Correct measurement noise parameter for insfilterAsync

I'm not able to figure out correct measurement noise parameters for this filter .

when I'm running with matlab generated data it's working fine but when I'm imporing my real sensor data(accel,gyro,mag,gps_lla,gps_vel) with serial read or from csv the estimated output very unstable.

The IMU sensor I'm usining MPU9250, which I properly calibrated and getting the accel data in mss, gyro in rad/s and mag in uT.

reference location and initial magnetic field also correct.

the sensor measurement noise I'm using from here - How is accelerometer and gyroscope noise calculated from datasheet of MPU9250 in the below example? - MATLAB Answers - MATLAB Central (mathworks.com)

Racc = 0.0061;

Rgyro = 3.0462e-06;

Rmag = 0.6

Bias noise is same as what sript is using.