m_Gyr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
             </item>
-            <item row="1" column="0" rowspan="2">
-             <layout class="QGridLayout" name="gridLayout_19">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_74">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Mx</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QTextEdit" name="m_Mxr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_75">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>My</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QTextEdit" name="m_Myr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_76">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Mz</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QTextEdit" name="m_Mzr">
-                <property name="minimumSize">
-                 <size>
-                  <width>60</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>18</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>10</pointsize>
-                 </font>
-                </property>
-                <property name="frameShape">
-                 <enum>QFrame::WinPanel</enum>
-                </property>
-                <property name="verticalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_73">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Gz</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QTextEdit" name="m_Gzr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item row="1" column="0">
+           <layout class="QGridLayout" name="gridLayout_19">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_74">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Mx</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QTextEdit" name="m_Mxr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_75">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>My</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QTextEdit" name="m_Myr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>80</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_76">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="text">
+               <string>Mz</string>
+              </property>
+             </widget>
             </item>
             <item row="2" column="1">
-             <spacer name="verticalSpacer_4">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
+             <widget class="QTextEdit" name="m_Mzr">
+              <property name="minimumSize">
+               <size>
+                <width>60</width>
+                <height>18</height>
+               </size>
               </property>
-              <property name="sizeHint" stdset="0">
+              <property name="maximumSize">
                <size>
-                <width>20</width>
-                <height>40</height>
+                <width>80</width>
+                <height>18</height>
                </size>
               </property>
-             </spacer>
+              <property name="font">
+               <font>
+                <pointsize>10</pointsize>
+               </font>
+              </property>
+              <property name="frameShape">
+               <enum>QFrame::WinPanel</enum>
+              </property>
+              <property name="verticalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="horizontalScrollBarPolicy">
+               <enum>Qt::ScrollBarAlwaysOff</enum>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
             </item>
            </layout>
           </item>
+          <item row="1" column="1">
+           <spacer name="verticalSpacer_4">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>84</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
          </layout>
         </widget>
        </item>
diff --git a/src/ui/SlugsPadCameraControl.cpp b/src/ui/SlugsPadCameraControl.cpp
index 3e198c6..745056d 100644
--- a/src/ui/SlugsPadCameraControl.cpp
+++ b/src/ui/SlugsPadCameraControl.cpp
@@ -27,15 +27,12 @@ SlugsPadCameraControl::~SlugsPadCameraControl()
 void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
 {
     //emit mouseMoveCoord(event->x(),event->y());
+
     if(dragging)
     {
-        if(abs(x1-event->x())>20 || abs(y1-event->y())>20)
-        {
 
-            getDeltaPositionPad(event->x(), event->y());
-            x1 = event->x();
-            y1 = event->y();
-        }
+      // getDeltaPositionPad(event->x(), event->y());
+
     }
 
 
@@ -54,7 +51,7 @@ void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
 {
      dragging = false;
     //emit mouseReleaseCoord(event->x(),event->y());
-    //getDeltaPositionPad(event->x(), event->y());
+    getDeltaPositionPad(event->x(), event->y());
 
      xFin = event->x();
      yFin = event->y();
@@ -105,6 +102,10 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
     double bearing = localMeasures.x();
     double dist = getDistPixel(y1,x1,y2,x2);
 
+    // this only convert real bearing to frame widget bearing
+    bearing = bearing +90;
+    if(bearing>= 360) bearing = bearing - 360;
+
 
 
     if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
@@ -210,16 +211,9 @@ double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
       // distancia = (float) hipotenusa;
 }
 
-/**
-                * Esta función xxxxxxxxx
-                * @param double lat1 -->
-                * @param double lon1 -->
-                * @param double lat2 -->
-                * @param double lon2 -->
-                * @param ref double rumbo -->
-                * @param ref double distancia -->
-                */
-QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
+
+QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
+                                                              double lon2, double lat2)
 {
     double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
 
@@ -256,9 +250,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     else if((lat1 == lat2) && (lon1 == lon2)) //0
         marcacion = 0.0;
 
-    // this only convert real bearing to frame widget bearing
-    marcacion = marcacion +90;
-    if(marcacion>= 360) marcacion = marcacion - 360;
+
 
     return QPointF(marcacion,distancia);
 
diff --git a/src/ui/SlugsPadCameraControl.h b/src/ui/SlugsPadCameraControl.h
index bb35976..dbf5550 100644
--- a/src/ui/SlugsPadCameraControl.h
+++ b/src/ui/SlugsPadCameraControl.h
@@ -19,12 +19,16 @@ public:
 
 public slots:
     void getDeltaPositionPad(int x, int y);
+
+
+
     double getDistPixel(int x1, int y1, int x2, int y2);
     QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
     QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
 
 
 
+
 signals:
     void mouseMoveCoord(int x, int y);
     void mousePressCoord(int x, int y);
diff --git a/src/ui/SlugsVideoCamControl.ui b/src/ui/SlugsVideoCamControl.ui
index c89c2e7..7bbe214 100644
--- a/src/ui/SlugsVideoCamControl.ui
+++ b/src/ui/SlugsVideoCamControl.ui
@@ -22,10 +22,10 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0">
       <widget class="QLabel" name="label_x">
        <property name="mouseTracking">
         <bool>true</bool>
@@ -35,7 +35,7 @@
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="1">
       <widget class="QLabel" name="label_y">
        <property name="mouseTracking">
         <bool>true</bool>
@@ -45,21 +45,17 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QLabel" name="label_dir">
+     <item row="1" column="1">
+      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
        <property name="text">
-        <string>Camera Pos</string>
+        <string>Camera at Map</string>
        </property>
       </widget>
      </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_dir">
        <property name="text">
-        <string>Camera at Map</string>
+        <string>Camera Pos</string>
        </property>
       </widget>
      </item>