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data.txt
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data.txt
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ekf 0 0 0 1 0 0 0 truth 1.88894e-08 -6.89878e-11 -8.73902e-09 1 -5.43315e-13 -2.43724e-09 0.0993722
ekf -7.05279e-05 -3.16061e-05 -8.6593e-05 1 0.000710513 6.55835e-05 -0.0020346 truth 7.63892e-08 3.49112e-10 -3.48304e-08 1 4.33263e-11 -9.79423e-09 0.09812
ekf -0.00025733 1.73592e-06 -0.000214268 1 0.00182746 0.000265778 -0.0056357 truth 2.11469e-07 2.05641e-09 -9.55406e-08 1 1.98939e-10 -2.70065e-08 0.0962469
ekf -0.00044898 7.9738e-05 0.00021426 1 0.00517641 0.00286729 -0.0116622 truth 4.63818e-07 6.47794e-09 -2.07963e-07 1 5.78942e-10 -5.9041e-08 0.0937564
ekf -0.000586717 0.000236707 0.000411726 1 0.00470672 0.00644629 -0.0226758 truth 8.73844e-07 1.5661e-08 -3.89021e-07 1 1.34125e-09 -1.10896e-07 0.090652
ekf -0.000112414 0.000390968 -0.000575457 1 0.0063298 0.0110666 -0.0285847 truth 1.48267e-06 3.22716e-08 -6.55466e-07 1 2.68876e-09 -1.87602e-07 0.0869371
ekf -0.000465747 0.000657997 -0.000886887 0.999999 0.00743817 0.00703258 -0.0340044 truth 2.21317e-06 -0.0172208 -6.76521e-07 0.999852 -0.00245255 -2.84864e-07 0.0867983
ekf 0.000327253 -0.014677 -5.81664e-05 0.999892 0.00746332 0.0133094 -0.0388522 truth 9.54679e-07 -0.0343345 1.30427e-06 0.99941 -0.00495766 7.66262e-09 0.0859864
ekf 0.00100577 -0.0295974 0.00132032 0.999561 0.00941155 0.0210361 -0.0394656 truth -2.09453e-06 -0.0513392 5.14789e-06 0.998681 -0.00751354 6.61499e-07 0.084504
ekf 0.00195017 -0.0446654 0.00198188 0.998998 0.00542469 0.0258973 -0.048855 truth -1.83259e-06 -0.0406804 4.9317e-06 0.999172 -0.00603779 5.72572e-07 0.0845101
ekf 0.00269607 -0.0377278 0.00313127 0.99928 0.00503039 0.0300483 -0.0622676 truth -1.59277e-06 -0.0373143 4.91711e-06 0.999304 -0.00560127 5.44966e-07 0.0855347
ekf 0.00119675 -0.0335775 0.00168295 0.999434 0.0125059 0.0275226 -0.0611835 truth -8.92143e-07 -0.0339656 4.72096e-06 0.999423 -0.00517093 4.6067e-07 0.0859246
ekf 7.69178e-06 -0.035228 0.00167614 0.999378 0.0139378 0.013648 -0.0549684 truth 3.24032e-07 -0.0306352 4.3458e-06 0.999531 -0.00474659 3.16193e-07 0.0856835
ekf 0.000705683 -0.0332411 0.00443162 0.999437 0.00626542 0.0236822 -0.0428962 truth -2.04012e-08 -0.0318044 4.35718e-06 0.999494 -0.00490176 3.61167e-07 0.0858453
ekf 0.000175709 -0.0352159 0.00267076 0.999376 0.00182245 0.027803 -0.0461177 truth 8.44503e-08 -0.0340486 4.35442e-06 0.99942 -0.00519947 3.45859e-07 0.0856278
ekf 0.00143988 -0.0416483 0.00198334 0.999129 -0.00215629 0.0318433 -0.050133 truth 2.18832e-07 -0.0380429 4.35047e-06 0.999276 -0.00572842 3.25654e-07 0.0851867
ekf 0.00255401 -0.0398346 0.00086926 0.999203 0.00366026 0.0450178 -0.0401017 truth 3.45938e-07 -0.036306 4.34301e-06 0.999341 -0.00549761 3.09711e-07 0.0854203
ekf 0.00172808 -0.0402623 0.00221366 0.999185 -0.0026369 0.0378896 -0.0472107 truth 4.11954e-07 -0.0359947 4.34091e-06 0.999352 -0.00545672 3.01217e-07 0.0854817
ekf 0.00190665 -0.0408906 0.000120066 0.999162 0.00707069 0.0298923 -0.0347444 truth 4.72417e-07 -0.0357672 4.3375e-06 0.99936 -0.00542672 2.93294e-07 0.0855275
ekf 0.00370849 -0.0414085 -0.0012406 0.999135 0.00720115 0.044068 -0.0199727 truth 5.21788e-07 -0.0355858 4.33577e-06 0.999367 -0.00540283 2.86902e-07 0.085564
ekf 0.00267234 -0.0418706 0.00261465 0.999116 -0.00130345 0.0466085 -0.00454267 truth 5.616e-07 -0.0354408 4.33436e-06 0.999372 -0.00538374 2.81748e-07 0.0855931
ekf 0.00228404 -0.0416529 0.000174478 0.99913 -0.00526335 0.0368645 -0.00882428 truth 5.93718e-07 -0.0353249 4.33323e-06 0.999376 -0.00536848 2.77589e-07 0.0856164
ekf 0.00214637 -0.041842 -0.0013329 0.999121 -0.0147231 0.0474814 -0.00279363 truth 6.19654e-07 -0.0352323 4.33231e-06 0.999379 -0.00535628 2.7423e-07 0.085635
ekf -0.00143786 -0.0419484 -0.00118313 0.999118 -0.0205582 0.0387009 -0.000643239 truth 6.40624e-07 -0.0351582 4.33156e-06 0.999382 -0.00534653 2.71514e-07 0.0856499
ekf -3.72149e-05 -0.0424184 -0.00217578 0.999098 -0.00231358 0.0515852 -0.00871903 truth 6.57604e-07 -0.035099 4.33094e-06 0.999384 -0.00533874 2.69313e-07 0.0856618
ekf 0.0012857 -0.0428266 -0.00319878 0.999077 0.0117183 0.0594803 0.00936272 truth 6.71378e-07 -0.0350517 4.33044e-06 0.999385 -0.00533252 2.67528e-07 0.0856713
ekf -0.00107877 -0.0428855 -0.00179813 0.999078 0.00681364 0.0574569 -0.00256721 truth 6.82579e-07 -0.0350139 4.33002e-06 0.999387 -0.00532754 2.66075e-07 0.0856789
ekf -0.00064679 -0.0427383 -0.00045267 0.999086 -0.009157 0.037161 -0.00722473 truth 6.91711e-07 -0.0349837 4.32968e-06 0.999388 -0.00532356 2.64889e-07 0.085685
ekf -0.000772796 -0.0428119 -0.00116204 0.999082 -0.010316 0.0127976 0.0084123 truth 6.99182e-07 -0.0349595 4.32939e-06 0.999389 -0.00532038 2.63919e-07 0.0856898
ekf -0.00175096 -0.0425959 0.00138065 0.99909 -0.0210468 0.0179901 0.000375119 truth 7.05319e-07 -0.0349402 4.32914e-06 0.999389 -0.00531784 2.63121e-07 0.0856937
ekf -0.000946606 -0.0427355 0.00158365 0.999085 -0.0082218 0.00950606 -0.00742121 truth 7.10384e-07 -0.0349248 4.32893e-06 0.99939 -0.00531581 2.62461e-07 0.0856968
ekf -0.00321092 -0.0428043 0.00142163 0.999077 -0.00766338 0.0159817 0.00311819 truth 7.14589e-07 -0.0349124 4.32875e-06 0.99939 -0.00531418 2.61913e-07 0.0856993
ekf -0.0016588 -0.0428242 0.00362492 0.999075 -0.00984899 0.0106533 0.00429512 truth 7.18102e-07 -0.0349025 4.3286e-06 0.999391 -0.00531288 2.61454e-07 0.0857013
ekf -0.00233339 -0.0426289 0.00225679 0.999086 -0.0145553 0.0254933 0.00304327 truth 7.2106e-07 -0.0348946 4.32846e-06 0.999391 -0.00531184 2.61067e-07 0.0857029
ekf 0.000657031 -0.0425749 0.00407529 0.999085 -0.0123913 0.00887935 0.00208738 truth 7.23573e-07 -0.0348883 4.32833e-06 0.999391 -0.00531101 2.60737e-07 0.0857042
ekf -0.00102852 -0.0426084 0.0030142 0.999087 -0.0134881 0.00221322 0.019709 truth 7.25727e-07 -0.0348832 4.32822e-06 0.999391 -0.00531034 2.60454e-07 0.0857053
ekf -0.000455793 -0.0425633 0.00445888 0.999084 -0.0117963 -0.00391042 0.0150298 truth 7.27594e-07 -0.0348792 4.32811e-06 0.999392 -0.00530981 2.60207e-07 0.0857061
ekf -0.000172598 -0.042597 0.00499639 0.99908 -0.00457697 0.0129985 0.0201579 truth 7.2923e-07 -0.0348759 4.32801e-06 0.999392 -0.00530938 2.59991e-07 0.0857068
ekf -0.000315194 -0.042614 0.00533921 0.999077 -0.00612037 0.00945588 0.0224232 truth 7.3068e-07 -0.0348733 4.32792e-06 0.999392 -0.00530904 2.59799e-07 0.0857073
ekf -0.000540216 -0.0424555 0.0045118 0.999088 -0.0173262 0.012253 0.0208412 truth 7.31981e-07 -0.0348712 4.32783e-06 0.999392 -0.00530876 2.59625e-07 0.0857078
ekf 0.000718806 -0.0424563 0.00590868 0.999081 -0.0133065 0.0222306 0.0200395 truth 7.33163e-07 -0.0348695 4.32775e-06 0.999392 -0.00530854 2.59468e-07 0.0857081
ekf 0.00173724 -0.0421026 0.00470232 0.999101 -0.0385443 0.0405155 0.0348772 truth 7.34249e-07 -0.0348682 4.32766e-06 0.999392 -0.00530836 2.59322e-07 0.0857084
ekf 0.00368108 -0.0421128 0.00467426 0.999095 -0.0360593 0.0457935 0.0285781 truth 7.35258e-07 -0.0348671 4.32758e-06 0.999392 -0.00530822 2.59186e-07 0.0857087
ekf 0.00401125 -0.042154 0.00482578 0.999091 -0.0342501 0.0412497 0.0379529 truth 7.36204e-07 -0.0348662 4.3275e-06 0.999392 -0.0053081 2.59059e-07 0.0857089
ekf 0.0058964 -0.0422835 0.00309109 0.999083 -0.0348512 0.042415 0.0396908 truth 7.37101e-07 -0.0348655 4.32742e-06 0.999392 -0.005308 2.58937e-07 0.0857091
ekf 0.00619456 -0.0425111 0.000832112 0.999076 -0.0258161 0.0559942 0.0527406 truth 7.37958e-07 -0.0348649 4.32734e-06 0.999392 -0.00530793 2.58821e-07 0.0857092
ekf 0.00416214 -0.0423618 -0.000282523 0.999094 -0.039697 0.0555118 0.0493478 truth 7.38783e-07 -0.0348644 4.32726e-06 0.999392 -0.00530786 2.58709e-07 0.0857094
ekf 0.00672481 -0.0422179 -0.00134835 0.999085 -0.0437146 0.0455496 0.0409767 truth 7.39582e-07 -0.034864 4.32718e-06 0.999392 -0.00530781 2.586e-07 0.0857095
ekf 0.00549495 -0.0421419 -0.00113193 0.999096 -0.0532695 0.0381016 0.0584844 truth 7.4036e-07 -0.0348636 4.3271e-06 0.999392 -0.00530777 2.58494e-07 0.0857096
ekf 0.00283445 -0.0421849 0.000754917 0.999106 -0.0463464 0.0126906 0.0625375 truth 7.41122e-07 -0.0348634 4.32702e-06 0.999392 -0.00530773 2.5839e-07 0.0857097
ekf 0.00283445 -0.0421849 0.000754917 0.999106 -0.0463464 0.0126906 0.0625375 truth 7.4187e-07 -0.0348631 4.32694e-06 0.999392 -0.0053077 2.58287e-07 0.0857098
ekf 0.00101192 -0.0425069 -0.000475461 0.999096 -0.0169911 0.0130651 0.0751269 truth 7.42608e-07 -0.0348629 4.32685e-06 0.999392 -0.00530767 2.58186e-07 0.0857098
ekf 0.00134518 -0.0424715 -0.00147566 0.999096 -0.0135528 0.00579515 0.0877833 truth 7.43337e-07 -0.0348627 4.32677e-06 0.999392 -0.00530765 2.58086e-07 0.0857099
ekf 0.00125059 -0.0424591 -0.00182798 0.999096 -0.00127565 0.0172581 0.0945398 truth 7.44059e-07 -0.0348626 4.32668e-06 0.999392 -0.00530763 2.57986e-07 0.08571
ekf 0.00309732 -0.0422551 -0.00563794 0.999086 -0.00143518 0.0241345 0.0904215 truth 7.44776e-07 -0.0348624 4.3266e-06 0.999392 -0.00530761 2.57888e-07 0.0857101
ekf 0.00186846 -0.0424081 -0.00436533 0.999089 -0.00324692 0.0265071 0.0969072 truth 7.45488e-07 -0.0348623 4.32651e-06 0.999392 -0.00530759 2.57789e-07 0.0857101
ekf -0.00090139 -0.0423456 -0.00571549 0.999086 -0.0153772 0.0362709 0.0986023 truth 7.46196e-07 -0.0348622 4.32643e-06 0.999392 -0.00530758 2.57691e-07 0.0857102
ekf -0.00166172 -0.0422262 -0.00736529 0.99908 -0.0140606 0.0245967 0.0881298 truth 7.46902e-07 -0.0348621 4.32634e-06 0.999392 -0.00530757 2.57594e-07 0.0857102
ekf -0.00246146 -0.042213 -0.00850046 0.999069 -0.022659 0.0296968 0.0752877 truth 7.47605e-07 -0.034862 4.32625e-06 0.999392 -0.00530755 2.57496e-07 0.0857103
ekf -0.000920808 -0.0421308 -0.00566606 0.999096 -0.0210369 0.0367668 0.0820848 truth 7.48306e-07 -0.0348619 4.32616e-06 0.999392 -0.00530754 2.57399e-07 0.0857104
ekf -5.07212e-07 -0.0423263 -0.00386193 0.999096 0.00503979 0.0237972 0.0848816 truth 7.49006e-07 -0.0348618 4.32607e-06 0.999392 -0.00530753 2.57302e-07 0.0857104
ekf 0.000772269 -0.042173 -0.00474963 0.999099 -0.00611308 0.0240437 0.0747122 truth 7.49704e-07 -0.0348617 4.32597e-06 0.999392 -0.00530751 2.57205e-07 0.0857105
ekf 0.0023359 -0.0422818 -0.00493873 0.999091 -0.00345365 0.0316804 0.0710093 truth 7.50402e-07 -0.0348616 4.32588e-06 0.999392 -0.0053075 2.57108e-07 0.0857106
ekf 0.000505721 -0.0424189 -0.00482827 0.999088 -0.015987 0.0296665 0.0730354 truth 7.51099e-07 -0.0348615 4.32579e-06 0.999392 -0.00530749 2.57011e-07 0.0857106
ekf -0.000425233 -0.042425 -0.00422013 0.999091 -0.0225962 0.0392683 0.0885852 truth 7.51795e-07 -0.0348614 4.32569e-06 0.999392 -0.00530748 2.56914e-07 0.0857107
ekf -0.00316769 -0.0424033 -0.00377256 0.999088 -0.0224527 0.0289222 0.0829823 truth 7.5249e-07 -0.0348613 4.32559e-06 0.999392 -0.00530747 2.56817e-07 0.0857108
ekf -0.00316771 -0.0423722 -0.00383585 0.99909 -0.0226352 0.0289497 0.0827856 truth 7.53185e-07 -0.0348612 4.32549e-06 0.999392 -0.00530746 2.5672e-07 0.0857108
ekf -0.0015445 -0.0421843 -0.00207278 0.999107 -0.0394231 0.0191642 0.105755 truth 7.5388e-07 -0.0348612 4.3254e-06 0.999392 -0.00530745 2.56623e-07 0.0857109
ekf -0.000797903 -0.0420982 -0.00382071 0.999106 -0.0469522 0.00809083 0.111305 truth 7.54574e-07 -0.0348611 4.3253e-06 0.999392 -0.00530743 2.56526e-07 0.085711
ekf -0.00165239 -0.0416953 -0.0045995 0.999118 -0.0672609 -0.00922075 0.105906 truth 7.55268e-07 -0.034861 4.32519e-06 0.999392 -0.00530742 2.56429e-07 0.0857111
ekf -0.00171537 -0.0415444 -0.00418126 0.999126 -0.0779217 -0.00850275 0.104664 truth 7.55962e-07 -0.0348609 4.32509e-06 0.999392 -0.00530741 2.56332e-07 0.0857111
ekf -0.00123669 -0.041338 -0.00378253 0.999137 -0.0915035 -0.00695956 0.107879 truth 7.56656e-07 -0.0348608 4.32499e-06 0.999392 -0.0053074 2.56235e-07 0.0857112
ekf -0.00112809 -0.0413526 -0.0025198 0.999141 -0.0753006 0.00474067 0.140715 truth 7.5735e-07 -0.0348607 4.32488e-06 0.999392 -0.00530739 2.56137e-07 0.0857113
ekf -0.00114753 -0.0412954 -0.00243679 0.999143 -0.0835785 -0.00875628 0.127814 truth 7.58043e-07 -0.0348606 4.32478e-06 0.999392 -0.00530737 2.5604e-07 0.0857113
ekf -0.00363959 -0.0412715 0.000101094 0.999141 -0.0867736 -0.00433076 0.124458 truth 7.58737e-07 -0.0348605 4.32467e-06 0.999392 -0.00530736 2.55942e-07 0.0857114
ekf -0.00393465 -0.0413866 0.000290159 0.999135 -0.0778377 -0.00609626 0.127163 truth 7.5943e-07 -0.0348604 4.32456e-06 0.999392 -0.00530735 2.55845e-07 0.0857115
ekf -0.00224362 -0.0416362 0.00212632 0.999128 -0.0777711 -0.0184154 0.131304 truth 7.60123e-07 -0.0348603 4.32445e-06 0.999392 -0.00530734 2.55747e-07 0.0857116
ekf -0.00295694 -0.0416615 0.000839282 0.999127 -0.077963 -0.00378712 0.111332 truth 7.60816e-07 -0.0348602 4.32434e-06 0.999392 -0.00530732 2.5565e-07 0.0857117
ekf -0.000882647 -0.0416186 0.00319334 0.999128 -0.0829738 -0.0315778 0.11598 truth 7.61509e-07 -0.0348601 4.32423e-06 0.999392 -0.00530731 2.55552e-07 0.0857117
ekf -0.00243467 -0.0415514 0.00306304 0.999129 -0.0694571 -0.0195138 0.119562 truth 7.62202e-07 -0.03486 4.32412e-06 0.999392 -0.0053073 2.55454e-07 0.0857118
ekf -0.00243204 -0.0416554 0.00305419 0.999124 -0.0513824 -0.00313597 0.104929 truth 7.62895e-07 -0.0348599 4.32401e-06 0.999392 -0.00530728 2.55356e-07 0.0857119
ekf -0.00286996 -0.0415543 0.00340476 0.999126 -0.0492886 -0.00841351 0.10619 truth 7.63588e-07 -0.0348598 4.32389e-06 0.999392 -0.00530727 2.55258e-07 0.085712
ekf -0.00203273 -0.0417114 0.00285923 0.999124 -0.0490973 -0.000898379 0.0870198 truth 7.64281e-07 -0.0348597 4.32377e-06 0.999392 -0.00530726 2.5516e-07 0.0857121
ekf -0.000734341 -0.0416193 0.00115457 0.999133 -0.059065 0.0154338 0.0912486 truth 7.64973e-07 -0.0348596 4.32366e-06 0.999392 -0.00530724 2.55062e-07 0.0857122
ekf -0.00192267 -0.0414189 0.000976112 0.99914 -0.0441906 0.0145816 0.101167 truth 7.65666e-07 -0.0348594 4.32354e-06 0.999392 -0.00530723 2.54964e-07 0.0857122
ekf -0.000352843 -0.0415668 0.0030701 0.999131 -0.0366722 0.0177615 0.0670062 truth 7.66359e-07 -0.0348593 4.32342e-06 0.999392 -0.00530721 2.54866e-07 0.0857123
ekf 0.00161712 -0.041869 0.0052098 0.999108 -0.0216806 0.0264127 0.0492087 truth 7.67051e-07 -0.0348592 4.3233e-06 0.999392 -0.0053072 2.54767e-07 0.0857124
ekf 0.00207981 -0.0421378 0.00527362 0.999096 -0.0177339 0.0104977 0.0428103 truth 7.67744e-07 -0.0348591 4.32318e-06 0.999392 -0.00530718 2.54669e-07 0.0857125
ekf 0.000651987 -0.0419863 0.00549525 0.999103 -0.00226891 0.00925984 0.0475141 truth 7.68436e-07 -0.034859 4.32306e-06 0.999392 -0.00530717 2.5457e-07 0.0857126
ekf -0.00157925 -0.041876 0.00355524 0.999115 0.00375982 0.0105938 0.0464069 truth 7.69129e-07 -0.0348589 4.32293e-06 0.999392 -0.00530716 2.54472e-07 0.0857127
ekf 0.00042222 -0.0416533 0.00193654 0.99913 -0.00046929 -0.00416398 0.0479503 truth 7.69821e-07 -0.0348587 4.32281e-06 0.999392 -0.00530714 2.54373e-07 0.0857128
ekf -0.000684481 -0.0415291 0.00200378 0.999135 -0.0134207 -0.0136008 0.0558257 truth 7.70514e-07 -0.0348586 4.32268e-06 0.999392 -0.00530712 2.54274e-07 0.0857129
ekf 0.000245774 -0.0417661 0.000954762 0.999127 -0.0119717 -0.0144585 0.057132 truth 7.71206e-07 -0.0348585 4.32255e-06 0.999392 -0.00530711 2.54175e-07 0.085713
ekf 0.000248074 -0.041763 0.00198999 0.999126 -0.0138881 -0.00517599 0.0701338 truth 7.71898e-07 -0.0348584 4.32243e-06 0.999392 -0.00530709 2.54077e-07 0.0857131
ekf -0.0013764 -0.0418253 0.00282078 0.99912 -0.000222168 -0.00955967 0.0585354 truth 7.7259e-07 -0.0348583 4.3223e-06 0.999392 -0.00530708 2.53978e-07 0.0857132
ekf -0.00359139 -0.0419799 0.00435293 0.999103 -0.0106538 -0.000904577 0.0682343 truth 7.73282e-07 -0.0348581 4.32217e-06 0.999392 -0.00530706 2.53879e-07 0.0857133
ekf -0.00390298 -0.0417781 0.00122129 0.999119 -0.015313 0.0102818 0.0724813 truth 7.73975e-07 -0.034858 4.32204e-06 0.999392 -0.00530705 2.53779e-07 0.0857134
ekf -0.00124715 -0.0416409 0.00143845 0.999131 -0.0304905 -0.00455825 0.0731444 truth 7.74667e-07 -0.0348579 4.3219e-06 0.999392 -0.00530703 2.5368e-07 0.0857135
ekf -0.000767441 -0.041515 0.00191191 0.999136 -0.0208148 -0.0213527 0.0874338 truth 7.75359e-07 -0.0348577 4.32177e-06 0.999392 -0.00530701 2.53581e-07 0.0857136
ekf 0.000968765 -0.0413032 0.00242827 0.999143 -0.0310741 -0.0171057 0.0965036 truth 7.76051e-07 -0.0348576 4.32163e-06 0.999392 -0.005307 2.53482e-07 0.0857137
ekf 0.00212857 -0.0415971 0.00230483 0.99913 -0.0389243 -0.0233229 0.0826523 truth 7.76742e-07 -0.0348575 4.3215e-06 0.999392 -0.00530698 2.53382e-07 0.0857138
ekf 0.00207946 -0.0415752 0.00168116 0.999132 -0.0317455 -0.0199686 0.0709432 truth 7.77434e-07 -0.0348573 4.32136e-06 0.999392 -0.00530696 2.53283e-07 0.0857139
ekf -0.000212709 -0.0414809 0.00420064 0.99913 -0.0389845 -0.0382668 0.0887865 truth 7.78126e-07 -0.0348572 4.32122e-06 0.999392 -0.00530695 2.53183e-07 0.085714
ekf 0.00129064 -0.0416187 0.00321042 0.999128 -0.0264157 -0.0314367 0.0809106 truth 7.78818e-07 -0.0348571 4.32108e-06 0.999392 -0.00530693 2.53083e-07 0.0857141
ekf 0.000265561 -0.0415982 0.00260288 0.999131 -0.0122706 -0.0394011 0.0722815 truth 7.7951e-07 -0.0348569 4.32094e-06 0.999392 -0.00530691 2.52984e-07 0.0857142
ekf 0.00219276 -0.0416348 0.0046025 0.99912 0.00858545 -0.0277383 0.0782233 truth 7.80201e-07 -0.0348568 4.3208e-06 0.999392 -0.00530689 2.52884e-07 0.0857143
ekf 0.00498672 -0.0416901 0.00480507 0.999107 0.0191861 -0.033866 0.0753271 truth 7.80893e-07 -0.0348566 4.32066e-06 0.999392 -0.00530688 2.52784e-07 0.0857144
ekf 0.00346864 -0.0415666 0.00486507 0.999118 0.0240661 -0.0361157 0.0816681 truth 7.81585e-07 -0.0348565 4.32052e-06 0.999392 -0.00530686 2.52684e-07 0.0857146
ekf 0.00432745 -0.0415881 0.00339338 0.99912 0.0204646 -0.0323086 0.0714464 truth 7.82276e-07 -0.0348564 4.32037e-06 0.999392 -0.00530684 2.52584e-07 0.0857147
