Based on a difference between the predicted values and the measured values, {HEAD ~ the device} estimates a new location for each of the magnets and calculates {TAIL ~ new predicted magnetic field strength values} 
Based on a difference between the predicted values and the measured values , { HEAD ~ the device } estimates a new location for each of the magnets and calculates { TAIL ~ new predicted magnetic field strength values }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL