diff --git a/openpilot/selfdrive/locationd/models/generated/libpose.so b/openpilot/selfdrive/locationd/models/generated/libpose.so
index 143eeeb4a..11abc83cb 100755
Binary files a/openpilot/selfdrive/locationd/models/generated/libpose.so and b/openpilot/selfdrive/locationd/models/generated/libpose.so differ
diff --git a/openpilot/selfdrive/locationd/models/generated/pose.cpp b/openpilot/selfdrive/locationd/models/generated/pose.cpp
index d27a71dbf..3ff758043 100644
--- a/openpilot/selfdrive/locationd/models/generated/pose.cpp
+++ b/openpilot/selfdrive/locationd/models/generated/pose.cpp
@@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_6902255537984290412) {
-   out_6902255537984290412[0] = delta_x[0] + nom_x[0];
-   out_6902255537984290412[1] = delta_x[1] + nom_x[1];
-   out_6902255537984290412[2] = delta_x[2] + nom_x[2];
-   out_6902255537984290412[3] = delta_x[3] + nom_x[3];
-   out_6902255537984290412[4] = delta_x[4] + nom_x[4];
-   out_6902255537984290412[5] = delta_x[5] + nom_x[5];
-   out_6902255537984290412[6] = delta_x[6] + nom_x[6];
-   out_6902255537984290412[7] = delta_x[7] + nom_x[7];
-   out_6902255537984290412[8] = delta_x[8] + nom_x[8];
-   out_6902255537984290412[9] = delta_x[9] + nom_x[9];
-   out_6902255537984290412[10] = delta_x[10] + nom_x[10];
-   out_6902255537984290412[11] = delta_x[11] + nom_x[11];
-   out_6902255537984290412[12] = delta_x[12] + nom_x[12];
-   out_6902255537984290412[13] = delta_x[13] + nom_x[13];
-   out_6902255537984290412[14] = delta_x[14] + nom_x[14];
-   out_6902255537984290412[15] = delta_x[15] + nom_x[15];
-   out_6902255537984290412[16] = delta_x[16] + nom_x[16];
-   out_6902255537984290412[17] = delta_x[17] + nom_x[17];
+void err_fun(double *nom_x, double *delta_x, double *out_2178224858840209361) {
+   out_2178224858840209361[0] = delta_x[0] + nom_x[0];
+   out_2178224858840209361[1] = delta_x[1] + nom_x[1];
+   out_2178224858840209361[2] = delta_x[2] + nom_x[2];
+   out_2178224858840209361[3] = delta_x[3] + nom_x[3];
+   out_2178224858840209361[4] = delta_x[4] + nom_x[4];
+   out_2178224858840209361[5] = delta_x[5] + nom_x[5];
+   out_2178224858840209361[6] = delta_x[6] + nom_x[6];
+   out_2178224858840209361[7] = delta_x[7] + nom_x[7];
+   out_2178224858840209361[8] = delta_x[8] + nom_x[8];
+   out_2178224858840209361[9] = delta_x[9] + nom_x[9];
+   out_2178224858840209361[10] = delta_x[10] + nom_x[10];
+   out_2178224858840209361[11] = delta_x[11] + nom_x[11];
+   out_2178224858840209361[12] = delta_x[12] + nom_x[12];
+   out_2178224858840209361[13] = delta_x[13] + nom_x[13];
+   out_2178224858840209361[14] = delta_x[14] + nom_x[14];
+   out_2178224858840209361[15] = delta_x[15] + nom_x[15];
+   out_2178224858840209361[16] = delta_x[16] + nom_x[16];
+   out_2178224858840209361[17] = delta_x[17] + nom_x[17];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_971548101061258492) {
-   out_971548101061258492[0] = -nom_x[0] + true_x[0];
-   out_971548101061258492[1] = -nom_x[1] + true_x[1];
-   out_971548101061258492[2] = -nom_x[2] + true_x[2];
-   out_971548101061258492[3] = -nom_x[3] + true_x[3];
-   out_971548101061258492[4] = -nom_x[4] + true_x[4];
-   out_971548101061258492[5] = -nom_x[5] + true_x[5];
-   out_971548101061258492[6] = -nom_x[6] + true_x[6];
-   out_971548101061258492[7] = -nom_x[7] + true_x[7];
-   out_971548101061258492[8] = -nom_x[8] + true_x[8];
-   out_971548101061258492[9] = -nom_x[9] + true_x[9];
-   out_971548101061258492[10] = -nom_x[10] + true_x[10];
-   out_971548101061258492[11] = -nom_x[11] + true_x[11];
-   out_971548101061258492[12] = -nom_x[12] + true_x[12];
-   out_971548101061258492[13] = -nom_x[13] + true_x[13];
-   out_971548101061258492[14] = -nom_x[14] + true_x[14];
-   out_971548101061258492[15] = -nom_x[15] + true_x[15];
-   out_971548101061258492[16] = -nom_x[16] + true_x[16];
-   out_971548101061258492[17] = -nom_x[17] + true_x[17];
+void inv_err_fun(double *nom_x, double *true_x, double *out_4618004895414237312) {
+   out_4618004895414237312[0] = -nom_x[0] + true_x[0];
+   out_4618004895414237312[1] = -nom_x[1] + true_x[1];
+   out_4618004895414237312[2] = -nom_x[2] + true_x[2];
+   out_4618004895414237312[3] = -nom_x[3] + true_x[3];
+   out_4618004895414237312[4] = -nom_x[4] + true_x[4];
+   out_4618004895414237312[5] = -nom_x[5] + true_x[5];
+   out_4618004895414237312[6] = -nom_x[6] + true_x[6];
+   out_4618004895414237312[7] = -nom_x[7] + true_x[7];
+   out_4618004895414237312[8] = -nom_x[8] + true_x[8];
+   out_4618004895414237312[9] = -nom_x[9] + true_x[9];
+   out_4618004895414237312[10] = -nom_x[10] + true_x[10];
+   out_4618004895414237312[11] = -nom_x[11] + true_x[11];
+   out_4618004895414237312[12] = -nom_x[12] + true_x[12];
+   out_4618004895414237312[13] = -nom_x[13] + true_x[13];
+   out_4618004895414237312[14] = -nom_x[14] + true_x[14];
+   out_4618004895414237312[15] = -nom_x[15] + true_x[15];
+   out_4618004895414237312[16] = -nom_x[16] + true_x[16];
+   out_4618004895414237312[17] = -nom_x[17] + true_x[17];
 }
-void H_mod_fun(double *state, double *out_5872156854311632266) {
-   out_5872156854311632266[0] = 1.0;
-   out_5872156854311632266[1] = 0.0;
-   out_5872156854311632266[2] = 0.0;
-   out_5872156854311632266[3] = 0.0;
-   out_5872156854311632266[4] = 0.0;
-   out_5872156854311632266[5] = 0.0;
-   out_5872156854311632266[6] = 0.0;
-   out_5872156854311632266[7] = 0.0;
-   out_5872156854311632266[8] = 0.0;
-   out_5872156854311632266[9] = 0.0;
-   out_5872156854311632266[10] = 0.0;
-   out_5872156854311632266[11] = 0.0;
-   out_5872156854311632266[12] = 0.0;
-   out_5872156854311632266[13] = 0.0;
-   out_5872156854311632266[14] = 0.0;
-   out_5872156854311632266[15] = 0.0;
-   out_5872156854311632266[16] = 0.0;
-   out_5872156854311632266[17] = 0.0;
-   out_5872156854311632266[18] = 0.0;
-   out_5872156854311632266[19] = 1.0;
-   out_5872156854311632266[20] = 0.0;
-   out_5872156854311632266[21] = 0.0;
-   out_5872156854311632266[22] = 0.0;
-   out_5872156854311632266[23] = 0.0;
-   out_5872156854311632266[24] = 0.0;
-   out_5872156854311632266[25] = 0.0;
-   out_5872156854311632266[26] = 0.0;
-   out_5872156854311632266[27] = 0.0;
-   out_5872156854311632266[28] = 0.0;
-   out_5872156854311632266[29] = 0.0;
-   out_5872156854311632266[30] = 0.0;
-   out_5872156854311632266[31] = 0.0;
-   out_5872156854311632266[32] = 0.0;
-   out_5872156854311632266[33] = 0.0;
-   out_5872156854311632266[34] = 0.0;
-   out_5872156854311632266[35] = 0.0;
-   out_5872156854311632266[36] = 0.0;
-   out_5872156854311632266[37] = 0.0;
-   out_5872156854311632266[38] = 1.0;
-   out_5872156854311632266[39] = 0.0;
-   out_5872156854311632266[40] = 0.0;
-   out_5872156854311632266[41] = 0.0;
-   out_5872156854311632266[42] = 0.0;
-   out_5872156854311632266[43] = 0.0;
-   out_5872156854311632266[44] = 0.0;
-   out_5872156854311632266[45] = 0.0;
-   out_5872156854311632266[46] = 0.0;
-   out_5872156854311632266[47] = 0.0;
-   out_5872156854311632266[48] = 0.0;
-   out_5872156854311632266[49] = 0.0;
-   out_5872156854311632266[50] = 0.0;
-   out_5872156854311632266[51] = 0.0;
-   out_5872156854311632266[52] = 0.0;
-   out_5872156854311632266[53] = 0.0;
-   out_5872156854311632266[54] = 0.0;
-   out_5872156854311632266[55] = 0.0;
-   out_5872156854311632266[56] = 0.0;
-   out_5872156854311632266[57] = 1.0;
-   out_5872156854311632266[58] = 0.0;
-   out_5872156854311632266[59] = 0.0;
-   out_5872156854311632266[60] = 0.0;
-   out_5872156854311632266[61] = 0.0;
-   out_5872156854311632266[62] = 0.0;
-   out_5872156854311632266[63] = 0.0;
-   out_5872156854311632266[64] = 0.0;
-   out_5872156854311632266[65] = 0.0;
-   out_5872156854311632266[66] = 0.0;
-   out_5872156854311632266[67] = 0.0;
-   out_5872156854311632266[68] = 0.0;
-   out_5872156854311632266[69] = 0.0;
-   out_5872156854311632266[70] = 0.0;
-   out_5872156854311632266[71] = 0.0;
-   out_5872156854311632266[72] = 0.0;
-   out_5872156854311632266[73] = 0.0;
-   out_5872156854311632266[74] = 0.0;
-   out_5872156854311632266[75] = 0.0;
-   out_5872156854311632266[76] = 1.0;
-   out_5872156854311632266[77] = 0.0;
-   out_5872156854311632266[78] = 0.0;
-   out_5872156854311632266[79] = 0.0;
-   out_5872156854311632266[80] = 0.0;
-   out_5872156854311632266[81] = 0.0;
-   out_5872156854311632266[82] = 0.0;
-   out_5872156854311632266[83] = 0.0;
-   out_5872156854311632266[84] = 0.0;
-   out_5872156854311632266[85] = 0.0;
-   out_5872156854311632266[86] = 0.0;
-   out_5872156854311632266[87] = 0.0;
-   out_5872156854311632266[88] = 0.0;
-   out_5872156854311632266[89] = 0.0;
-   out_5872156854311632266[90] = 0.0;
-   out_5872156854311632266[91] = 0.0;
-   out_5872156854311632266[92] = 0.0;
-   out_5872156854311632266[93] = 0.0;
-   out_5872156854311632266[94] = 0.0;
-   out_5872156854311632266[95] = 1.0;
-   out_5872156854311632266[96] = 0.0;
-   out_5872156854311632266[97] = 0.0;
-   out_5872156854311632266[98] = 0.0;
-   out_5872156854311632266[99] = 0.0;
-   out_5872156854311632266[100] = 0.0;
-   out_5872156854311632266[101] = 0.0;
-   out_5872156854311632266[102] = 0.0;
-   out_5872156854311632266[103] = 0.0;
-   out_5872156854311632266[104] = 0.0;
-   out_5872156854311632266[105] = 0.0;
-   out_5872156854311632266[106] = 0.0;
-   out_5872156854311632266[107] = 0.0;
-   out_5872156854311632266[108] = 0.0;
-   out_5872156854311632266[109] = 0.0;
-   out_5872156854311632266[110] = 0.0;
-   out_5872156854311632266[111] = 0.0;
-   out_5872156854311632266[112] = 0.0;
-   out_5872156854311632266[113] = 0.0;
-   out_5872156854311632266[114] = 1.0;
-   out_5872156854311632266[115] = 0.0;
-   out_5872156854311632266[116] = 0.0;
-   out_5872156854311632266[117] = 0.0;
-   out_5872156854311632266[118] = 0.0;
-   out_5872156854311632266[119] = 0.0;
-   out_5872156854311632266[120] = 0.0;
-   out_5872156854311632266[121] = 0.0;
-   out_5872156854311632266[122] = 0.0;
-   out_5872156854311632266[123] = 0.0;
-   out_5872156854311632266[124] = 0.0;
-   out_5872156854311632266[125] = 0.0;
-   out_5872156854311632266[126] = 0.0;
-   out_5872156854311632266[127] = 0.0;
-   out_5872156854311632266[128] = 0.0;
-   out_5872156854311632266[129] = 0.0;
-   out_5872156854311632266[130] = 0.0;
-   out_5872156854311632266[131] = 0.0;
-   out_5872156854311632266[132] = 0.0;
-   out_5872156854311632266[133] = 1.0;
-   out_5872156854311632266[134] = 0.0;
-   out_5872156854311632266[135] = 0.0;
-   out_5872156854311632266[136] = 0.0;
-   out_5872156854311632266[137] = 0.0;
-   out_5872156854311632266[138] = 0.0;
-   out_5872156854311632266[139] = 0.0;
-   out_5872156854311632266[140] = 0.0;
-   out_5872156854311632266[141] = 0.0;
-   out_5872156854311632266[142] = 0.0;
-   out_5872156854311632266[143] = 0.0;
-   out_5872156854311632266[144] = 0.0;
-   out_5872156854311632266[145] = 0.0;
-   out_5872156854311632266[146] = 0.0;
-   out_5872156854311632266[147] = 0.0;
-   out_5872156854311632266[148] = 0.0;
-   out_5872156854311632266[149] = 0.0;
-   out_5872156854311632266[150] = 0.0;
-   out_5872156854311632266[151] = 0.0;
-   out_5872156854311632266[152] = 1.0;
-   out_5872156854311632266[153] = 0.0;
-   out_5872156854311632266[154] = 0.0;
-   out_5872156854311632266[155] = 0.0;
-   out_5872156854311632266[156] = 0.0;
-   out_5872156854311632266[157] = 0.0;
-   out_5872156854311632266[158] = 0.0;
-   out_5872156854311632266[159] = 0.0;
-   out_5872156854311632266[160] = 0.0;
-   out_5872156854311632266[161] = 0.0;
-   out_5872156854311632266[162] = 0.0;
-   out_5872156854311632266[163] = 0.0;
-   out_5872156854311632266[164] = 0.0;
-   out_5872156854311632266[165] = 0.0;
-   out_5872156854311632266[166] = 0.0;
-   out_5872156854311632266[167] = 0.0;
-   out_5872156854311632266[168] = 0.0;
-   out_5872156854311632266[169] = 0.0;
-   out_5872156854311632266[170] = 0.0;
-   out_5872156854311632266[171] = 1.0;
-   out_5872156854311632266[172] = 0.0;
-   out_5872156854311632266[173] = 0.0;
-   out_5872156854311632266[174] = 0.0;
-   out_5872156854311632266[175] = 0.0;
-   out_5872156854311632266[176] = 0.0;
-   out_5872156854311632266[177] = 0.0;
-   out_5872156854311632266[178] = 0.0;
-   out_5872156854311632266[179] = 0.0;
-   out_5872156854311632266[180] = 0.0;
-   out_5872156854311632266[181] = 0.0;
-   out_5872156854311632266[182] = 0.0;
-   out_5872156854311632266[183] = 0.0;
-   out_5872156854311632266[184] = 0.0;
-   out_5872156854311632266[185] = 0.0;
-   out_5872156854311632266[186] = 0.0;
-   out_5872156854311632266[187] = 0.0;
-   out_5872156854311632266[188] = 0.0;
-   out_5872156854311632266[189] = 0.0;
-   out_5872156854311632266[190] = 1.0;
-   out_5872156854311632266[191] = 0.0;
-   out_5872156854311632266[192] = 0.0;
-   out_5872156854311632266[193] = 0.0;
-   out_5872156854311632266[194] = 0.0;
-   out_5872156854311632266[195] = 0.0;
-   out_5872156854311632266[196] = 0.0;
-   out_5872156854311632266[197] = 0.0;
-   out_5872156854311632266[198] = 0.0;
-   out_5872156854311632266[199] = 0.0;
-   out_5872156854311632266[200] = 0.0;
-   out_5872156854311632266[201] = 0.0;
-   out_5872156854311632266[202] = 0.0;
-   out_5872156854311632266[203] = 0.0;
-   out_5872156854311632266[204] = 0.0;
-   out_5872156854311632266[205] = 0.0;
-   out_5872156854311632266[206] = 0.0;
-   out_5872156854311632266[207] = 0.0;
-   out_5872156854311632266[208] = 0.0;
-   out_5872156854311632266[209] = 1.0;
-   out_5872156854311632266[210] = 0.0;
-   out_5872156854311632266[211] = 0.0;
-   out_5872156854311632266[212] = 0.0;
-   out_5872156854311632266[213] = 0.0;
-   out_5872156854311632266[214] = 0.0;
-   out_5872156854311632266[215] = 0.0;
-   out_5872156854311632266[216] = 0.0;
-   out_5872156854311632266[217] = 0.0;
-   out_5872156854311632266[218] = 0.0;
-   out_5872156854311632266[219] = 0.0;
-   out_5872156854311632266[220] = 0.0;
-   out_5872156854311632266[221] = 0.0;
-   out_5872156854311632266[222] = 0.0;
-   out_5872156854311632266[223] = 0.0;
-   out_5872156854311632266[224] = 0.0;
-   out_5872156854311632266[225] = 0.0;
-   out_5872156854311632266[226] = 0.0;
-   out_5872156854311632266[227] = 0.0;
-   out_5872156854311632266[228] = 1.0;
-   out_5872156854311632266[229] = 0.0;
-   out_5872156854311632266[230] = 0.0;
-   out_5872156854311632266[231] = 0.0;
-   out_5872156854311632266[232] = 0.0;
-   out_5872156854311632266[233] = 0.0;
-   out_5872156854311632266[234] = 0.0;
-   out_5872156854311632266[235] = 0.0;
-   out_5872156854311632266[236] = 0.0;
-   out_5872156854311632266[237] = 0.0;
-   out_5872156854311632266[238] = 0.0;
-   out_5872156854311632266[239] = 0.0;
-   out_5872156854311632266[240] = 0.0;
-   out_5872156854311632266[241] = 0.0;
-   out_5872156854311632266[242] = 0.0;
-   out_5872156854311632266[243] = 0.0;
-   out_5872156854311632266[244] = 0.0;
-   out_5872156854311632266[245] = 0.0;
-   out_5872156854311632266[246] = 0.0;
-   out_5872156854311632266[247] = 1.0;
-   out_5872156854311632266[248] = 0.0;
-   out_5872156854311632266[249] = 0.0;
-   out_5872156854311632266[250] = 0.0;
-   out_5872156854311632266[251] = 0.0;
-   out_5872156854311632266[252] = 0.0;
-   out_5872156854311632266[253] = 0.0;
-   out_5872156854311632266[254] = 0.0;
-   out_5872156854311632266[255] = 0.0;
-   out_5872156854311632266[256] = 0.0;
-   out_5872156854311632266[257] = 0.0;
-   out_5872156854311632266[258] = 0.0;
-   out_5872156854311632266[259] = 0.0;
-   out_5872156854311632266[260] = 0.0;
-   out_5872156854311632266[261] = 0.0;
-   out_5872156854311632266[262] = 0.0;
-   out_5872156854311632266[263] = 0.0;
-   out_5872156854311632266[264] = 0.0;
-   out_5872156854311632266[265] = 0.0;
-   out_5872156854311632266[266] = 1.0;
-   out_5872156854311632266[267] = 0.0;
-   out_5872156854311632266[268] = 0.0;
-   out_5872156854311632266[269] = 0.0;
-   out_5872156854311632266[270] = 0.0;
-   out_5872156854311632266[271] = 0.0;
-   out_5872156854311632266[272] = 0.0;
-   out_5872156854311632266[273] = 0.0;
-   out_5872156854311632266[274] = 0.0;
-   out_5872156854311632266[275] = 0.0;
-   out_5872156854311632266[276] = 0.0;
-   out_5872156854311632266[277] = 0.0;
-   out_5872156854311632266[278] = 0.0;
-   out_5872156854311632266[279] = 0.0;
-   out_5872156854311632266[280] = 0.0;
-   out_5872156854311632266[281] = 0.0;
-   out_5872156854311632266[282] = 0.0;
-   out_5872156854311632266[283] = 0.0;
-   out_5872156854311632266[284] = 0.0;
-   out_5872156854311632266[285] = 1.0;
-   out_5872156854311632266[286] = 0.0;
-   out_5872156854311632266[287] = 0.0;
-   out_5872156854311632266[288] = 0.0;
-   out_5872156854311632266[289] = 0.0;
-   out_5872156854311632266[290] = 0.0;
-   out_5872156854311632266[291] = 0.0;
-   out_5872156854311632266[292] = 0.0;
-   out_5872156854311632266[293] = 0.0;
-   out_5872156854311632266[294] = 0.0;
-   out_5872156854311632266[295] = 0.0;
-   out_5872156854311632266[296] = 0.0;
-   out_5872156854311632266[297] = 0.0;
-   out_5872156854311632266[298] = 0.0;
-   out_5872156854311632266[299] = 0.0;
-   out_5872156854311632266[300] = 0.0;
-   out_5872156854311632266[301] = 0.0;
-   out_5872156854311632266[302] = 0.0;
-   out_5872156854311632266[303] = 0.0;
-   out_5872156854311632266[304] = 1.0;
-   out_5872156854311632266[305] = 0.0;
-   out_5872156854311632266[306] = 0.0;
-   out_5872156854311632266[307] = 0.0;
-   out_5872156854311632266[308] = 0.0;
-   out_5872156854311632266[309] = 0.0;
-   out_5872156854311632266[310] = 0.0;
-   out_5872156854311632266[311] = 0.0;
-   out_5872156854311632266[312] = 0.0;
-   out_5872156854311632266[313] = 0.0;
-   out_5872156854311632266[314] = 0.0;
-   out_5872156854311632266[315] = 0.0;
-   out_5872156854311632266[316] = 0.0;
-   out_5872156854311632266[317] = 0.0;
-   out_5872156854311632266[318] = 0.0;
-   out_5872156854311632266[319] = 0.0;
-   out_5872156854311632266[320] = 0.0;
-   out_5872156854311632266[321] = 0.0;
-   out_5872156854311632266[322] = 0.0;
-   out_5872156854311632266[323] = 1.0;
+void H_mod_fun(double *state, double *out_6893734767702127169) {
+   out_6893734767702127169[0] = 1.0;
+   out_6893734767702127169[1] = 0.0;
+   out_6893734767702127169[2] = 0.0;
+   out_6893734767702127169[3] = 0.0;
+   out_6893734767702127169[4] = 0.0;
+   out_6893734767702127169[5] = 0.0;
+   out_6893734767702127169[6] = 0.0;
+   out_6893734767702127169[7] = 0.0;
+   out_6893734767702127169[8] = 0.0;
+   out_6893734767702127169[9] = 0.0;
+   out_6893734767702127169[10] = 0.0;
+   out_6893734767702127169[11] = 0.0;
+   out_6893734767702127169[12] = 0.0;
+   out_6893734767702127169[13] = 0.0;
+   out_6893734767702127169[14] = 0.0;
+   out_6893734767702127169[15] = 0.0;
+   out_6893734767702127169[16] = 0.0;
+   out_6893734767702127169[17] = 0.0;
+   out_6893734767702127169[18] = 0.0;
+   out_6893734767702127169[19] = 1.0;
+   out_6893734767702127169[20] = 0.0;
+   out_6893734767702127169[21] = 0.0;
+   out_6893734767702127169[22] = 0.0;
+   out_6893734767702127169[23] = 0.0;
+   out_6893734767702127169[24] = 0.0;
+   out_6893734767702127169[25] = 0.0;
+   out_6893734767702127169[26] = 0.0;
+   out_6893734767702127169[27] = 0.0;
+   out_6893734767702127169[28] = 0.0;
+   out_6893734767702127169[29] = 0.0;
+   out_6893734767702127169[30] = 0.0;
+   out_6893734767702127169[31] = 0.0;
+   out_6893734767702127169[32] = 0.0;
+   out_6893734767702127169[33] = 0.0;
+   out_6893734767702127169[34] = 0.0;
+   out_6893734767702127169[35] = 0.0;
+   out_6893734767702127169[36] = 0.0;
+   out_6893734767702127169[37] = 0.0;
+   out_6893734767702127169[38] = 1.0;
+   out_6893734767702127169[39] = 0.0;
+   out_6893734767702127169[40] = 0.0;
+   out_6893734767702127169[41] = 0.0;
+   out_6893734767702127169[42] = 0.0;
+   out_6893734767702127169[43] = 0.0;
+   out_6893734767702127169[44] = 0.0;
+   out_6893734767702127169[45] = 0.0;
+   out_6893734767702127169[46] = 0.0;
+   out_6893734767702127169[47] = 0.0;
+   out_6893734767702127169[48] = 0.0;
+   out_6893734767702127169[49] = 0.0;
+   out_6893734767702127169[50] = 0.0;
+   out_6893734767702127169[51] = 0.0;
+   out_6893734767702127169[52] = 0.0;
+   out_6893734767702127169[53] = 0.0;
+   out_6893734767702127169[54] = 0.0;
+   out_6893734767702127169[55] = 0.0;
+   out_6893734767702127169[56] = 0.0;
+   out_6893734767702127169[57] = 1.0;
+   out_6893734767702127169[58] = 0.0;
+   out_6893734767702127169[59] = 0.0;
+   out_6893734767702127169[60] = 0.0;
+   out_6893734767702127169[61] = 0.0;
+   out_6893734767702127169[62] = 0.0;
+   out_6893734767702127169[63] = 0.0;
+   out_6893734767702127169[64] = 0.0;
+   out_6893734767702127169[65] = 0.0;
+   out_6893734767702127169[66] = 0.0;
+   out_6893734767702127169[67] = 0.0;
+   out_6893734767702127169[68] = 0.0;
+   out_6893734767702127169[69] = 0.0;
+   out_6893734767702127169[70] = 0.0;
+   out_6893734767702127169[71] = 0.0;
+   out_6893734767702127169[72] = 0.0;
+   out_6893734767702127169[73] = 0.0;
+   out_6893734767702127169[74] = 0.0;
+   out_6893734767702127169[75] = 0.0;
+   out_6893734767702127169[76] = 1.0;
+   out_6893734767702127169[77] = 0.0;
+   out_6893734767702127169[78] = 0.0;
+   out_6893734767702127169[79] = 0.0;
+   out_6893734767702127169[80] = 0.0;