ekf 0.00380069 -0.0415112 0.00508294 0.999118 0.0190714 -0.0302126 0.060148 truth 7.82968e-07 -0.0348562 4.32022e-06 0.999392 -0.00530682 2.52484e-07 0.0857148
ekf 0.00107134 -0.041353 0.00563129 0.999128 0.0226615 -0.0267551 0.0567149 truth 7.83659e-07 -0.0348561 4.32008e-06 0.999392 -0.0053068 2.52383e-07 0.0857149
ekf -0.000405697 -0.0413817 0.00610444 0.999125 0.0269928 -0.024176 0.067698 truth 7.84351e-07 -0.0348559 4.31993e-06 0.999392 -0.00530679 2.52283e-07 0.085715
ekf 0.00159707 -0.0413784 0.00326212 0.999137 0.0159917 -0.0238294 0.0758163 truth 7.85042e-07 -0.0348558 4.31978e-06 0.999392 -0.00530677 2.52183e-07 0.0857151
ekf 0.000536781 -0.0413138 0.00131812 0.999145 0.0115629 -0.0159693 0.0676577 truth 7.85733e-07 -0.0348556 4.31963e-06 0.999392 -0.00530675 2.52082e-07 0.0857152
ekf 0.000921084 -0.0413959 0.00065723 0.999142 0.00504609 -0.00802929 0.0660133 truth 7.86425e-07 -0.0348555 4.31948e-06 0.999392 -0.00530673 2.51982e-07 0.0857154
ekf 0.000897176 -0.0416812 0.000464422 0.99913 0.00527726 -0.00338142 0.0556059 truth 7.87116e-07 -0.0348553 4.31933e-06 0.999392 -0.00530671 2.51881e-07 0.0857155
ekf 0.00110264 -0.0414724 0.00191305 0.999137 0.000199861 0.00246776 0.0648223 truth 7.87807e-07 -0.0348552 4.31917e-06 0.999392 -0.00530669 2.5178e-07 0.0857156
ekf -0.000107561 -0.0415097 0.00123069 0.999137 -0.00284212 0.00495004 0.0825819 truth 7.88498e-07 -0.034855 4.31902e-06 0.999392 -0.00530667 2.5168e-07 0.0857157
ekf -0.000845298 -0.041274 0.00214142 0.999145 -0.00754528 0.00805796 0.108868 truth 7.89189e-07 -0.0348548 4.31886e-06 0.999392 -0.00530665 2.51579e-07 0.0857159
ekf 0.000417462 -0.0411361 0.00100889 0.999153 -0.0304614 -0.00983476 0.103687 truth 7.8988e-07 -0.0348547 4.3187e-06 0.999392 -0.00530663 2.51478e-07 0.085716
ekf -0.000396192 -0.0413456 0.00279641 0.999141 -0.0340247 -0.00385625 0.0851961 truth 7.90571e-07 -0.0348545 4.31854e-06 0.999392 -0.00530661 2.51377e-07 0.0857161
ekf -0.00175558 -0.0414357 -0.000876965 0.999139 -0.0293616 0.00200487 0.0902071 truth 7.91262e-07 -0.0348544 4.31839e-06 0.999392 -0.00530659 2.51276e-07 0.0857162
ekf 0.000739386 -0.0414166 -0.00105331 0.999141 -0.0142339 0.00477178 0.0854244 truth 7.91953e-07 -0.0348542 4.31822e-06 0.999392 -0.00530657 2.51175e-07 0.0857164
ekf 0.00178127 -0.0412764 -0.000226867 0.999146 -0.0107095 -0.00105244 0.0870777 truth 7.92644e-07 -0.034854 4.31806e-06 0.999392 -0.00530655 2.51073e-07 0.0857165
ekf 0.000383093 -0.0413799 0.00233662 0.999141 -0.00406968 -0.009802 0.0882682 truth 7.93335e-07 -0.0348539 4.3179e-06 0.999392 -0.00530653 2.50972e-07 0.0857166
ekf 0.000484458 -0.0413928 0.00226237 0.99914 -0.000949709 -0.0339761 0.0893217 truth 7.94026e-07 -0.0348537 4.31774e-06 0.999392 -0.00530651 2.50871e-07 0.0857168
ekf 0.00144314 -0.0412177 -0.000406815 0.999149 -0.0169165 -0.0374816 0.0898025 truth 7.94716e-07 -0.0348535 4.31757e-06 0.999392 -0.00530649 2.50769e-07 0.0857169
ekf 0.00463067 -0.041033 -0.00117112 0.999146 -0.0200645 -0.0397323 0.0860759 truth 7.95407e-07 -0.0348533 4.31741e-06 0.999392 -0.00530647 2.50668e-07 0.085717
ekf 0.00545626 -0.0408596 -0.00110574 0.999149 -0.0264402 -0.0221028 0.0856504 truth 7.96098e-07 -0.0348532 4.31724e-06 0.999392 -0.00530644 2.50566e-07 0.0857172
ekf 0.00589031 -0.0410725 -0.00183431 0.999137 -0.0188779 -0.0216346 0.0959769 truth 7.96788e-07 -0.034853 4.31707e-06 0.999392 -0.00530642 2.50464e-07 0.0857173
ekf 0.00298012 -0.0413177 -0.00379692 0.999134 -0.0269644 -0.0324467 0.0852327 truth 7.97479e-07 -0.0348528 4.3169e-06 0.999392 -0.0053064 2.50363e-07 0.0857174
ekf 0.00262427 -0.0414079 -0.00258 0.999136 -0.0335097 -0.0314837 0.102771 truth 7.98169e-07 -0.0348526 4.31673e-06 0.999392 -0.00530638 2.50261e-07 0.0857176
ekf 0.000907113 -0.0415024 -0.00453539 0.999128 -0.0427947 -0.0194795 0.0925809 truth 7.9886e-07 -0.0348525 4.31656e-06 0.999392 -0.00530636 2.50159e-07 0.0857177
ekf 0.0010262 -0.0415965 -0.00288645 0.99913 -0.0688754 -0.0347686 0.101308 truth 7.9955e-07 -0.0348523 4.31639e-06 0.999392 -0.00530634 2.50057e-07 0.0857179
ekf -0.00196983 -0.0420088 -0.00252103 0.999112 -0.0860232 -0.0546539 0.100164 truth 8.00241e-07 -0.0348521 4.31621e-06 0.999392 -0.00530631 2.49955e-07 0.085718
ekf -0.000755708 -0.0420732 -0.00141747 0.999113 -0.093302 -0.0448357 0.102013 truth 8.00931e-07 -0.0348519 4.31604e-06 0.999392 -0.00530629 2.49852e-07 0.0857181
ekf -0.000764583 -0.0422292 -0.00132685 0.999107 -0.0821472 -0.046879 0.10439 truth 8.01621e-07 -0.0348517 4.31586e-06 0.999392 -0.00530627 2.4975e-07 0.0857183
ekf 0.000836188 -0.0425063 0.000877627 0.999095 -0.0824662 -0.0328611 0.0935311 truth 8.02312e-07 -0.0348516 4.31568e-06 0.999392 -0.00530625 2.49648e-07 0.0857184
ekf 0.00134377 -0.042604 0.00417221 0.999082 -0.0805097 -0.0178838 0.104606 truth 8.03002e-07 -0.0348514 4.3155e-06 0.999393 -0.00530622 2.49545e-07 0.0857186
ekf 3.90886e-05 -0.0426701 0.00155216 0.999088 -0.0782337 -0.0277651 0.0920651 truth 8.03692e-07 -0.0348512 4.31533e-06 0.999393 -0.0053062 2.49443e-07 0.0857187
ekf 0.000108353 -0.0425212 0.00164511 0.999094 -0.0696025 -0.0242618 0.0747072 truth 8.04382e-07 -0.034851 4.31514e-06 0.999393 -0.00530618 2.4934e-07 0.0857189
ekf -0.00116463 -0.0421524 0.00183582 0.999109 -0.0746697 -0.0104385 0.0863925 truth 8.05072e-07 -0.0348508 4.31496e-06 0.999393 -0.00530615 2.49238e-07 0.085719
ekf -0.000204849 -0.0420031 0.00051227 0.999117 -0.0667142 -0.0199869 0.0814684 truth 8.05762e-07 -0.0348506 4.31478e-06 0.999393 -0.00530613 2.49135e-07 0.0857192
ekf 0.00144535 -0.042315 0.000177858 0.999103 -0.0645537 -0.0127972 0.0724206 truth 8.06452e-07 -0.0348504 4.3146e-06 0.999393 -0.00530611 2.49032e-07 0.0857193
ekf 0.000695541 -0.0425109 -0.000940034 0.999095 -0.0585369 -0.00670542 0.0611084 truth 8.07142e-07 -0.0348502 4.31441e-06 0.999393 -0.00530608 2.48929e-07 0.0857195
ekf 0.00194957 -0.0426321 -0.000533363 0.999089 -0.0610146 -0.023231 0.0591788 truth 8.07832e-07 -0.03485 4.31422e-06 0.999393 -0.00530606 2.48826e-07 0.0857196
ekf 0.00216431 -0.0424913 -0.000912081 0.999094 -0.0664796 -0.0410413 0.0631456 truth 8.08522e-07 -0.0348498 4.31404e-06 0.999393 -0.00530603 2.48723e-07 0.0857198
ekf 0.00112078 -0.0423843 0.00145229 0.9991 -0.0697187 -0.0590158 0.0729456 truth 8.09211e-07 -0.0348496 4.31385e-06 0.999393 -0.00530601 2.4862e-07 0.0857199
ekf 0.00113762 -0.0423773 0.00153173 0.9991 -0.0698224 -0.0589725 0.0729305 truth 8.09901e-07 -0.0348494 4.31366e-06 0.999393 -0.00530598 2.48517e-07 0.0857201
ekf -0.000529317 -0.042338 0.0020978 0.999101 -0.0603723 -0.0509206 0.0802545 truth 8.10591e-07 -0.0348492 4.31347e-06 0.999393 -0.00530596 2.48414e-07 0.0857203
ekf -0.001377 -0.0423571 0.00174265 0.9991 -0.0470562 -0.059399 0.0735524 truth 8.1128e-07 -0.034849 4.31328e-06 0.999393 -0.00530593 2.4831e-07 0.0857204
ekf -0.00228472 -0.0424668 0.00286725 0.999091 -0.0310327 -0.0425532 0.0752499 truth 8.11995e-07 -0.0348488 4.31308e-06 0.999393 -0.00530591 2.48204e-07 0.0857206
ekf -0.00145035 -0.0422345 0.000330214 0.999107 -0.0407936 -0.0440547 0.0726136 truth 8.12704e-07 -0.0348486 4.31289e-06 0.999393 -0.00530588 2.48098e-07 0.0857207
ekf -0.00116793 -0.0420477 -0.00180141 0.999113 -0.046858 -0.0421395 0.0547606 truth 8.1341e-07 -0.0348484 4.31269e-06 0.999393 -0.00530586 2.47992e-07 0.0857209
ekf -0.000109188 -0.0420608 -0.00282605 0.999111 -0.0385998 -0.0379501 0.0501518 truth 8.14112e-07 -0.0348482 4.3125e-06 0.999393 -0.00530583 2.47886e-07 0.0857211
ekf -0.000108372 -0.0421315 -0.0028456 0.999108 -0.0387016 -0.0378826 0.0501456 truth 8.14813e-07 -0.034848 4.3123e-06 0.999393 -0.00530581 2.47781e-07 0.0857212
ekf 0.00121912 -0.0418839 -0.00278699 0.999118 -0.0277527 -0.0154014 0.0454125 truth 8.15511e-07 -0.0348478 4.3121e-06 0.999393 -0.00530578 2.47676e-07 0.0857214
ekf 0.00319251 -0.0415079 -0.00209721 0.999131 -0.0189864 -0.0284819 0.0581115 truth 8.16207e-07 -0.0348476 4.3119e-06 0.999393 -0.00530576 2.47571e-07 0.0857216
ekf 0.00302222 -0.0411412 -0.000717923 0.999149 -0.0354442 -0.0376203 0.0708642 truth 8.16902e-07 -0.0348473 4.3117e-06 0.999393 -0.00530573 2.47467e-07 0.0857217
ekf 0.0019082 -0.0412647 -0.000447331 0.999146 -0.0345338 -0.0430924 0.0860581 truth 8.17596e-07 -0.0348471 4.3115e-06 0.999393 -0.0053057 2.47362e-07 0.0857219
ekf 0.00178447 -0.0410884 0.00193824 0.999152 -0.0229788 -0.0369119 0.0816454 truth 8.1829e-07 -0.0348469 4.31129e-06 0.999393 -0.00530568 2.47257e-07 0.0857221
ekf 0.00147679 -0.0409637 0.00219417 0.999157 -0.0302081 -0.0336371 0.0718924 truth 8.18982e-07 -0.0348467 4.31109e-06 0.999393 -0.00530565 2.47153e-07 0.0857222
ekf 0.00181651 -0.0407227 0.00345116 0.999163 -0.0560378 -0.0144763 0.091633 truth 8.19674e-07 -0.0348465 4.31088e-06 0.999393 -0.00530562 2.47048e-07 0.0857224
ekf 0.00205932 -0.040896 0.00166052 0.99916 -0.0559863 -0.0198934 0.096677 truth 8.20366e-07 -0.0348462 4.31068e-06 0.999393 -0.0053056 2.46943e-07 0.0857226
ekf 0.00114152 -0.040384 -2.86622e-05 0.999184 -0.0529917 -0.00801225 0.0993701 truth 8.21057e-07 -0.034846 4.31047e-06 0.999393 -0.00530557 2.46839e-07 0.0857228
ekf 0.00282268 -0.0405386 -0.000181475 0.999174 -0.0771471 -0.00476817 0.09095 truth 8.21748e-07 -0.0348458 4.31026e-06 0.999393 -0.00530554 2.46734e-07 0.0857229
ekf 0.00429011 -0.0403978 4.51042e-05 0.999174 -0.0737814 0.00082613 0.105086 truth 8.22439e-07 -0.0348456 4.31005e-06 0.999393 -0.00530551 2.46629e-07 0.0857231
ekf 0.00355279 -0.0404614 -0.000287399 0.999175 -0.0651756 0.000728008 0.0969023 truth 8.23129e-07 -0.0348453 4.30984e-06 0.999393 -0.00530549 2.46524e-07 0.0857233
ekf 0.00407425 -0.0405906 -0.0015098 0.999166 -0.0407057 0.0123276 0.0911661 truth 8.23819e-07 -0.0348451 4.30963e-06 0.999393 -0.00530546 2.46419e-07 0.0857235
ekf 0.00535184 -0.0402388 -0.00122986 0.999175 -0.0203313 0.0209147 0.0996741 truth 8.24509e-07 -0.0348449 4.30942e-06 0.999393 -0.00530543 2.46314e-07 0.0857237
ekf 0.00542078 -0.0399154 0.00115588 0.999188 -0.0113614 0.00421199 0.110247 truth 8.25199e-07 -0.0348447 4.3092e-06 0.999393 -0.0053054 2.46209e-07 0.0857238
ekf 0.00432969 -0.0401922 0.00127234 0.999182 -0.0237304 0.00597928 0.100949 truth 8.25889e-07 -0.0348444 4.30899e-06 0.999393 -0.00530537 2.46104e-07 0.085724
ekf 0.00643767 -0.0404505 -0.000263285 0.999161 -0.0265481 -0.0122958 0.107886 truth 8.26579e-07 -0.0348442 4.30877e-06 0.999393 -0.00530535 2.45999e-07 0.0857242
ekf 0.00518332 -0.0408563 -0.00161056 0.99915 -0.0354005 0.00102035 0.0906011 truth 8.27269e-07 -0.034844 4.30855e-06 0.999393 -0.00530532 2.45893e-07 0.0857244
ekf 0.00583205 -0.0406911 -0.00021611 0.999155 -0.0262889 0.00796819 0.0902337 truth 8.27958e-07 -0.0348437 4.30833e-06 0.999393 -0.00530529 2.45788e-07 0.0857246
ekf 0.00372241 -0.0410144 -0.000632338 0.999151 -0.0369598 0.00757601 0.0980817 truth 8.28648e-07 -0.0348435 4.30811e-06 0.999393 -0.00530526 2.45683e-07 0.0857248
ekf 0.00265806 -0.0409515 0.0018491 0.999156 -0.0405829 0.0186203 0.111048 truth 8.29337e-07 -0.0348432 4.30789e-06 0.999393 -0.00530523 2.45577e-07 0.0857249
ekf 0.00168758 -0.0406315 0.00103528 0.999172 -0.0474009 0.018195 0.1214 truth 8.30026e-07 -0.034843 4.30767e-06 0.999393 -0.0053052 2.45471e-07 0.0857251
ekf -0.00141219 -0.0404174 0.00179167 0.99918 -0.0287293 0.0103993 0.120806 truth 8.30716e-07 -0.0348428 4.30745e-06 0.999393 -0.00530517 2.45366e-07 0.0857253
ekf -0.000810428 -0.0403875 0.00100329 0.999183 -0.0279488 0.00783929 0.107722 truth 8.31405e-07 -0.0348425 4.30722e-06 0.999393 -0.00530514 2.4526e-07 0.0857255
ekf -0.00066252 -0.0409497 0.00332896 0.999155 -0.032225 0.0109454 0.109626 truth 8.32094e-07 -0.0348423 4.307e-06 0.999393 -0.00530511 2.45154e-07 0.0857257
ekf 0.000868192 -0.0411761 0.00522214 0.999138 -0.0223485 0.00786369 0.107205 truth 8.32783e-07 -0.034842 4.30677e-06 0.999393 -0.00530508 2.45048e-07 0.0857259
ekf 0.00210267 -0.0411042 0.00606224 0.999134 -0.0459141 0.0222507 0.103699 truth 8.33472e-07 -0.0348418 4.30654e-06 0.999393 -0.00530505 2.44942e-07 0.0857261
ekf 0.000978615 -0.0413156 0.0067993 0.999123 -0.0469049 0.0224746 0.0997308 truth 8.34161e-07 -0.0348415 4.30632e-06 0.999393 -0.00530502 2.44836e-07 0.0857263
ekf -0.000899765 -0.0410346 0.00377481 0.99915 -0.0467474 0.0448777 0.094684 truth 8.3485e-07 -0.0348413 4.30609e-06 0.999393 -0.00530499 2.4473e-07 0.0857265
ekf -0.00448847 -0.0406766 0.00384769 0.999155 -0.0431775 0.0390171 0.0805945 truth 8.35539e-07 -0.034841 4.30585e-06 0.999393 -0.00530496 2.44624e-07 0.0857267
ekf -0.00389601 -0.0406797 0.00507547 0.999152 -0.0428628 0.0320115 0.0842562 truth 8.36228e-07 -0.0348408 4.30562e-06 0.999393 -0.00530493 2.44518e-07 0.0857269
ekf -0.000901202 -0.0408996 0.00530502 0.999149 -0.0375813 0.026022 0.0909486 truth 8.36917e-07 -0.0348405 4.30539e-06 0.999393 -0.0053049 2.44411e-07 0.0857271
ekf 0.00120896 -0.0408125 0.00145142 0.999165 -0.032865 0.0174006 0.0876185 truth 8.37606e-07 -0.0348403 4.30516e-06 0.999393 -0.00530487 2.44305e-07 0.0857273
ekf 0.00072297 -0.0407951 0.00263048 0.999164 -0.0290817 0.0221494 0.088324 truth 8.38294e-07 -0.03484 4.30492e-06 0.999393 -0.00530484 2.44198e-07 0.0857275
ekf 0.00192139 -0.0406667 0.00405666 0.999163 -0.0165658 0.029449 0.101592 truth 8.38983e-07 -0.0348397 4.30468e-06 0.999393 -0.00530481 2.44092e-07 0.0857277
ekf 0.00217116 -0.0405429 0.00486374 0.999164 -0.0121597 0.0268329 0.0886507 truth 8.39672e-07 -0.0348395 4.30445e-06 0.999393 -0.00530478 2.43985e-07 0.0857279
ekf 0.00537805 -0.0406542 0.00579612 0.999142 -0.0182188 0.0200523 0.0839053 truth 8.4036e-07 -0.0348392 4.30421e-06 0.999393 -0.00530475 2.43878e-07 0.0857281
ekf 0.00303832 -0.0405565 0.00400769 0.999165 -0.0255523 0.022667 0.0720349 truth 8.41049e-07 -0.0348389 4.30397e-06 0.999393 -0.00530472 2.43771e-07 0.0857283
ekf -0.000204476 -0.0411224 0.0033452 0.999148 -0.0242537 0.0254796 0.0524307 truth 8.41737e-07 -0.0348387 4.30373e-06 0.999393 -0.00530468 2.43664e-07 0.0857285
ekf -0.00034493 -0.0413299 0.00194933 0.999144 -0.00822575 0.0203597 0.0633486 truth 8.42426e-07 -0.0348384 4.30348e-06 0.999393 -0.00530465 2.43557e-07 0.0857287
ekf 0.00185986 -0.0415418 0.002803 0.999131 -0.0202568 0.00744553 0.0660465 truth 8.43114e-07 -0.0348381 4.30324e-06 0.999393 -0.00530462 2.4345e-07 0.0857289
ekf 0.00172892 -0.0416346 0.00281326 0.999127 -0.0244959 -0.0088573 0.0778784 truth 8.43803e-07 -0.0348379 4.303e-06 0.999393 -0.00530459 2.43343e-07 0.0857291
ekf 9.86894e-05 -0.0416792 0.00414851 0.999122 -0.01289 -0.0105112 0.0794156 truth 8.44491e-07 -0.0348376 4.30275e-06 0.999393 -0.00530456 2.43236e-07 0.0857294
ekf -0.00107164 -0.0418739 0.00414754 0.999114 -0.0122531 -0.0177959 0.0688406 truth 8.45179e-07 -0.0348373 4.3025e-06 0.999393 -0.00530452 2.43129e-07 0.0857296
ekf -0.00166575 -0.0419918 0.00314378 0.999112 -0.0117138 -0.0201598 0.0710127 truth 8.45868e-07 -0.0348371 4.30226e-06 0.999393 -0.00530449 2.43021e-07 0.0857298
ekf -0.00358087 -0.0415546 0.0050608 0.999117 -0.00410544 -0.0103257 0.0842946 truth 8.46556e-07 -0.0348368 4.30201e-06 0.999393 -0.00530446 2.42914e-07 0.08573
ekf -0.00452256 -0.0424571 0.00455706 0.999078 -0.00926323 0.00136848 0.0791103 truth 8.47244e-07 -0.0348365 4.30176e-06 0.999393 -0.00530442 2.42806e-07 0.0857302
ekf -0.00445672 -0.0421692 0.00417186 0.999092 0.000405201 0.000499981 0.0617711 truth 8.47932e-07 -0.0348362 4.30151e-06 0.999393 -0.00530439 2.42699e-07 0.0857304
ekf -0.00445771 -0.0422854 0.00416763 0.999087 0.00430699 0.00740992 0.0661999 truth 8.4862e-07 -0.034836 4.30125e-06 0.999393 -0.00530436 2.42591e-07 0.0857307
ekf 0.000359082 -0.0426547 0.00347925 0.999084 -0.0127511 0.0159006 0.0652632 truth 8.49308e-07 -0.0348357 4.301e-06 0.999393 -0.00530433 2.42483e-07 0.0857309
ekf 0.000216857 -0.0423365 0.00285079 0.999099 -0.00764932 0.0103089 0.0663083 truth 8.49996e-07 -0.0348354 4.30075e-06 0.999393 -0.00530429 2.42375e-07 0.0857311
ekf 0.000999519 -0.041591 0.00374348 0.999127 -0.0154387 0.00514707 0.0738275 truth 8.50684e-07 -0.0348351 4.30049e-06 0.999393 -0.00530426 2.42267e-07 0.0857313
ekf 0.00104515 -0.0422728 0.000987436 0.999105 0.0139434 -0.000976275 0.0553472 truth 8.51372e-07 -0.0348348 4.30023e-06 0.999393 -0.00530422 2.42159e-07 0.0857315
ekf 0.00194812 -0.0417793 0.000603826 0.999125 0.0194153 -0.00988863 0.063177 truth 8.52059e-07 -0.0348345 4.29998e-06 0.999393 -0.00530419 2.42051e-07 0.0857318
ekf 0.00183239 -0.04183 0.00130896 0.999122 0.0158244 -0.0214902 0.0640615 truth 8.52747e-07 -0.0348343 4.29972e-06 0.999393 -0.00530416 2.41943e-07 0.085732
ekf -0.000566876 -0.0417693 0.000972588 0.999127 0.0162486 -0.017205 0.081675 truth 8.53435e-07 -0.034834 4.29946e-06 0.999393 -0.00530412 2.41835e-07 0.0857322
ekf 0.00109058 -0.0418817 0.00123634 0.999121 -0.00428535 -0.0157209 0.0731075 truth 8.54123e-07 -0.0348337 4.2992e-06 0.999393 -0.00530409 2.41726e-07 0.0857324
ekf -0.000120137 -0.0414901 0.00132759 0.999138 -0.00624277 0.0033633 0.0863181 truth 8.5481e-07 -0.0348334 4.29893e-06 0.999393 -0.00530405 2.41618e-07 0.0857327
ekf 0.00086963 -0.0410963 0.00259337 0.999151 -0.000655276 0.0100805 0.0952098 truth 8.55498e-07 -0.0348331 4.29867e-06 0.999393 -0.00530402 2.4151e-07 0.0857329
ekf 0.000423659 -0.04096 0.00143322 0.99916 -0.0115188 -0.00502009 0.0913969 truth 8.56185e-07 -0.0348328 4.29841e-06 0.999393 -0.00530398 2.41401e-07 0.0857331
ekf -0.000579448 -0.0411979 0.00138658 0.99915 0.0110444 -0.00726869 0.0816116 truth 8.56873e-07 -0.0348325 4.29814e-06 0.999393 -0.00530395 2.41292e-07 0.0857334
ekf -0.000924535 -0.0411978 0.00297831 0.999146 0.0198357 0.0217255 0.0960341 truth 8.5756e-07 -0.0348322 4.29787e-06 0.999393 -0.00530391 2.41184e-07 0.0857336
ekf -0.00122457 -0.041105 0.00559687 0.999138 0.0193263 0.0185552 0.0980642 truth 8.58248e-07 -0.0348319 4.29761e-06 0.999393 -0.00530388 2.41075e-07 0.0857338
ekf 0.0003977 -0.0412671 0.00671419 0.999126 0.0255627 0.0117374 0.110598 truth 8.58935e-07 -0.0348316 4.29734e-06 0.999393 -0.00530384 2.40966e-07 0.0857341
ekf -0.000399849 -0.0407219 0.00634287 0.99915 0.0208602 -0.00184799 0.130744 truth 8.59622e-07 -0.0348313 4.29707e-06 0.999393 -0.00530381 2.40857e-07 0.0857343
ekf -0.000271784 -0.0405233 0.00493212 0.999166 0.0207992 0.0136445 0.129703 truth 8.6031e-07 -0.034831 4.2968e-06 0.999393 -0.00530377 2.40748e-07 0.0857345
ekf 0.00279051 -0.0410892 0.00273236 0.999148 0.0178296 0.038523 0.134546 truth 8.60997e-07 -0.0348307 4.29652e-06 0.999393 -0.00530374 2.40639e-07 0.0857348
ekf 0.00321723 -0.0412578 0.000437744 0.999143 0.0184848 0.0272411 0.135688 truth 8.61684e-07 -0.0348304 4.29625e-06 0.999393 -0.0053037 2.4053e-07 0.085735
ekf 0.000195724 -0.0424533 -0.00439107 0.999089 0.00194223 0.0136652 0.124089 truth 8.62371e-07 -0.0348301 4.29598e-06 0.999393 -0.00530366 2.4042e-07 0.0857353
ekf 0.000133686 -0.0424527 -0.0044122 0.999089 0.00179808 0.0136364 0.124184 truth 8.63058e-07 -0.0348298 4.2957e-06 0.999393 -0.00530363 2.40311e-07 0.0857355
ekf 0.0010436 -0.0419697 -0.00454778 0.999108 0.00726177 0.0114058 0.141369 truth 8.63745e-07 -0.0348295 4.29542e-06 0.999393 -0.00530359 2.40202e-07 0.0857357
ekf -0.0013026 -0.0421888 -0.000783253 0.999108 -0.00600301 0.0136246 0.153777 truth 8.64432e-07 -0.0348292 4.29515e-06 0.999393 -0.00530355 2.40092e-07 0.085736
ekf -0.00125131 -0.0421424 -0.000747436 0.999111 -0.00615299 0.0136108 0.153867 truth 8.65119e-07 -0.0348288 4.29487e-06 0.999393 -0.00530352 2.39982e-07 0.0857362
ekf 0.0015196 -0.0419821 -0.00329973 0.999112 -0.0129919 0.0312281 0.152224 truth 8.65806e-07 -0.0348285 4.29459e-06 0.999393 -0.00530348 2.39873e-07 0.0857365
ekf 0.000979442 -0.0419869 -0.00241582 0.999115 0.00487396 0.0324588 0.156255 truth 8.66493e-07 -0.0348282 4.29431e-06 0.999393 -0.00530344 2.39763e-07 0.0857367
ekf 0.00181842 -0.0424716 -0.0041819 0.999087 0.00267389 0.031957 0.140682 truth 8.6718e-07 -0.0348279 4.29402e-06 0.999393 -0.00530341 2.39653e-07 0.085737
ekf 0.00451624 -0.0426036 -0.00426319 0.999073 0.0266144 0.0286076 0.125628 truth 8.67867e-07 -0.0348276 4.29374e-06 0.999393 -0.00530337 2.39543e-07 0.0857372
ekf 0.000655848 -0.0434277 -0.00407491 0.999048 0.0277925 0.0435108 0.1172 truth 8.68553e-07 -0.0348273 4.29346e-06 0.999393 -0.00530333 2.39433e-07 0.0857375
ekf -0.00186493 -0.0438082 -0.00464177 0.999027 0.0270052 0.0580825 0.124341 truth 8.6924e-07 -0.0348269 4.29317e-06 0.999393 -0.00530329 2.39323e-07 0.0857377
ekf -0.00356121 -0.0440058 -0.00549018 0.99901 0.0108565 0.0298679 0.121146 truth 8.69927e-07 -0.0348266 4.29288e-06 0.999393 -0.00530326 2.39213e-07 0.085738
ekf -0.00616535 -0.0441656 -0.00601826 0.998987 0.0170779 0.0207962 0.0950211 truth 8.70613e-07 -0.0348263 4.2926e-06 0.999393 -0.00530322 2.39103e-07 0.0857382
ekf -0.00568219 -0.0433828 -0.00737602 0.999015 0.0288807 0.0302173 0.101354 truth 8.713e-07 -0.034826 4.29231e-06 0.999393 -0.00530318 2.38993e-07 0.0857385
ekf -0.00450814 -0.043162 -0.00630783 0.999038 0.0226042 0.0281438 0.106563 truth 8.71986e-07 -0.0348256 4.29202e-06 0.999393 -0.00530314 2.38882e-07 0.0857387
ekf -0.00637681 -0.0445017 -0.00668254 0.998967 0.0164708 0.0336755 0.0868398 truth 8.72673e-07 -0.0348253 4.29173e-06 0.999393 -0.0053031 2.38772e-07 0.085739
ekf -0.00908534 -0.0440443 -0.00790141 0.998957 0.0102358 0.0374475 0.0754709 truth 8.73359e-07 -0.034825 4.29143e-06 0.999393 -0.00530306 2.38661e-07 0.0857393
ekf -0.00970549 -0.0438435 -0.00821589 0.998957 0.0170271 0.0388747 0.0891848 truth 8.74045e-07 -0.0348247 4.29114e-06 0.999393 -0.00530303 2.38551e-07 0.0857395
ekf -0.00954495 -0.044227 -0.00656579 0.998954 0.0176013 0.0250668 0.1018 truth 8.74732e-07 -0.0348243 4.29085e-06 0.999393 -0.00530299 2.3844e-07 0.0857398
ekf -0.00799791 -0.043941 -0.00661688 0.99898 0.00430241 0.0304653 0.101933 truth 8.75418e-07 -0.034824 4.29055e-06 0.999393 -0.00530295 2.38329e-07 0.08574
ekf -0.0078945 -0.044816 -0.00561263 0.998948 -0.013527 0.040263 0.0808023 truth 8.76104e-07 -0.0348237 4.29025e-06 0.999393 -0.00530291 2.38218e-07 0.0857403
ekf -0.00750796 -0.0441744 -0.0063099 0.998976 -0.0119549 0.0375119 0.0731195 truth 8.7679e-07 -0.0348233 4.28995e-06 0.999393 -0.00530287 2.38107e-07 0.0857406
ekf -0.00646577 -0.0453479 -0.00604727 0.998932 -0.00134052 0.0177877 0.0722693 truth 8.77476e-07 -0.034823 4.28966e-06 0.999393 -0.00530283 2.37996e-07 0.0857408
ekf -0.00644932 -0.0453191 -0.00609976 0.998933 -0.00150252 0.0178341 0.0722751 truth 8.78162e-07 -0.0348226 4.28936e-06 0.999394 -0.00530279 2.37885e-07 0.0857411
ekf -0.00292488 -0.0446997 -0.00382855 0.998989 0.000981368 0.0120839 0.0777844 truth 8.78848e-07 -0.0348223 4.28905e-06 0.999394 -0.00530275 2.37774e-07 0.0857414
ekf -0.00122328 -0.0456162 -0.00542429 0.998944 0.00358221 0.0200586 0.0579577 truth 8.79534e-07 -0.034822 4.28875e-06 0.999394 -0.00530271 2.37663e-07 0.0857416
ekf -0.0013174 -0.0461339 -0.00787402 0.998903 -0.00240828 0.00405924 0.0603066 truth 8.8022e-07 -0.0348216 4.28845e-06 0.999394 -0.00530267 2.37551e-07 0.0857419
ekf -3.67471e-05 -0.0450402 -0.00604658 0.998967 0.00114499 -0.00332979 0.058398 truth 8.80906e-07 -0.0348213 4.28814e-06 0.999394 -0.00530263 2.3744e-07 0.0857422
ekf 0.000978387 -0.04509 -0.0067969 0.998959 0.00447991 0.00063755 0.0619442 truth 8.81592e-07 -0.0348209 4.28784e-06 0.999394 -0.00530259 2.37329e-07 0.0857424
ekf -1.6201e-06 -0.044443 -0.00631439 0.998992 0.0019933 0.00413636 0.0841029 truth 8.82278e-07 -0.0348206 4.28753e-06 0.999394 -0.00530255 2.37217e-07 0.0857427
ekf 0.00238845 -0.042249 -0.00308753 0.999099 -0.00336329 0.008232 0.104581 truth 8.82964e-07 -0.0348202 4.28722e-06 0.999394 -0.00530251 2.37105e-07 0.085743
ekf -0.000682465 -0.0425046 -0.001747 0.999095 -0.013017 -0.000994651 0.0977274 truth 8.83649e-07 -0.0348199 4.28691e-06 0.999394 -0.00530247 2.36994e-07 0.0857433
