A system, a method, and a computer program product are provided. At predetermined times, a processing element processes a new vector represented by a last received magnetic measurement from a magnetometer and indicating a direction and a magnitude of a sensed magnetic field. When the new vector satisfies multiple criteria, the new vector is added to a determined vector set. The processing element processes multiple magnetometer measurements using a Monte Carlo best fit determination and modal partitioning to produce new calibration parameters that define a calibration sphere. The new calibration parameters are applied and stored in a memory element when at least a predetermined number of vectors are consecutively added to the determined one of the multiple vector sets.