+   out_6893734767702127169[81] = 0.0;
+   out_6893734767702127169[82] = 0.0;
+   out_6893734767702127169[83] = 0.0;
+   out_6893734767702127169[84] = 0.0;
+   out_6893734767702127169[85] = 0.0;
+   out_6893734767702127169[86] = 0.0;
+   out_6893734767702127169[87] = 0.0;
+   out_6893734767702127169[88] = 0.0;
+   out_6893734767702127169[89] = 0.0;
+   out_6893734767702127169[90] = 0.0;
+   out_6893734767702127169[91] = 0.0;
+   out_6893734767702127169[92] = 0.0;
+   out_6893734767702127169[93] = 0.0;
+   out_6893734767702127169[94] = 0.0;
+   out_6893734767702127169[95] = 1.0;
+   out_6893734767702127169[96] = 0.0;
+   out_6893734767702127169[97] = 0.0;
+   out_6893734767702127169[98] = 0.0;
+   out_6893734767702127169[99] = 0.0;
+   out_6893734767702127169[100] = 0.0;
+   out_6893734767702127169[101] = 0.0;
+   out_6893734767702127169[102] = 0.0;
+   out_6893734767702127169[103] = 0.0;
+   out_6893734767702127169[104] = 0.0;
+   out_6893734767702127169[105] = 0.0;
+   out_6893734767702127169[106] = 0.0;
+   out_6893734767702127169[107] = 0.0;
+   out_6893734767702127169[108] = 0.0;
+   out_6893734767702127169[109] = 0.0;
+   out_6893734767702127169[110] = 0.0;
+   out_6893734767702127169[111] = 0.0;
+   out_6893734767702127169[112] = 0.0;
+   out_6893734767702127169[113] = 0.0;
+   out_6893734767702127169[114] = 1.0;
+   out_6893734767702127169[115] = 0.0;
+   out_6893734767702127169[116] = 0.0;
+   out_6893734767702127169[117] = 0.0;
+   out_6893734767702127169[118] = 0.0;
+   out_6893734767702127169[119] = 0.0;
+   out_6893734767702127169[120] = 0.0;
+   out_6893734767702127169[121] = 0.0;
+   out_6893734767702127169[122] = 0.0;
+   out_6893734767702127169[123] = 0.0;
+   out_6893734767702127169[124] = 0.0;
+   out_6893734767702127169[125] = 0.0;
+   out_6893734767702127169[126] = 0.0;
+   out_6893734767702127169[127] = 0.0;
+   out_6893734767702127169[128] = 0.0;
+   out_6893734767702127169[129] = 0.0;
+   out_6893734767702127169[130] = 0.0;
+   out_6893734767702127169[131] = 0.0;
+   out_6893734767702127169[132] = 0.0;
+   out_6893734767702127169[133] = 1.0;
+   out_6893734767702127169[134] = 0.0;
+   out_6893734767702127169[135] = 0.0;
+   out_6893734767702127169[136] = 0.0;
+   out_6893734767702127169[137] = 0.0;
+   out_6893734767702127169[138] = 0.0;
+   out_6893734767702127169[139] = 0.0;
+   out_6893734767702127169[140] = 0.0;
+   out_6893734767702127169[141] = 0.0;
+   out_6893734767702127169[142] = 0.0;
+   out_6893734767702127169[143] = 0.0;
+   out_6893734767702127169[144] = 0.0;
+   out_6893734767702127169[145] = 0.0;
+   out_6893734767702127169[146] = 0.0;
+   out_6893734767702127169[147] = 0.0;
+   out_6893734767702127169[148] = 0.0;
+   out_6893734767702127169[149] = 0.0;
+   out_6893734767702127169[150] = 0.0;
+   out_6893734767702127169[151] = 0.0;
+   out_6893734767702127169[152] = 1.0;
+   out_6893734767702127169[153] = 0.0;
+   out_6893734767702127169[154] = 0.0;
+   out_6893734767702127169[155] = 0.0;
+   out_6893734767702127169[156] = 0.0;
+   out_6893734767702127169[157] = 0.0;
+   out_6893734767702127169[158] = 0.0;
+   out_6893734767702127169[159] = 0.0;
+   out_6893734767702127169[160] = 0.0;
+   out_6893734767702127169[161] = 0.0;
+   out_6893734767702127169[162] = 0.0;
+   out_6893734767702127169[163] = 0.0;
+   out_6893734767702127169[164] = 0.0;
+   out_6893734767702127169[165] = 0.0;
+   out_6893734767702127169[166] = 0.0;
+   out_6893734767702127169[167] = 0.0;
+   out_6893734767702127169[168] = 0.0;
+   out_6893734767702127169[169] = 0.0;
+   out_6893734767702127169[170] = 0.0;
+   out_6893734767702127169[171] = 1.0;
+   out_6893734767702127169[172] = 0.0;
+   out_6893734767702127169[173] = 0.0;
+   out_6893734767702127169[174] = 0.0;
+   out_6893734767702127169[175] = 0.0;
+   out_6893734767702127169[176] = 0.0;
+   out_6893734767702127169[177] = 0.0;
+   out_6893734767702127169[178] = 0.0;
+   out_6893734767702127169[179] = 0.0;
+   out_6893734767702127169[180] = 0.0;
+   out_6893734767702127169[181] = 0.0;
+   out_6893734767702127169[182] = 0.0;
+   out_6893734767702127169[183] = 0.0;
+   out_6893734767702127169[184] = 0.0;
+   out_6893734767702127169[185] = 0.0;
+   out_6893734767702127169[186] = 0.0;
+   out_6893734767702127169[187] = 0.0;
+   out_6893734767702127169[188] = 0.0;
+   out_6893734767702127169[189] = 0.0;
+   out_6893734767702127169[190] = 1.0;
+   out_6893734767702127169[191] = 0.0;
+   out_6893734767702127169[192] = 0.0;
+   out_6893734767702127169[193] = 0.0;
+   out_6893734767702127169[194] = 0.0;
+   out_6893734767702127169[195] = 0.0;
+   out_6893734767702127169[196] = 0.0;
+   out_6893734767702127169[197] = 0.0;
+   out_6893734767702127169[198] = 0.0;
+   out_6893734767702127169[199] = 0.0;
+   out_6893734767702127169[200] = 0.0;
+   out_6893734767702127169[201] = 0.0;
+   out_6893734767702127169[202] = 0.0;
+   out_6893734767702127169[203] = 0.0;
+   out_6893734767702127169[204] = 0.0;
+   out_6893734767702127169[205] = 0.0;
+   out_6893734767702127169[206] = 0.0;
+   out_6893734767702127169[207] = 0.0;
+   out_6893734767702127169[208] = 0.0;
+   out_6893734767702127169[209] = 1.0;
+   out_6893734767702127169[210] = 0.0;
+   out_6893734767702127169[211] = 0.0;
+   out_6893734767702127169[212] = 0.0;
+   out_6893734767702127169[213] = 0.0;
+   out_6893734767702127169[214] = 0.0;
+   out_6893734767702127169[215] = 0.0;
+   out_6893734767702127169[216] = 0.0;
+   out_6893734767702127169[217] = 0.0;
+   out_6893734767702127169[218] = 0.0;
+   out_6893734767702127169[219] = 0.0;
+   out_6893734767702127169[220] = 0.0;
+   out_6893734767702127169[221] = 0.0;
+   out_6893734767702127169[222] = 0.0;
+   out_6893734767702127169[223] = 0.0;
+   out_6893734767702127169[224] = 0.0;
+   out_6893734767702127169[225] = 0.0;
+   out_6893734767702127169[226] = 0.0;
+   out_6893734767702127169[227] = 0.0;
+   out_6893734767702127169[228] = 1.0;
+   out_6893734767702127169[229] = 0.0;
+   out_6893734767702127169[230] = 0.0;
+   out_6893734767702127169[231] = 0.0;
+   out_6893734767702127169[232] = 0.0;
+   out_6893734767702127169[233] = 0.0;
+   out_6893734767702127169[234] = 0.0;
+   out_6893734767702127169[235] = 0.0;
+   out_6893734767702127169[236] = 0.0;
+   out_6893734767702127169[237] = 0.0;
+   out_6893734767702127169[238] = 0.0;
+   out_6893734767702127169[239] = 0.0;
+   out_6893734767702127169[240] = 0.0;
+   out_6893734767702127169[241] = 0.0;
+   out_6893734767702127169[242] = 0.0;
+   out_6893734767702127169[243] = 0.0;
+   out_6893734767702127169[244] = 0.0;
+   out_6893734767702127169[245] = 0.0;
+   out_6893734767702127169[246] = 0.0;
+   out_6893734767702127169[247] = 1.0;
+   out_6893734767702127169[248] = 0.0;
+   out_6893734767702127169[249] = 0.0;
+   out_6893734767702127169[250] = 0.0;
+   out_6893734767702127169[251] = 0.0;
+   out_6893734767702127169[252] = 0.0;
+   out_6893734767702127169[253] = 0.0;
+   out_6893734767702127169[254] = 0.0;
+   out_6893734767702127169[255] = 0.0;
+   out_6893734767702127169[256] = 0.0;
+   out_6893734767702127169[257] = 0.0;
+   out_6893734767702127169[258] = 0.0;
+   out_6893734767702127169[259] = 0.0;
+   out_6893734767702127169[260] = 0.0;
+   out_6893734767702127169[261] = 0.0;
+   out_6893734767702127169[262] = 0.0;
+   out_6893734767702127169[263] = 0.0;
+   out_6893734767702127169[264] = 0.0;
+   out_6893734767702127169[265] = 0.0;
+   out_6893734767702127169[266] = 1.0;
+   out_6893734767702127169[267] = 0.0;
+   out_6893734767702127169[268] = 0.0;
+   out_6893734767702127169[269] = 0.0;
+   out_6893734767702127169[270] = 0.0;
+   out_6893734767702127169[271] = 0.0;
+   out_6893734767702127169[272] = 0.0;
+   out_6893734767702127169[273] = 0.0;
+   out_6893734767702127169[274] = 0.0;
+   out_6893734767702127169[275] = 0.0;
+   out_6893734767702127169[276] = 0.0;
+   out_6893734767702127169[277] = 0.0;
+   out_6893734767702127169[278] = 0.0;
+   out_6893734767702127169[279] = 0.0;
+   out_6893734767702127169[280] = 0.0;
+   out_6893734767702127169[281] = 0.0;
+   out_6893734767702127169[282] = 0.0;
+   out_6893734767702127169[283] = 0.0;
+   out_6893734767702127169[284] = 0.0;
+   out_6893734767702127169[285] = 1.0;
+   out_6893734767702127169[286] = 0.0;
+   out_6893734767702127169[287] = 0.0;
+   out_6893734767702127169[288] = 0.0;
+   out_6893734767702127169[289] = 0.0;
+   out_6893734767702127169[290] = 0.0;
+   out_6893734767702127169[291] = 0.0;
+   out_6893734767702127169[292] = 0.0;
+   out_6893734767702127169[293] = 0.0;
+   out_6893734767702127169[294] = 0.0;
+   out_6893734767702127169[295] = 0.0;
+   out_6893734767702127169[296] = 0.0;
+   out_6893734767702127169[297] = 0.0;
+   out_6893734767702127169[298] = 0.0;
+   out_6893734767702127169[299] = 0.0;
+   out_6893734767702127169[300] = 0.0;
+   out_6893734767702127169[301] = 0.0;
+   out_6893734767702127169[302] = 0.0;
+   out_6893734767702127169[303] = 0.0;
+   out_6893734767702127169[304] = 1.0;
+   out_6893734767702127169[305] = 0.0;
+   out_6893734767702127169[306] = 0.0;
+   out_6893734767702127169[307] = 0.0;
+   out_6893734767702127169[308] = 0.0;
+   out_6893734767702127169[309] = 0.0;
+   out_6893734767702127169[310] = 0.0;
+   out_6893734767702127169[311] = 0.0;
+   out_6893734767702127169[312] = 0.0;
+   out_6893734767702127169[313] = 0.0;
+   out_6893734767702127169[314] = 0.0;
+   out_6893734767702127169[315] = 0.0;
+   out_6893734767702127169[316] = 0.0;
+   out_6893734767702127169[317] = 0.0;
+   out_6893734767702127169[318] = 0.0;
+   out_6893734767702127169[319] = 0.0;
+   out_6893734767702127169[320] = 0.0;
+   out_6893734767702127169[321] = 0.0;
+   out_6893734767702127169[322] = 0.0;
+   out_6893734767702127169[323] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_7853950092549063317) {
-   out_7853950092549063317[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]));
-   out_7853950092549063317[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]));
-   out_7853950092549063317[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]));
-   out_7853950092549063317[3] = dt*state[12] + state[3];
-   out_7853950092549063317[4] = dt*state[13] + state[4];
-   out_7853950092549063317[5] = dt*state[14] + state[5];
-   out_7853950092549063317[6] = state[6];
-   out_7853950092549063317[7] = state[7];
-   out_7853950092549063317[8] = state[8];
-   out_7853950092549063317[9] = state[9];
-   out_7853950092549063317[10] = state[10];
-   out_7853950092549063317[11] = state[11];
-   out_7853950092549063317[12] = state[12];
-   out_7853950092549063317[13] = state[13];
