{
 "schema": "forge.state.v1",
 "milestone": "m3",
 "method": "ekf_unicycle",
 "feed": "challenge@1Hz + CAN/IMU@10Hz",
 "q": {
  "pos": 0.02,
  "theta": 0.0001,
  "v": 0.05
 },
 "rmse_m": 2.826,
 "kf_cv_rmse_m": 3.254,
 "heading_rmse_deg": 2.34,
 "nees_pos_inside_95_pct": 98.8,
 "broken": {
  "gyro_bias_001_rmse_m": 4.271,
  "gyro_bias_001_nees_inside_pct": 61.0,
  "gyro_bias_001_heading_rmse_deg": 3.95,
  "humble_qtheta_005_rmse_m": 3.605,
  "humble_qtheta_005_heading_rmse_deg": 5.84
 }
}