insgps14state is buggy. see comments on for details.
Proposed fix in a nutshell:
Switch Back to insgps13state which is stable
Do fixes to make insgps13state compatible to changes in stateestimation done for 14state
Fix EKFConfiguration back to values that work with 13state
Make insgps13state invulnerable to roll/pitch deviations caused by bad magnetometer readings