diff --git a/yaml/M600a/sensor_bno_compass.yaml b/yaml/M600a/sensor_bno_compass.yaml
index 5fa032c67166036ce0f81a0955db519284965f5e..8ff812f26cd0a898a3c6173f5beae5d0cb7e7e15 100644
--- a/yaml/M600a/sensor_bno_compass.yaml
+++ b/yaml/M600a/sensor_bno_compass.yaml
@@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml"
 
 # calibration
 bias_prior_mode: "factor"
-bias_prior_state: [0, 0, 0]
+bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file
diff --git a/yaml/M600b/sensor_bno_compass.yaml b/yaml/M600b/sensor_bno_compass.yaml
index 5fa032c67166036ce0f81a0955db519284965f5e..8ff812f26cd0a898a3c6173f5beae5d0cb7e7e15 100644
--- a/yaml/M600b/sensor_bno_compass.yaml
+++ b/yaml/M600b/sensor_bno_compass.yaml
@@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml"
 
 # calibration
 bias_prior_mode: "factor"
-bias_prior_state: [0, 0, 0]
+bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file
diff --git a/yaml/atlantic/sensor_bno_compass.yaml b/yaml/atlantic/sensor_bno_compass.yaml
index 5fa032c67166036ce0f81a0955db519284965f5e..8ff812f26cd0a898a3c6173f5beae5d0cb7e7e15 100644
--- a/yaml/atlantic/sensor_bno_compass.yaml
+++ b/yaml/atlantic/sensor_bno_compass.yaml
@@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml"
 
 # calibration
 bias_prior_mode: "factor"
-bias_prior_state: [0, 0, 0]
+bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file
diff --git a/yaml/magnetic_field.yaml b/yaml/magnetic_field.yaml
index f5e309ef5f3f0c29ceb18a56770490ba85a58bfe..a1f82d85235fc6fe8646fcf5affd21ff50d0a1d8 100644
--- a/yaml/magnetic_field.yaml
+++ b/yaml/magnetic_field.yaml
@@ -2,5 +2,7 @@
 # N: 26,943.4 nT   E: 43.1 nT   D: 34,827.0 nT
 # E: 0.0431 uT     N: 26.9 uT   U: -34.8 uT
 field_prior_mode: "fix"
-field_prior_state: [0.0431, 26.9, -34.8] # measured [7.9, -20.2, -58.8] 
+#field_prior_state: [0.0431, 26.9, -34.8]
+# computed from measurements: 
+field_prior_state: [-17.2, 71.8, 4.5]
 #field_prior_sigma: [10, 10, 10]
\ No newline at end of file