Close #306

Merge pull request #267 from JohnLBPhD/compass-changes-estimation

Pull John's Compass changes estimation to RSG

Merge pull request #267 from JohnLBPhD/compass-changes-estimation

Pull John's Compass changes estimation to RSG

Merge pull request #267 from JohnLBPhD/compass-changes-estimation

Pull John's Compass changes estimation to RSG

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