-   out_7853950092549063317[14] = state[14];
-   out_7853950092549063317[15] = state[15];
-   out_7853950092549063317[16] = state[16];
-   out_7853950092549063317[17] = state[17];
+void f_fun(double *state, double dt, double *out_6153064126878909392) {
+   out_6153064126878909392[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]));
+   out_6153064126878909392[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]));
+   out_6153064126878909392[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]));
+   out_6153064126878909392[3] = dt*state[12] + state[3];
+   out_6153064126878909392[4] = dt*state[13] + state[4];
+   out_6153064126878909392[5] = dt*state[14] + state[5];
+   out_6153064126878909392[6] = state[6];
+   out_6153064126878909392[7] = state[7];
+   out_6153064126878909392[8] = state[8];
+   out_6153064126878909392[9] = state[9];
+   out_6153064126878909392[10] = state[10];
+   out_6153064126878909392[11] = state[11];
+   out_6153064126878909392[12] = state[12];
+   out_6153064126878909392[13] = state[13];
+   out_6153064126878909392[14] = state[14];
+   out_6153064126878909392[15] = state[15];
+   out_6153064126878909392[16] = state[16];
+   out_6153064126878909392[17] = state[17];
 }
-void F_fun(double *state, double dt, double *out_2347128049005111238) {
-   out_2347128049005111238[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_2347128049005111238[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_2347128049005111238[2] = 0;
-   out_2347128049005111238[3] = 0;
-   out_2347128049005111238[4] = 0;
-   out_2347128049005111238[5] = 0;
-   out_2347128049005111238[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_2347128049005111238[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_2347128049005111238[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
-   out_2347128049005111238[9] = 0;
-   out_2347128049005111238[10] = 0;
-   out_2347128049005111238[11] = 0;
-   out_2347128049005111238[12] = 0;
-   out_2347128049005111238[13] = 0;
-   out_2347128049005111238[14] = 0;
-   out_2347128049005111238[15] = 0;
-   out_2347128049005111238[16] = 0;
-   out_2347128049005111238[17] = 0;
-   out_2347128049005111238[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_2347128049005111238[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_2347128049005111238[20] = 0;
-   out_2347128049005111238[21] = 0;
-   out_2347128049005111238[22] = 0;
-   out_2347128049005111238[23] = 0;
-   out_2347128049005111238[24] = 0;
-   out_2347128049005111238[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_2347128049005111238[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
-   out_2347128049005111238[27] = 0;
-   out_2347128049005111238[28] = 0;
-   out_2347128049005111238[29] = 0;
-   out_2347128049005111238[30] = 0;
-   out_2347128049005111238[31] = 0;
-   out_2347128049005111238[32] = 0;
-   out_2347128049005111238[33] = 0;
-   out_2347128049005111238[34] = 0;
-   out_2347128049005111238[35] = 0;
-   out_2347128049005111238[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_2347128049005111238[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_2347128049005111238[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_2347128049005111238[39] = 0;
-   out_2347128049005111238[40] = 0;
-   out_2347128049005111238[41] = 0;
-   out_2347128049005111238[42] = 0;
-   out_2347128049005111238[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_2347128049005111238[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
-   out_2347128049005111238[45] = 0;
-   out_2347128049005111238[46] = 0;
-   out_2347128049005111238[47] = 0;
-   out_2347128049005111238[48] = 0;
-   out_2347128049005111238[49] = 0;
-   out_2347128049005111238[50] = 0;
-   out_2347128049005111238[51] = 0;
-   out_2347128049005111238[52] = 0;
-   out_2347128049005111238[53] = 0;
-   out_2347128049005111238[54] = 0;
-   out_2347128049005111238[55] = 0;
-   out_2347128049005111238[56] = 0;
-   out_2347128049005111238[57] = 1;
-   out_2347128049005111238[58] = 0;
-   out_2347128049005111238[59] = 0;
-   out_2347128049005111238[60] = 0;
-   out_2347128049005111238[61] = 0;
-   out_2347128049005111238[62] = 0;
-   out_2347128049005111238[63] = 0;
-   out_2347128049005111238[64] = 0;
-   out_2347128049005111238[65] = 0;
-   out_2347128049005111238[66] = dt;
-   out_2347128049005111238[67] = 0;
-   out_2347128049005111238[68] = 0;
-   out_2347128049005111238[69] = 0;
-   out_2347128049005111238[70] = 0;
-   out_2347128049005111238[71] = 0;
-   out_2347128049005111238[72] = 0;
-   out_2347128049005111238[73] = 0;
-   out_2347128049005111238[74] = 0;
-   out_2347128049005111238[75] = 0;
-   out_2347128049005111238[76] = 1;
-   out_2347128049005111238[77] = 0;
-   out_2347128049005111238[78] = 0;
-   out_2347128049005111238[79] = 0;
-   out_2347128049005111238[80] = 0;
-   out_2347128049005111238[81] = 0;
-   out_2347128049005111238[82] = 0;
-   out_2347128049005111238[83] = 0;
-   out_2347128049005111238[84] = 0;
-   out_2347128049005111238[85] = dt;
-   out_2347128049005111238[86] = 0;
-   out_2347128049005111238[87] = 0;
-   out_2347128049005111238[88] = 0;
-   out_2347128049005111238[89] = 0;
-   out_2347128049005111238[90] = 0;
-   out_2347128049005111238[91] = 0;
-   out_2347128049005111238[92] = 0;
-   out_2347128049005111238[93] = 0;
-   out_2347128049005111238[94] = 0;
-   out_2347128049005111238[95] = 1;
-   out_2347128049005111238[96] = 0;
-   out_2347128049005111238[97] = 0;
-   out_2347128049005111238[98] = 0;
-   out_2347128049005111238[99] = 0;
-   out_2347128049005111238[100] = 0;
-   out_2347128049005111238[101] = 0;
-   out_2347128049005111238[102] = 0;
-   out_2347128049005111238[103] = 0;
-   out_2347128049005111238[104] = dt;
-   out_2347128049005111238[105] = 0;
-   out_2347128049005111238[106] = 0;
-   out_2347128049005111238[107] = 0;
-   out_2347128049005111238[108] = 0;
-   out_2347128049005111238[109] = 0;
-   out_2347128049005111238[110] = 0;
-   out_2347128049005111238[111] = 0;
-   out_2347128049005111238[112] = 0;
-   out_2347128049005111238[113] = 0;
-   out_2347128049005111238[114] = 1;
-   out_2347128049005111238[115] = 0;
-   out_2347128049005111238[116] = 0;
-   out_2347128049005111238[117] = 0;
-   out_2347128049005111238[118] = 0;
-   out_2347128049005111238[119] = 0;
-   out_2347128049005111238[120] = 0;
-   out_2347128049005111238[121] = 0;
-   out_2347128049005111238[122] = 0;
-   out_2347128049005111238[123] = 0;
-   out_2347128049005111238[124] = 0;
-   out_2347128049005111238[125] = 0;
-   out_2347128049005111238[126] = 0;
-   out_2347128049005111238[127] = 0;
-   out_2347128049005111238[128] = 0;
-   out_2347128049005111238[129] = 0;
-   out_2347128049005111238[130] = 0;
-   out_2347128049005111238[131] = 0;
-   out_2347128049005111238[132] = 0;
-   out_2347128049005111238[133] = 1;
-   out_2347128049005111238[134] = 0;
-   out_2347128049005111238[135] = 0;
-   out_2347128049005111238[136] = 0;
-   out_2347128049005111238[137] = 0;
-   out_2347128049005111238[138] = 0;
-   out_2347128049005111238[139] = 0;
-   out_2347128049005111238[140] = 0;
-   out_2347128049005111238[141] = 0;
-   out_2347128049005111238[142] = 0;
-   out_2347128049005111238[143] = 0;
-   out_2347128049005111238[144] = 0;
-   out_2347128049005111238[145] = 0;
-   out_2347128049005111238[146] = 0;
-   out_2347128049005111238[147] = 0;
-   out_2347128049005111238[148] = 0;
-   out_2347128049005111238[149] = 0;
-   out_2347128049005111238[150] = 0;
-   out_2347128049005111238[151] = 0;
-   out_2347128049005111238[152] = 1;
-   out_2347128049005111238[153] = 0;
-   out_2347128049005111238[154] = 0;
-   out_2347128049005111238[155] = 0;
-   out_2347128049005111238[156] = 0;
-   out_2347128049005111238[157] = 0;
-   out_2347128049005111238[158] = 0;
-   out_2347128049005111238[159] = 0;
-   out_2347128049005111238[160] = 0;
-   out_2347128049005111238[161] = 0;
-   out_2347128049005111238[162] = 0;
-   out_2347128049005111238[163] = 0;
-   out_2347128049005111238[164] = 0;
-   out_2347128049005111238[165] = 0;
-   out_2347128049005111238[166] = 0;
-   out_2347128049005111238[167] = 0;
-   out_2347128049005111238[168] = 0;
-   out_2347128049005111238[169] = 0;
-   out_2347128049005111238[170] = 0;
-   out_2347128049005111238[171] = 1;
-   out_2347128049005111238[172] = 0;
-   out_2347128049005111238[173] = 0;
-   out_2347128049005111238[174] = 0;
-   out_2347128049005111238[175] = 0;
-   out_2347128049005111238[176] = 0;
-   out_2347128049005111238[177] = 0;
-   out_2347128049005111238[178] = 0;
-   out_2347128049005111238[179] = 0;
-   out_2347128049005111238[180] = 0;
-   out_2347128049005111238[181] = 0;
-   out_2347128049005111238[182] = 0;
-   out_2347128049005111238[183] = 0;
-   out_2347128049005111238[184] = 0;
-   out_2347128049005111238[185] = 0;
-   out_2347128049005111238[186] = 0;
-   out_2347128049005111238[187] = 0;
-   out_2347128049005111238[188] = 0;
-   out_2347128049005111238[189] = 0;
-   out_2347128049005111238[190] = 1;
-   out_2347128049005111238[191] = 0;
-   out_2347128049005111238[192] = 0;
-   out_2347128049005111238[193] = 0;
-   out_2347128049005111238[194] = 0;
-   out_2347128049005111238[195] = 0;
-   out_2347128049005111238[196] = 0;
-   out_2347128049005111238[197] = 0;
-   out_2347128049005111238[198] = 0;
-   out_2347128049005111238[199] = 0;
-   out_2347128049005111238[200] = 0;
-   out_2347128049005111238[201] = 0;
-   out_2347128049005111238[202] = 0;
-   out_2347128049005111238[203] = 0;
-   out_2347128049005111238[204] = 0;
-   out_2347128049005111238[205] = 0;
-   out_2347128049005111238[206] = 0;
-   out_2347128049005111238[207] = 0;
-   out_2347128049005111238[208] = 0;
-   out_2347128049005111238[209] = 1;
-   out_2347128049005111238[210] = 0;
-   out_2347128049005111238[211] = 0;
-   out_2347128049005111238[212] = 0;
-   out_2347128049005111238[213] = 0;
-   out_2347128049005111238[214] = 0;
-   out_2347128049005111238[215] = 0;
-   out_2347128049005111238[216] = 0;
-   out_2347128049005111238[217] = 0;
-   out_2347128049005111238[218] = 0;
-   out_2347128049005111238[219] = 0;
-   out_2347128049005111238[220] = 0;
-   out_2347128049005111238[221] = 0;
-   out_2347128049005111238[222] = 0;
-   out_2347128049005111238[223] = 0;
-   out_2347128049005111238[224] = 0;
-   out_2347128049005111238[225] = 0;
-   out_2347128049005111238[226] = 0;
-   out_2347128049005111238[227] = 0;
-   out_2347128049005111238[228] = 1;
-   out_2347128049005111238[229] = 0;
-   out_2347128049005111238[230] = 0;
-   out_2347128049005111238[231] = 0;
-   out_2347128049005111238[232] = 0;
-   out_2347128049005111238[233] = 0;
-   out_2347128049005111238[234] = 0;
-   out_2347128049005111238[235] = 0;
-   out_2347128049005111238[236] = 0;
-   out_2347128049005111238[237] = 0;
-   out_2347128049005111238[238] = 0;
-   out_2347128049005111238[239] = 0;
-   out_2347128049005111238[240] = 0;
-   out_2347128049005111238[241] = 0;
-   out_2347128049005111238[242] = 0;
-   out_2347128049005111238[243] = 0;
-   out_2347128049005111238[244] = 0;
-   out_2347128049005111238[245] = 0;
-   out_2347128049005111238[246] = 0;
-   out_2347128049005111238[247] = 1;
-   out_2347128049005111238[248] = 0;
-   out_2347128049005111238[249] = 0;
-   out_2347128049005111238[250] = 0;
-   out_2347128049005111238[251] = 0;
-   out_2347128049005111238[252] = 0;
-   out_2347128049005111238[253] = 0;
-   out_2347128049005111238[254] = 0;
-   out_2347128049005111238[255] = 0;
-   out_2347128049005111238[256] = 0;
-   out_2347128049005111238[257] = 0;
-   out_2347128049005111238[258] = 0;
-   out_2347128049005111238[259] = 0;
-   out_2347128049005111238[260] = 0;
-   out_2347128049005111238[261] = 0;
-   out_2347128049005111238[262] = 0;
-   out_2347128049005111238[263] = 0;
-   out_2347128049005111238[264] = 0;
-   out_2347128049005111238[265] = 0;
-   out_2347128049005111238[266] = 1;
-   out_2347128049005111238[267] = 0;
-   out_2347128049005111238[268] = 0;
-   out_2347128049005111238[269] = 0;
-   out_2347128049005111238[270] = 0;
-   out_2347128049005111238[271] = 0;
-   out_2347128049005111238[272] = 0;
-   out_2347128049005111238[273] = 0;
-   out_2347128049005111238[274] = 0;
-   out_2347128049005111238[275] = 0;
-   out_2347128049005111238[276] = 0;
-   out_2347128049005111238[277] = 0;
-   out_2347128049005111238[278] = 0;
-   out_2347128049005111238[279] = 0;
-   out_2347128049005111238[280] = 0;
-   out_2347128049005111238[281] = 0;
-   out_2347128049005111238[282] = 0;
-   out_2347128049005111238[283] = 0;
-   out_2347128049005111238[284] = 0;
-   out_2347128049005111238[285] = 1;
-   out_2347128049005111238[286] = 0;
-   out_2347128049005111238[287] = 0;
-   out_2347128049005111238[288] = 0;
-   out_2347128049005111238[289] = 0;
-   out_2347128049005111238[290] = 0;
-   out_2347128049005111238[291] = 0;
-   out_2347128049005111238[292] = 0;
-   out_2347128049005111238[293] = 0;
-   out_2347128049005111238[294] = 0;
-   out_2347128049005111238[295] = 0;
-   out_2347128049005111238[296] = 0;
-   out_2347128049005111238[297] = 0;
-   out_2347128049005111238[298] = 0;
-   out_2347128049005111238[299] = 0;
-   out_2347128049005111238[300] = 0;
-   out_2347128049005111238[301] = 0;
-   out_2347128049005111238[302] = 0;
-   out_2347128049005111238[303] = 0;
-   out_2347128049005111238[304] = 1;
-   out_2347128049005111238[305] = 0;
-   out_2347128049005111238[306] = 0;
-   out_2347128049005111238[307] = 0;
-   out_2347128049005111238[308] = 0;
-   out_2347128049005111238[309] = 0;
-   out_2347128049005111238[310] = 0;
-   out_2347128049005111238[311] = 0;
-   out_2347128049005111238[312] = 0;
-   out_2347128049005111238[313] = 0;
-   out_2347128049005111238[314] = 0;
-   out_2347128049005111238[315] = 0;
-   out_2347128049005111238[316] = 0;
-   out_2347128049005111238[317] = 0;
-   out_2347128049005111238[318] = 0;
-   out_2347128049005111238[319] = 0;
-   out_2347128049005111238[320] = 0;
-   out_2347128049005111238[321] = 0;
-   out_2347128049005111238[322] = 0;
-   out_2347128049005111238[323] = 1;
+void F_fun(double *state, double dt, double *out_3286506466705227237) {
+   out_3286506466705227237[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_3286506466705227237[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_3286506466705227237[2] = 0;
+   out_3286506466705227237[3] = 0;
+   out_3286506466705227237[4] = 0;
+   out_3286506466705227237[5] = 0;
+   out_3286506466705227237[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_3286506466705227237[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_3286506466705227237[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
+   out_3286506466705227237[9] = 0;
+   out_3286506466705227237[10] = 0;
+   out_3286506466705227237[11] = 0;
+   out_3286506466705227237[12] = 0;
+   out_3286506466705227237[13] = 0;
+   out_3286506466705227237[14] = 0;
+   out_3286506466705227237[15] = 0;
+   out_3286506466705227237[16] = 0;
+   out_3286506466705227237[17] = 0;
+   out_3286506466705227237[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_3286506466705227237[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_3286506466705227237[20] = 0;
+   out_3286506466705227237[21] = 0;
+   out_3286506466705227237[22] = 0;
+   out_3286506466705227237[23] = 0;
+   out_3286506466705227237[24] = 0;
+   out_3286506466705227237[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_3286506466705227237[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
+   out_3286506466705227237[27] = 0;
+   out_3286506466705227237[28] = 0;
+   out_3286506466705227237[29] = 0;
+   out_3286506466705227237[30] = 0;
+   out_3286506466705227237[31] = 0;
+   out_3286506466705227237[32] = 0;
+   out_3286506466705227237[33] = 0;
+   out_3286506466705227237[34] = 0;
+   out_3286506466705227237[35] = 0;
+   out_3286506466705227237[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_3286506466705227237[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_3286506466705227237[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_3286506466705227237[39] = 0;
+   out_3286506466705227237[40] = 0;
+   out_3286506466705227237[41] = 0;
+   out_3286506466705227237[42] = 0;
+   out_3286506466705227237[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_3286506466705227237[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
+   out_3286506466705227237[45] = 0;
+   out_3286506466705227237[46] = 0;
+   out_3286506466705227237[47] = 0;
+   out_3286506466705227237[48] = 0;
+   out_3286506466705227237[49] = 0;
+   out_3286506466705227237[50] = 0;
+   out_3286506466705227237[51] = 0;
+   out_3286506466705227237[52] = 0;
+   out_3286506466705227237[53] = 0;
+   out_3286506466705227237[54] = 0;
+   out_3286506466705227237[55] = 0;
+   out_3286506466705227237[56] = 0;
+   out_3286506466705227237[57] = 1;
+   out_3286506466705227237[58] = 0;
+   out_3286506466705227237[59] = 0;
+   out_3286506466705227237[60] = 0;
+   out_3286506466705227237[61] = 0;
+   out_3286506466705227237[62] = 0;
+   out_3286506466705227237[63] = 0;
+   out_3286506466705227237[64] = 0;
+   out_3286506466705227237[65] = 0;
+   out_3286506466705227237[66] = dt;
+   out_3286506466705227237[67] = 0;
+   out_3286506466705227237[68] = 0;
+   out_3286506466705227237[69] = 0;
+   out_3286506466705227237[70] = 0;
+   out_3286506466705227237[71] = 0;
+   out_3286506466705227237[72] = 0;
+   out_3286506466705227237[73] = 0;
+   out_3286506466705227237[74] = 0;
+   out_3286506466705227237[75] = 0;
+   out_3286506466705227237[76] = 1;
+   out_3286506466705227237[77] = 0;
+   out_3286506466705227237[78] = 0;
+   out_3286506466705227237[79] = 0;
+   out_3286506466705227237[80] = 0;
+   out_3286506466705227237[81] = 0;
+   out_3286506466705227237[82] = 0;
+   out_3286506466705227237[83] = 0;
+   out_3286506466705227237[84] = 0;
+   out_3286506466705227237[85] = dt;
+   out_3286506466705227237[86] = 0;
+   out_3286506466705227237[87] = 0;
+   out_3286506466705227237[88] = 0;
+   out_3286506466705227237[89] = 0;
+   out_3286506466705227237[90] = 0;
+   out_3286506466705227237[91] = 0;
+   out_3286506466705227237[92] = 0;
+   out_3286506466705227237[93] = 0;
+   out_3286506466705227237[94] = 0;
+   out_3286506466705227237[95] = 1;
+   out_3286506466705227237[96] = 0;
+   out_3286506466705227237[97] = 0;
+   out_3286506466705227237[98] = 0;
+   out_3286506466705227237[99] = 0;
+   out_3286506466705227237[100] = 0;
+   out_3286506466705227237[101] = 0;
+   out_3286506466705227237[102] = 0;
+   out_3286506466705227237[103] = 0;
+   out_3286506466705227237[104] = dt;
+   out_3286506466705227237[105] = 0;
+   out_3286506466705227237[106] = 0;
+   out_3286506466705227237[107] = 0;
+   out_3286506466705227237[108] = 0;
+   out_3286506466705227237[109] = 0;
+   out_3286506466705227237[110] = 0;
+   out_3286506466705227237[111] = 0;
+   out_3286506466705227237[112] = 0;
+   out_3286506466705227237[113] = 0;
+   out_3286506466705227237[114] = 1;
+   out_3286506466705227237[115] = 0;
+   out_3286506466705227237[116] = 0;
+   out_3286506466705227237[117] = 0;
+   out_3286506466705227237[118] = 0;
+   out_3286506466705227237[119] = 0;
+   out_3286506466705227237[120] = 0;
+   out_3286506466705227237[121] = 0;
+   out_3286506466705227237[122] = 0;
+   out_3286506466705227237[123] = 0;
+   out_3286506466705227237[124] = 0;
+   out_3286506466705227237[125] = 0;
+   out_3286506466705227237[126] = 0;
+   out_3286506466705227237[127] = 0;
+   out_3286506466705227237[128] = 0;
+   out_3286506466705227237[129] = 0;
+   out_3286506466705227237[130] = 0;
+   out_3286506466705227237[131] = 0;
+   out_3286506466705227237[132] = 0;
+   out_3286506466705227237[133] = 1;
+   out_3286506466705227237[134] = 0;
+   out_3286506466705227237[135] = 0;
+   out_3286506466705227237[136] = 0;
+   out_3286506466705227237[137] = 0;
+   out_3286506466705227237[138] = 0;
+   out_3286506466705227237[139] = 0;
+   out_3286506466705227237[140] = 0;
+   out_3286506466705227237[141] = 0;
+   out_3286506466705227237[142] = 0;
+   out_3286506466705227237[143] = 0;
+   out_3286506466705227237[144] = 0;
+   out_3286506466705227237[145] = 0;
+   out_3286506466705227237[146] = 0;
+   out_3286506466705227237[147] = 0;
+   out_3286506466705227237[148] = 0;
+   out_3286506466705227237[149] = 0;
+   out_3286506466705227237[150] = 0;
+   out_3286506466705227237[151] = 0;
+   out_3286506466705227237[152] = 1;
+   out_3286506466705227237[153] = 0;
+   out_3286506466705227237[154] = 0;
+   out_3286506466705227237[155] = 0;
+   out_3286506466705227237[156] = 0;
+   out_3286506466705227237[157] = 0;
+   out_3286506466705227237[158] = 0;
+   out_3286506466705227237[159] = 0;
+   out_3286506466705227237[160] = 0;
+   out_3286506466705227237[161] = 0;
+   out_3286506466705227237[162] = 0;
+   out_3286506466705227237[163] = 0;
+   out_3286506466705227237[164] = 0;
+   out_3286506466705227237[165] = 0;
+   out_3286506466705227237[166] = 0;
+   out_3286506466705227237[167] = 0;
+   out_3286506466705227237[168] = 0;
+   out_3286506466705227237[169] = 0;
+   out_3286506466705227237[170] = 0;
+   out_3286506466705227237[171] = 1;
+   out_3286506466705227237[172] = 0;
+   out_3286506466705227237[173] = 0;
+   out_3286506466705227237[174] = 0;
+   out_3286506466705227237[175] = 0;
+   out_3286506466705227237[176] = 0;
+   out_3286506466705227237[177] = 0;
+   out_3286506466705227237[178] = 0;
+   out_3286506466705227237[179] = 0;
+   out_3286506466705227237[180] = 0;
+   out_3286506466705227237[181] = 0;
+   out_3286506466705227237[182] = 0;
+   out_3286506466705227237[183] = 0;
+   out_3286506466705227237[184] = 0;
+   out_3286506466705227237[185] = 0;
+   out_3286506466705227237[186] = 0;
+   out_3286506466705227237[187] = 0;
+   out_3286506466705227237[188] = 0;
+   out_3286506466705227237[189] = 0;
+   out_3286506466705227237[190] = 1;
+   out_3286506466705227237[191] = 0;
+   out_3286506466705227237[192] = 0;
+   out_3286506466705227237[193] = 0;
+   out_3286506466705227237[194] = 0;
+   out_3286506466705227237[195] = 0;
+   out_3286506466705227237[196] = 0;
+   out_3286506466705227237[197] = 0;
+   out_3286506466705227237[198] = 0;
+   out_3286506466705227237[199] = 0;
+   out_3286506466705227237[200] = 0;
+   out_3286506466705227237[201] = 0;
+   out_3286506466705227237[202] = 0;
+   out_3286506466705227237[203] = 0;
+   out_3286506466705227237[204] = 0;
+   out_3286506466705227237[205] = 0;
+   out_3286506466705227237[206] = 0;
+   out_3286506466705227237[207] = 0;
+   out_3286506466705227237[208] = 0;
+   out_3286506466705227237[209] = 1;
+   out_3286506466705227237[210] = 0;
+   out_3286506466705227237[211] = 0;
+   out_3286506466705227237[212] = 0;
+   out_3286506466705227237[213] = 0;
+   out_3286506466705227237[214] = 0;
+   out_3286506466705227237[215] = 0;
+   out_3286506466705227237[216] = 0;
+   out_3286506466705227237[217] = 0;
+   out_3286506466705227237[218] = 0;
+   out_3286506466705227237[219] = 0;
+   out_3286506466705227237[220] = 0;
+   out_3286506466705227237[221] = 0;
+   out_3286506466705227237[222] = 0;
+   out_3286506466705227237[223] = 0;
+   out_3286506466705227237[224] = 0;
+   out_3286506466705227237[225] = 0;
+   out_3286506466705227237[226] = 0;
+   out_3286506466705227237[227] = 0;
+   out_3286506466705227237[228] = 1;
+   out_3286506466705227237[229] = 0;
+   out_3286506466705227237[230] = 0;
+   out_3286506466705227237[231] = 0;
+   out_3286506466705227237[232] = 0;
+   out_3286506466705227237[233] = 0;
+   out_3286506466705227237[234] = 0;
+   out_3286506466705227237[235] = 0;
+   out_3286506466705227237[236] = 0;
+   out_3286506466705227237[237] = 0;
+   out_3286506466705227237[238] = 0;
+   out_3286506466705227237[239] = 0;
+   out_3286506466705227237[240] = 0;
+   out_3286506466705227237[241] = 0;
+   out_3286506466705227237[242] = 0;
+   out_3286506466705227237[243] = 0;
+   out_3286506466705227237[244] = 0;
+   out_3286506466705227237[245] = 0;
+   out_3286506466705227237[246] = 0;
+   out_3286506466705227237[247] = 1;
+   out_3286506466705227237[248] = 0;
+   out_3286506466705227237[249] = 0;
+   out_3286506466705227237[250] = 0;
+   out_3286506466705227237[251] = 0;
+   out_3286506466705227237[252] = 0;
+   out_3286506466705227237[253] = 0;
+   out_3286506466705227237[254] = 0;
+   out_3286506466705227237[255] = 0;
+   out_3286506466705227237[256] = 0;
+   out_3286506466705227237[257] = 0;
+   out_3286506466705227237[258] = 0;
+   out_3286506466705227237[259] = 0;
+   out_3286506466705227237[260] = 0;
+   out_3286506466705227237[261] = 0;
+   out_3286506466705227237[262] = 0;
+   out_3286506466705227237[263] = 0;
+   out_3286506466705227237[264] = 0;
+   out_3286506466705227237[265] = 0;
+   out_3286506466705227237[266] = 1;
+   out_3286506466705227237[267] = 0;
+   out_3286506466705227237[268] = 0;
+   out_3286506466705227237[269] = 0;
+   out_3286506466705227237[270] = 0;
+   out_3286506466705227237[271] = 0;
+   out_3286506466705227237[272] = 0;
+   out_3286506466705227237[273] = 0;
+   out_3286506466705227237[274] = 0;
+   out_3286506466705227237[275] = 0;
+   out_3286506466705227237[276] = 0;
+   out_3286506466705227237[277] = 0;
+   out_3286506466705227237[278] = 0;
+   out_3286506466705227237[279] = 0;
+   out_3286506466705227237[280] = 0;
+   out_3286506466705227237[281] = 0;
+   out_3286506466705227237[282] = 0;
+   out_3286506466705227237[283] = 0;
+   out_3286506466705227237[284] = 0;
+   out_3286506466705227237[285] = 1;
+   out_3286506466705227237[286] = 0;
+   out_3286506466705227237[287] = 0;
+   out_3286506466705227237[288] = 0;
+   out_3286506466705227237[289] = 0;
+   out_3286506466705227237[290] = 0;
+   out_3286506466705227237[291] = 0;
+   out_3286506466705227237[292] = 0;
+   out_3286506466705227237[293] = 0;
+   out_3286506466705227237[294] = 0;
+   out_3286506466705227237[295] = 0;
+   out_3286506466705227237[296] = 0;
+   out_3286506466705227237[297] = 0;
+   out_3286506466705227237[298] = 0;
+   out_3286506466705227237[299] = 0;
+   out_3286506466705227237[300] = 0;
+   out_3286506466705227237[301] = 0;
+   out_3286506466705227237[302] = 0;
+   out_3286506466705227237[303] = 0;
+   out_3286506466705227237[304] = 1;
+   out_3286506466705227237[305] = 0;
+   out_3286506466705227237[306] = 0;
+   out_3286506466705227237[307] = 0;
+   out_3286506466705227237[308] = 0;
+   out_3286506466705227237[309] = 0;
+   out_3286506466705227237[310] = 0;
+   out_3286506466705227237[311] = 0;
+   out_3286506466705227237[312] = 0;
+   out_3286506466705227237[313] = 0;
+   out_3286506466705227237[314] = 0;
+   out_3286506466705227237[315] = 0;
+   out_3286506466705227237[316] = 0;
+   out_3286506466705227237[317] = 0;
+   out_3286506466705227237[318] = 0;
+   out_3286506466705227237[319] = 0;
+   out_3286506466705227237[320] = 0;
+   out_3286506466705227237[321] = 0;
+   out_3286506466705227237[322] = 0;
+   out_3286506466705227237[323] = 1;
 }
-void h_4(double *state, double *unused, double *out_5113645833906790079) {
-   out_5113645833906790079[0] = state[6] + state[9];
-   out_5113645833906790079[1] = state[7] + state[10];
-   out_5113645833906790079[2] = state[8] + state[11];
+void h_4(double *state, double *unused, double *out_3648588459832896841) {
+   out_3648588459832896841[0] = state[6] + state[9];
+   out_3648588459832896841[1] = state[7] + state[10];
+   out_3648588459832896841[2] = state[8] + state[11];
 }
-void H_4(double *state, double *unused, double *out_2671746953210162242) {
-   out_2671746953210162242[0] = 0;
-   out_2671746953210162242[1] = 0;
-   out_2671746953210162242[2] = 0;
-   out_2671746953210162242[3] = 0;
-   out_2671746953210162242[4] = 0;
-   out_2671746953210162242[5] = 0;
-   out_2671746953210162242[6] = 1;
-   out_2671746953210162242[7] = 0;
-   out_2671746953210162242[8] = 0;
-   out_2671746953210162242[9] = 1;
-   out_2671746953210162242[10] = 0;
-   out_2671746953210162242[11] = 0;
-   out_2671746953210162242[12] = 0;
-   out_2671746953210162242[13] = 0;
-   out_2671746953210162242[14] = 0;
-   out_2671746953210162242[15] = 0;
-   out_2671746953210162242[16] = 0;
-   out_2671746953210162242[17] = 0;
-   out_2671746953210162242[18] = 0;
-   out_2671746953210162242[19] = 0;
-   out_2671746953210162242[20] = 0;
-   out_2671746953210162242[21] = 0;
-   out_2671746953210162242[22] = 0;
-   out_2671746953210162242[23] = 0;
-   out_2671746953210162242[24] = 0;
-   out_2671746953210162242[25] = 1;
-   out_2671746953210162242[26] = 0;
-   out_2671746953210162242[27] = 0;
-   out_2671746953210162242[28] = 1;
-   out_2671746953210162242[29] = 0;
-   out_2671746953210162242[30] = 0;
-   out_2671746953210162242[31] = 0;
-   out_2671746953210162242[32] = 0;
-   out_2671746953210162242[33] = 0;
-   out_2671746953210162242[34] = 0;
-   out_2671746953210162242[35] = 0;
-   out_2671746953210162242[36] = 0;
-   out_2671746953210162242[37] = 0;
-   out_2671746953210162242[38] = 0;
-   out_2671746953210162242[39] = 0;
-   out_2671746953210162242[40] = 0;
-   out_2671746953210162242[41] = 0;
-   out_2671746953210162242[42] = 0;
-   out_2671746953210162242[43] = 0;
-   out_2671746953210162242[44] = 1;
-   out_2671746953210162242[45] = 0;
-   out_2671746953210162242[46] = 0;
-   out_2671746953210162242[47] = 1;
-   out_2671746953210162242[48] = 0;
-   out_2671746953210162242[49] = 0;
-   out_2671746953210162242[50] = 0;
-   out_2671746953210162242[51] = 0;
-   out_2671746953210162242[52] = 0;
-   out_2671746953210162242[53] = 0;
+void H_4(double *state, double *unused, double *out_5695787285819229065) {
+   out_5695787285819229065[0] = 0;
+   out_5695787285819229065[1] = 0;
+   out_5695787285819229065[2] = 0;
+   out_5695787285819229065[3] = 0;
+   out_5695787285819229065[4] = 0;
+   out_5695787285819229065[5] = 0;
+   out_5695787285819229065[6] = 1;
+   out_5695787285819229065[7] = 0;
+   out_5695787285819229065[8] = 0;
+   out_5695787285819229065[9] = 1;
+   out_5695787285819229065[10] = 0;
+   out_5695787285819229065[11] = 0;
+   out_5695787285819229065[12] = 0;
+   out_5695787285819229065[13] = 0;
+   out_5695787285819229065[14] = 0;
+   out_5695787285819229065[15] = 0;
+   out_5695787285819229065[16] = 0;
+   out_5695787285819229065[17] = 0;
+   out_5695787285819229065[18] = 0;
+   out_5695787285819229065[19] = 0;
+   out_5695787285819229065[20] = 0;
+   out_5695787285819229065[21] = 0;
+   out_5695787285819229065[22] = 0;
+   out_5695787285819229065[23] = 0;
+   out_5695787285819229065[24] = 0;
+   out_5695787285819229065[25] = 1;
+   out_5695787285819229065[26] = 0;
+   out_5695787285819229065[27] = 0;
+   out_5695787285819229065[28] = 1;
+   out_5695787285819229065[29] = 0;
+   out_5695787285819229065[30] = 0;
+   out_5695787285819229065[31] = 0;
+   out_5695787285819229065[32] = 0;
+   out_5695787285819229065[33] = 0;
+   out_5695787285819229065[34] = 0;
+   out_5695787285819229065[35] = 0;
+   out_5695787285819229065[36] = 0;
+   out_5695787285819229065[37] = 0;
+   out_5695787285819229065[38] = 0;
+   out_5695787285819229065[39] = 0;
+   out_5695787285819229065[40] = 0;
+   out_5695787285819229065[41] = 0;
+   out_5695787285819229065[42] = 0;
+   out_5695787285819229065[43] = 0;
+   out_5695787285819229065[44] = 1;
+   out_5695787285819229065[45] = 0;
+   out_5695787285819229065[46] = 0;
+   out_5695787285819229065[47] = 1;
+   out_5695787285819229065[48] = 0;
+   out_5695787285819229065[49] = 0;
+   out_5695787285819229065[50] = 0;
+   out_5695787285819229065[51] = 0;
+   out_5695787285819229065[52] = 0;
+   out_5695787285819229065[53] = 0;
 }
-void h_10(double *state, double *unused, double *out_5157045351269012104) {
-   out_5157045351269012104[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
-   out_5157045351269012104[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
-   out_5157045351269012104[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17];
+void h_10(double *state, double *unused, double *out_7983794647515202819) {
+   out_7983794647515202819[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
+   out_7983794647515202819[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
+   out_7983794647515202819[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17];
 }
-void H_10(double *state, double *unused, double *out_6967721430408486920) {
-   out_6967721430408486920[0] = 0;
-   out_6967721430408486920[1] = 9.8100000000000005*cos(state[1]);
-   out_6967721430408486920[2] = 0;
-   out_6967721430408486920[3] = 0;
-   out_6967721430408486920[4] = -state[8];
-   out_6967721430408486920[5] = state[7];
-   out_6967721430408486920[6] = 0;
-   out_6967721430408486920[7] = state[5];
-   out_6967721430408486920[8] = -state[4];
-   out_6967721430408486920[9] = 0;
-   out_6967721430408486920[10] = 0;
-   out_6967721430408486920[11] = 0;
-   out_6967721430408486920[12] = 1;
-   out_6967721430408486920[13] = 0;
-   out_6967721430408486920[14] = 0;
-   out_6967721430408486920[15] = 1;
-   out_6967721430408486920[16] = 0;
-   out_6967721430408486920[17] = 0;
-   out_6967721430408486920[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
-   out_6967721430408486920[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
-   out_6967721430408486920[20] = 0;
-   out_6967721430408486920[21] = state[8];
-   out_6967721430408486920[22] = 0;
-   out_6967721430408486920[23] = -state[6];
-   out_6967721430408486920[24] = -state[5];
-   out_6967721430408486920[25] = 0;
-   out_6967721430408486920[26] = state[3];
-   out_6967721430408486920[27] = 0;
-   out_6967721430408486920[28] = 0;
-   out_6967721430408486920[29] = 0;
-   out_6967721430408486920[30] = 0;
-   out_6967721430408486920[31] = 1;
-   out_6967721430408486920[32] = 0;
-   out_6967721430408486920[33] = 0;
-   out_6967721430408486920[34] = 1;
-   out_6967721430408486920[35] = 0;
-   out_6967721430408486920[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
-   out_6967721430408486920[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
-   out_6967721430408486920[38] = 0;
-   out_6967721430408486920[39] = -state[7];
-   out_6967721430408486920[40] = state[6];
-   out_6967721430408486920[41] = 0;
-   out_6967721430408486920[42] = state[4];
-   out_6967721430408486920[43] = -state[3];
-   out_6967721430408486920[44] = 0;
-   out_6967721430408486920[45] = 0;
-   out_6967721430408486920[46] = 0;
-   out_6967721430408486920[47] = 0;
-   out_6967721430408486920[48] = 0;
-   out_6967721430408486920[49] = 0;
-   out_6967721430408486920[50] = 1;
-   out_6967721430408486920[51] = 0;
-   out_6967721430408486920[52] = 0;
-   out_6967721430408486920[53] = 1;
+void H_10(double *state, double *unused, double *out_3032931921094903591) {
+   out_3032931921094903591[0] = 0;
+   out_3032931921094903591[1] = 9.8100000000000005*cos(state[1]);
+   out_3032931921094903591[2] = 0;
+   out_3032931921094903591[3] = 0;
+   out_3032931921094903591[4] = -state[8];
+   out_3032931921094903591[5] = state[7];
+   out_3032931921094903591[6] = 0;
+   out_3032931921094903591[7] = state[5];
+   out_3032931921094903591[8] = -state[4];
+   out_3032931921094903591[9] = 0;
+   out_3032931921094903591[10] = 0;
+   out_3032931921094903591[11] = 0;
+   out_3032931921094903591[12] = 1;
+   out_3032931921094903591[13] = 0;
+   out_3032931921094903591[14] = 0;
+   out_3032931921094903591[15] = 1;
+   out_3032931921094903591[16] = 0;
+   out_3032931921094903591[17] = 0;
+   out_3032931921094903591[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
+   out_3032931921094903591[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
+   out_3032931921094903591[20] = 0;
+   out_3032931921094903591[21] = state[8];
+   out_3032931921094903591[22] = 0;
+   out_3032931921094903591[23] = -state[6];
+   out_3032931921094903591[24] = -state[5];
+   out_3032931921094903591[25] = 0;
+   out_3032931921094903591[26] = state[3];
+   out_3032931921094903591[27] = 0;
+   out_3032931921094903591[28] = 0;
+   out_3032931921094903591[29] = 0;
+   out_3032931921094903591[30] = 0;
+   out_3032931921094903591[31] = 1;
+   out_3032931921094903591[32] = 0;
+   out_3032931921094903591[33] = 0;
+   out_3032931921094903591[34] = 1;
+   out_3032931921094903591[35] = 0;
+   out_3032931921094903591[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
+   out_3032931921094903591[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
+   out_3032931921094903591[38] = 0;
+   out_3032931921094903591[39] = -state[7];
+   out_3032931921094903591[40] = state[6];
+   out_3032931921094903591[41] = 0;
+   out_3032931921094903591[42] = state[4];
+   out_3032931921094903591[43] = -state[3];
+   out_3032931921094903591[44] = 0;
+   out_3032931921094903591[45] = 0;
+   out_3032931921094903591[46] = 0;
+   out_3032931921094903591[47] = 0;
+   out_3032931921094903591[48] = 0;
+   out_3032931921094903591[49] = 0;
+   out_3032931921094903591[50] = 1;
+   out_3032931921094903591[51] = 0;
+   out_3032931921094903591[52] = 0;
+   out_3032931921094903591[53] = 1;
 }
-void h_13(double *state, double *unused, double *out_488268826700853092) {
-   out_488268826700853092[0] = state[3];
-   out_488268826700853092[1] = state[4];
-   out_488268826700853092[2] = state[5];
+void h_13(double *state, double *unused, double *out_1190906095138799015) {
+   out_1190906095138799015[0] = state[3];
+   out_1190906095138799015[1] = state[4];
+   out_1190906095138799015[2] = state[5];
 }
-void H_13(double *state, double *unused, double *out_8164365912182688445) {
-   out_8164365912182688445[0] = 0;
-   out_8164365912182688445[1] = 0;
-   out_8164365912182688445[2] = 0;
-   out_8164365912182688445[3] = 1;
-   out_8164365912182688445[4] = 0;
-   out_8164365912182688445[5] = 0;
-   out_8164365912182688445[6] = 0;
-   out_8164365912182688445[7] = 0;
-   out_8164365912182688445[8] = 0;
-   out_8164365912182688445[9] = 0;
-   out_8164365912182688445[10] = 0;
-   out_8164365912182688445[11] = 0;
-   out_8164365912182688445[12] = 0;
-   out_8164365912182688445[13] = 0;
-   out_8164365912182688445[14] = 0;
-   out_8164365912182688445[15] = 0;
-   out_8164365912182688445[16] = 0;
-   out_8164365912182688445[17] = 0;
-   out_8164365912182688445[18] = 0;
-   out_8164365912182688445[19] = 0;
-   out_8164365912182688445[20] = 0;
-   out_8164365912182688445[21] = 0;
-   out_8164365912182688445[22] = 1;
-   out_8164365912182688445[23] = 0;
-   out_8164365912182688445[24] = 0;
-   out_8164365912182688445[25] = 0;
-   out_8164365912182688445[26] = 0;
-   out_8164365912182688445[27] = 0;
-   out_8164365912182688445[28] = 0;
-   out_8164365912182688445[29] = 0;
-   out_8164365912182688445[30] = 0;
-   out_8164365912182688445[31] = 0;
-   out_8164365912182688445[32] = 0;
-   out_8164365912182688445[33] = 0;
-   out_8164365912182688445[34] = 0;
-   out_8164365912182688445[35] = 0;
-   out_8164365912182688445[36] = 0;
-   out_8164365912182688445[37] = 0;
-   out_8164365912182688445[38] = 0;
-   out_8164365912182688445[39] = 0;
-   out_8164365912182688445[40] = 0;
-   out_8164365912182688445[41] = 1;
-   out_8164365912182688445[42] = 0;
-   out_8164365912182688445[43] = 0;
-   out_8164365912182688445[44] = 0;
-   out_8164365912182688445[45] = 0;
-   out_8164365912182688445[46] = 0;
-   out_8164365912182688445[47] = 0;
-   out_8164365912182688445[48] = 0;
-   out_8164365912182688445[49] = 0;
-   out_8164365912182688445[50] = 0;
-   out_8164365912182688445[51] = 0;
-   out_8164365912182688445[52] = 0;
-   out_8164365912182688445[53] = 0;
+void H_13(double *state, double *unused, double *out_2483513460486896264) {
+   out_2483513460486896264[0] = 0;
+   out_2483513460486896264[1] = 0;
+   out_2483513460486896264[2] = 0;
+   out_2483513460486896264[3] = 1;
+   out_2483513460486896264[4] = 0;
+   out_2483513460486896264[5] = 0;
+   out_2483513460486896264[6] = 0;
+   out_2483513460486896264[7] = 0;
+   out_2483513460486896264[8] = 0;
+   out_2483513460486896264[9] = 0;
+   out_2483513460486896264[10] = 0;
+   out_2483513460486896264[11] = 0;
+   out_2483513460486896264[12] = 0;
+   out_2483513460486896264[13] = 0;
+   out_2483513460486896264[14] = 0;
+   out_2483513460486896264[15] = 0;
+   out_2483513460486896264[16] = 0;
+   out_2483513460486896264[17] = 0;
+   out_2483513460486896264[18] = 0;
+   out_2483513460486896264[19] = 0;
+   out_2483513460486896264[20] = 0;
+   out_2483513460486896264[21] = 0;
+   out_2483513460486896264[22] = 1;
+   out_2483513460486896264[23] = 0;
+   out_2483513460486896264[24] = 0;
+   out_2483513460486896264[25] = 0;
+   out_2483513460486896264[26] = 0;
+   out_2483513460486896264[27] = 0;
+   out_2483513460486896264[28] = 0;
+   out_2483513460486896264[29] = 0;
+   out_2483513460486896264[30] = 0;
+   out_2483513460486896264[31] = 0;
+   out_2483513460486896264[32] = 0;
+   out_2483513460486896264[33] = 0;
+   out_2483513460486896264[34] = 0;
+   out_2483513460486896264[35] = 0;
+   out_2483513460486896264[36] = 0;
+   out_2483513460486896264[37] = 0;
+   out_2483513460486896264[38] = 0;
+   out_2483513460486896264[39] = 0;
+   out_2483513460486896264[40] = 0;
+   out_2483513460486896264[41] = 1;
+   out_2483513460486896264[42] = 0;
+   out_2483513460486896264[43] = 0;
+   out_2483513460486896264[44] = 0;
+   out_2483513460486896264[45] = 0;
+   out_2483513460486896264[46] = 0;
+   out_2483513460486896264[47] = 0;
+   out_2483513460486896264[48] = 0;
+   out_2483513460486896264[49] = 0;
+   out_2483513460486896264[50] = 0;
+   out_2483513460486896264[51] = 0;
+   out_2483513460486896264[52] = 0;
+   out_2483513460486896264[53] = 0;
 }
-void h_14(double *state, double *unused, double *out_2240330411018770776) {
-   out_2240330411018770776[0] = state[6];
-   out_2240330411018770776[1] = state[7];
-   out_2240330411018770776[2] = state[8];
+void h_14(double *state, double *unused, double *out_4979926043979174598) {
+   out_4979926043979174598[0] = state[6];
+   out_4979926043979174598[1] = state[7];
+   out_4979926043979174598[2] = state[8];
 }
-void H_14(double *state, double *unused, double *out_411041479085210054) {
-   out_411041479085210054[0] = 0;
-   out_411041479085210054[1] = 0;
-   out_411041479085210054[2] = 0;
-   out_411041479085210054[3] = 0;
-   out_411041479085210054[4] = 0;
-   out_411041479085210054[5] = 0;
-   out_411041479085210054[6] = 1;
-   out_411041479085210054[7] = 0;
-   out_411041479085210054[8] = 0;
-   out_411041479085210054[9] = 0;
-   out_411041479085210054[10] = 0;
-   out_411041479085210054[11] = 0;
-   out_411041479085210054[12] = 0;
-   out_411041479085210054[13] = 0;
-   out_411041479085210054[14] = 0;
-   out_411041479085210054[15] = 0;
-   out_411041479085210054[16] = 0;
-   out_411041479085210054[17] = 0;
-   out_411041479085210054[18] = 0;
-   out_411041479085210054[19] = 0;
-   out_411041479085210054[20] = 0;
-   out_411041479085210054[21] = 0;
-   out_411041479085210054[22] = 0;
-   out_411041479085210054[23] = 0;
-   out_411041479085210054[24] = 0;
-   out_411041479085210054[25] = 1;
-   out_411041479085210054[26] = 0;
-   out_411041479085210054[27] = 0;
-   out_411041479085210054[28] = 0;
-   out_411041479085210054[29] = 0;
-   out_411041479085210054[30] = 0;
-   out_411041479085210054[31] = 0;
-   out_411041479085210054[32] = 0;
-   out_411041479085210054[33] = 0;
-   out_411041479085210054[34] = 0;
-   out_411041479085210054[35] = 0;
-   out_411041479085210054[36] = 0;
-   out_411041479085210054[37] = 0;
-   out_411041479085210054[38] = 0;
-   out_411041479085210054[39] = 0;
-   out_411041479085210054[40] = 0;
-   out_411041479085210054[41] = 0;
-   out_411041479085210054[42] = 0;
-   out_411041479085210054[43] = 0;
-   out_411041479085210054[44] = 1;
-   out_411041479085210054[45] = 0;
-   out_411041479085210054[46] = 0;
-   out_411041479085210054[47] = 0;
-   out_411041479085210054[48] = 0;
-   out_411041479085210054[49] = 0;
-   out_411041479085210054[50] = 0;
-   out_411041479085210054[51] = 0;
-   out_411041479085210054[52] = 0;
-   out_411041479085210054[53] = 0;
+void H_14(double *state, double *unused, double *out_8778575718114601361) {
+   out_8778575718114601361[0] = 0;
+   out_8778575718114601361[1] = 0;
+   out_8778575718114601361[2] = 0;
+   out_8778575718114601361[3] = 0;
+   out_8778575718114601361[4] = 0;
+   out_8778575718114601361[5] = 0;
+   out_8778575718114601361[6] = 1;
+   out_8778575718114601361[7] = 0;
+   out_8778575718114601361[8] = 0;
+   out_8778575718114601361[9] = 0;
+   out_8778575718114601361[10] = 0;
+   out_8778575718114601361[11] = 0;
+   out_8778575718114601361[12] = 0;
+   out_8778575718114601361[13] = 0;
+   out_8778575718114601361[14] = 0;
+   out_8778575718114601361[15] = 0;
+   out_8778575718114601361[16] = 0;
+   out_8778575718114601361[17] = 0;
+   out_8778575718114601361[18] = 0;
+   out_8778575718114601361[19] = 0;
+   out_8778575718114601361[20] = 0;
+   out_8778575718114601361[21] = 0;
+   out_8778575718114601361[22] = 0;
+   out_8778575718114601361[23] = 0;
+   out_8778575718114601361[24] = 0;
+   out_8778575718114601361[25] = 1;
+   out_8778575718114601361[26] = 0;
+   out_8778575718114601361[27] = 0;
+   out_8778575718114601361[28] = 0;
+   out_8778575718114601361[29] = 0;
+   out_8778575718114601361[30] = 0;
+   out_8778575718114601361[31] = 0;
+   out_8778575718114601361[32] = 0;
+   out_8778575718114601361[33] = 0;
+   out_8778575718114601361[34] = 0;
+   out_8778575718114601361[35] = 0;
+   out_8778575718114601361[36] = 0;
+   out_8778575718114601361[37] = 0;
+   out_8778575718114601361[38] = 0;
+   out_8778575718114601361[39] = 0;
+   out_8778575718114601361[40] = 0;
+   out_8778575718114601361[41] = 0;
+   out_8778575718114601361[42] = 0;
+   out_8778575718114601361[43] = 0;
+   out_8778575718114601361[44] = 1;
+   out_8778575718114601361[45] = 0;
+   out_8778575718114601361[46] = 0;
+   out_8778575718114601361[47] = 0;
+   out_8778575718114601361[48] = 0;
+   out_8778575718114601361[49] = 0;
+   out_8778575718114601361[50] = 0;
+   out_8778575718114601361[51] = 0;
+   out_8778575718114601361[52] = 0;
+   out_8778575718114601361[53] = 0;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14);
 }
-void pose_err_fun(double *nom_x, double *delta_x, double *out_6902255537984290412) {
-  err_fun(nom_x, delta_x, out_6902255537984290412);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_2178224858840209361) {
+  err_fun(nom_x, delta_x, out_2178224858840209361);
 }
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_971548101061258492) {
-  inv_err_fun(nom_x, true_x, out_971548101061258492);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4618004895414237312) {
+  inv_err_fun(nom_x, true_x, out_4618004895414237312);
 }
-void pose_H_mod_fun(double *state, double *out_5872156854311632266) {
-  H_mod_fun(state, out_5872156854311632266);
+void pose_H_mod_fun(double *state, double *out_6893734767702127169) {
+  H_mod_fun(state, out_6893734767702127169);
 }
-void pose_f_fun(double *state, double dt, double *out_7853950092549063317) {
-  f_fun(state,  dt, out_7853950092549063317);
+void pose_f_fun(double *state, double dt, double *out_6153064126878909392) {
+  f_fun(state,  dt, out_6153064126878909392);
 }
-void pose_F_fun(double *state, double dt, double *out_2347128049005111238) {
-  F_fun(state,  dt, out_2347128049005111238);
+void pose_F_fun(double *state, double dt, double *out_3286506466705227237) {
+  F_fun(state,  dt, out_3286506466705227237);
 }
-void pose_h_4(double *state, double *unused, double *out_5113645833906790079) {
-  h_4(state, unused, out_5113645833906790079);
+void pose_h_4(double *state, double *unused, double *out_3648588459832896841) {
+  h_4(state, unused, out_3648588459832896841);
 }
-void pose_H_4(double *state, double *unused, double *out_2671746953210162242) {
-  H_4(state, unused, out_2671746953210162242);
+void pose_H_4(double *state, double *unused, double *out_5695787285819229065) {
+  H_4(state, unused, out_5695787285819229065);
 }
-void pose_h_10(double *state, double *unused, double *out_5157045351269012104) {
-  h_10(state, unused, out_5157045351269012104);
+void pose_h_10(double *state, double *unused, double *out_7983794647515202819) {
+  h_10(state, unused, out_7983794647515202819);
 }
-void pose_H_10(double *state, double *unused, double *out_6967721430408486920) {
-  H_10(state, unused, out_6967721430408486920);
+void pose_H_10(double *state, double *unused, double *out_3032931921094903591) {
+  H_10(state, unused, out_3032931921094903591);
 }
-void pose_h_13(double *state, double *unused, double *out_488268826700853092) {
-  h_13(state, unused, out_488268826700853092);
+void pose_h_13(double *state, double *unused, double *out_1190906095138799015) {
+  h_13(state, unused, out_1190906095138799015);
 }
-void pose_H_13(double *state, double *unused, double *out_8164365912182688445) {
-  H_13(state, unused, out_8164365912182688445);
+void pose_H_13(double *state, double *unused, double *out_2483513460486896264) {
+  H_13(state, unused, out_2483513460486896264);
 }
-void pose_h_14(double *state, double *unused, double *out_2240330411018770776) {
-  h_14(state, unused, out_2240330411018770776);
+void pose_h_14(double *state, double *unused, double *out_4979926043979174598) {
+  h_14(state, unused, out_4979926043979174598);
 }
-void pose_H_14(double *state, double *unused, double *out_411041479085210054) {
-  H_14(state, unused, out_411041479085210054);
+void pose_H_14(double *state, double *unused, double *out_8778575718114601361) {
+  H_14(state, unused, out_8778575718114601361);
 }
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);
diff --git a/openpilot/selfdrive/locationd/models/generated/pose.h b/openpilot/selfdrive/locationd/models/generated/pose.h
index f038a069d..f7d34fccc 100644
--- a/openpilot/selfdrive/locationd/models/generated/pose.h
+++ b/openpilot/selfdrive/locationd/models/generated/pose.h
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_6902255537984290412);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_971548101061258492);
-void pose_H_mod_fun(double *state, double *out_5872156854311632266);
-void pose_f_fun(double *state, double dt, double *out_7853950092549063317);
-void pose_F_fun(double *state, double dt, double *out_2347128049005111238);
-void pose_h_4(double *state, double *unused, double *out_5113645833906790079);
-void pose_H_4(double *state, double *unused, double *out_2671746953210162242);
-void pose_h_10(double *state, double *unused, double *out_5157045351269012104);
-void pose_H_10(double *state, double *unused, double *out_6967721430408486920);
-void pose_h_13(double *state, double *unused, double *out_488268826700853092);
-void pose_H_13(double *state, double *unused, double *out_8164365912182688445);
-void pose_h_14(double *state, double *unused, double *out_2240330411018770776);
-void pose_H_14(double *state, double *unused, double *out_411041479085210054);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_2178224858840209361);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4618004895414237312);
+void pose_H_mod_fun(double *state, double *out_6893734767702127169);
+void pose_f_fun(double *state, double dt, double *out_6153064126878909392);
+void pose_F_fun(double *state, double dt, double *out_3286506466705227237);
+void pose_h_4(double *state, double *unused, double *out_3648588459832896841);
+void pose_H_4(double *state, double *unused, double *out_5695787285819229065);
+void pose_h_10(double *state, double *unused, double *out_7983794647515202819);
+void pose_H_10(double *state, double *unused, double *out_3032931921094903591);
+void pose_h_13(double *state, double *unused, double *out_1190906095138799015);
+void pose_H_13(double *state, double *unused, double *out_2483513460486896264);
+void pose_h_14(double *state, double *unused, double *out_4979926043979174598);
+void pose_H_14(double *state, double *unused, double *out_8778575718114601361);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
\ No newline at end of file
diff --git a/openpilot/selfdrive/pandad/pandad b/openpilot/selfdrive/pandad/pandad
index 01f94749d..5f24efcd6 100755
Binary files a/openpilot/selfdrive/pandad/pandad and b/openpilot/selfdrive/pandad/pandad differ
diff --git a/openpilot/system/loggerd/encoderd b/openpilot/system/loggerd/encoderd
index 444df4354..ff26373cb 100755
Binary files a/openpilot/system/loggerd/encoderd and b/openpilot/system/loggerd/encoderd differ
diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 51c8aed7a..fd8e7b453 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,4 +1,4 @@
 #pragma once
 
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-ce0a0427-DEBUG";
+const uint8_t gitversion[19] = "DEV-cb724806-DEBUG";
diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 94552d2a3..320bd68d8 100644
Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ
diff --git a/panda/board/obj/version b/panda/board/obj/version
index cf0a4c1c1..eaaa9bfc4 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-ce0a0427-DEBUG
\ No newline at end of file
+DEV-cb724806-DEBUG
\ No newline at end of file