ekf 0.000394552 -0.0425561 1.64451e-05 0.999094 -0.0120238 0.00179549 0.0940914 truth 8.84335e-07 -0.0348195 4.2866e-06 0.999394 -0.00530243 2.36882e-07 0.0857435
ekf 0.0011901 -0.0443003 -0.00104257 0.999017 -0.00413859 -0.0223344 0.0726772 truth 8.85021e-07 -0.0348192 4.28629e-06 0.999394 -0.00530239 2.3677e-07 0.0857438
ekf 0.0007396 -0.0448354 -0.00133733 0.998993 0.0103987 -0.0276453 0.0863327 truth 8.85706e-07 -0.0348188 4.28598e-06 0.999394 -0.00530235 2.36658e-07 0.0857441
ekf 0.00298175 -0.0458097 -0.00363003 0.998939 0.0222708 -0.0189699 0.0882128 truth 8.86392e-07 -0.0348185 4.28567e-06 0.999394 -0.00530231 2.36546e-07 0.0857444
ekf 0.00278191 -0.0457866 -0.0050607 0.998935 0.00808365 -0.019516 0.0989163 truth 8.87077e-07 -0.0348181 4.28535e-06 0.999394 -0.00530226 2.36434e-07 0.0857446
ekf 0.00189971 -0.0461844 -0.00458412 0.998921 -0.00055986 -0.0266956 0.0956766 truth 8.87763e-07 -0.0348178 4.28504e-06 0.999394 -0.00530222 2.36322e-07 0.0857449
ekf 0.00238258 -0.0468653 -0.00658025 0.998877 0.0162306 -0.02375 0.0843349 truth 8.88448e-07 -0.0348174 4.28472e-06 0.999394 -0.00530218 2.36209e-07 0.0857452
ekf 0.000847137 -0.0466255 -0.00527877 0.998898 0.00443441 -0.0334117 0.0851992 truth 8.89133e-07 -0.034817 4.2844e-06 0.999394 -0.00530214 2.36097e-07 0.0857455
ekf 0.00236779 -0.0464154 -0.00384289 0.998912 -0.00867053 -0.0265483 0.088141 truth 8.89819e-07 -0.0348167 4.28408e-06 0.999394 -0.0053021 2.35985e-07 0.0857458
ekf 0.00382997 -0.0460474 -0.00454618 0.998922 0.0016388 -0.0046034 0.081177 truth 8.90504e-07 -0.0348163 4.28376e-06 0.999394 -0.00530206 2.35872e-07 0.0857461
ekf 0.00571957 -0.0457154 -0.00351869 0.998932 -0.00774128 -0.00414235 0.0862831 truth 8.91189e-07 -0.0348159 4.28344e-06 0.999394 -0.00530201 2.35759e-07 0.0857463
ekf 0.00423193 -0.0443591 -0.000364011 0.999007 -0.006335 -0.00843266 0.0923095 truth 8.91874e-07 -0.0348156 4.28312e-06 0.999394 -0.00530197 2.35647e-07 0.0857466
ekf 0.00437002 -0.0442412 -0.000134509 0.999011 -0.0055734 -0.0188627 0.106135 truth 8.92559e-07 -0.0348152 4.28279e-06 0.999394 -0.00530193 2.35534e-07 0.0857469
ekf 0.00192837 -0.0441046 -0.00119712 0.999024 0.00933202 -0.0269154 0.103255 truth 8.93244e-07 -0.0348148 4.28247e-06 0.999394 -0.00530189 2.35421e-07 0.0857472
ekf 0.0014559 -0.0434288 -0.00103059 0.999055 -0.00444751 -0.0323062 0.0995508 truth 8.93929e-07 -0.0348145 4.28214e-06 0.999394 -0.00530184 2.35308e-07 0.0857475
ekf 0.0018773 -0.0433333 0.00274771 0.999055 0.0122527 -0.037677 0.0852578 truth 8.94614e-07 -0.0348141 4.28182e-06 0.999394 -0.0053018 2.35195e-07 0.0857478
ekf 0.000950644 -0.0427207 0.00310335 0.999082 0.03064 -0.0392945 0.0844256 truth 8.95299e-07 -0.0348137 4.28149e-06 0.999394 -0.00530176 2.35082e-07 0.0857481
ekf 0.000935761 -0.0436999 0.00305026 0.99904 0.0396721 -0.0328871 0.0903158 truth 8.95984e-07 -0.0348133 4.28116e-06 0.999394 -0.00530171 2.34969e-07 0.0857484
ekf 0.000660911 -0.0433505 0.00268248 0.999056 0.0257106 -0.0349173 0.0917405 truth 8.96669e-07 -0.034813 4.28083e-06 0.999394 -0.00530167 2.34856e-07 0.0857487
ekf -0.000477036 -0.0435812 -0.000318164 0.99905 0.0190436 -0.0294404 0.07797 truth 8.97354e-07 -0.0348126 4.2805e-06 0.999394 -0.00530163 2.34743e-07 0.085749
ekf 0.00077052 -0.0434156 -0.000241747 0.999057 0.0137558 -0.0321974 0.0772407 truth 8.98039e-07 -0.0348122 4.28016e-06 0.999394 -0.00530158 2.34629e-07 0.0857493
ekf 0.000512963 -0.0433493 0.000993073 0.999059 0.0234279 -0.0516078 0.0779831 truth 8.98746e-07 -0.0348118 4.28043e-06 0.999394 -0.00530154 2.34558e-07 0.0857496
ekf 0.000333949 -0.0425857 0.00193023 0.999091 0.020549 -0.0461858 0.085877 truth 8.99478e-07 -0.0348114 4.2814e-06 0.999394 -0.0053015 2.34537e-07 0.0857499
ekf 0.00111073 -0.0423852 0.000188134 0.999101 0.0145761 -0.0355835 0.089502 truth 9.00215e-07 -0.0348111 4.28249e-06 0.999394 -0.00530181 2.34524e-07 0.0857502
ekf 0.00124749 -0.0426881 0.00150049 0.999087 0.0269382 -0.0310107 0.104927 truth 9.00949e-07 -0.0348106 4.28358e-06 0.999394 -0.0053069 2.34512e-07 0.0857505
ekf 0.000257608 -0.0420534 0.000720013 0.999115 0.0191165 -0.0370925 0.10863 truth 9.01681e-07 -0.03481 4.2847e-06 0.999394 -0.00532036 2.34502e-07 0.0857508
ekf -0.000249592 -0.0419948 -0.000702331 0.999118 0.0339414 -0.038311 0.10029 truth 9.02412e-07 -0.0348093 4.28584e-06 0.999394 -0.00534503 2.34495e-07 0.085751
ekf 0.00103603 -0.0421841 -4.49454e-05 0.999109 0.0303571 -0.0228684 0.108223 truth 9.03144e-07 -0.0348086 4.28701e-06 0.999394 -0.00538323 2.34489e-07 0.0857513
ekf -0.00249226 -0.0427364 0.00245025 0.99908 0.0346756 -0.0234997 0.13164 truth 9.03876e-07 -0.0348077 4.28822e-06 0.999394 -0.00543682 2.34486e-07 0.0857516
ekf 0.00060954 -0.042723 0.00121067 0.999086 0.0415654 -0.017146 0.126862 truth 8.78328e-07 -0.0348068 4.29008e-06 0.999394 -0.00550702 2.37922e-07 0.0857519
ekf 0.00320679 -0.0428344 0.000540173 0.999077 0.0263439 -0.0351751 0.128331 truth 7.45905e-07 -0.0348058 4.29438e-06 0.999394 -0.00559398 2.55323e-07 0.0857521
ekf 0.00204044 -0.0427117 -4.26511e-05 0.999085 0.0140122 -0.0484466 0.144335 truth 5.3557e-07 -0.0348049 4.30004e-06 0.999394 -0.00571433 2.82874e-07 0.0857523
ekf 0.000913833 -0.0436413 0.000549345 0.999047 0.0101686 -0.0457819 0.128257 truth 4.72258e-07 -0.0348041 4.30236e-06 0.999394 -0.00586777 2.91216e-07 0.0857525
ekf -0.000609311 -0.0429103 0.00122448 0.999078 0.0264687 -0.0369919 0.116929 truth 5.57994e-07 -0.0348033 6.76906e-06 0.999394 -0.00605635 -3.37145e-09 0.0857527
ekf 0.000666508 -0.0438201 0.000161187 0.999039 0.0112032 -0.0465314 0.11838 truth 7.77428e-07 -0.0347995 1.23355e-05 0.999394 -0.00628051 -6.71849e-07 0.0857532
ekf 0.00114997 -0.0444457 0.00154724 0.99901 0.0155893 -0.0375796 0.10306 truth 1.05891e-06 -0.0347918 2.04638e-05 0.999395 -0.00653984 -1.64284e-06 0.0857542
ekf 0.00237383 -0.0461887 0.0016173 0.998929 -0.00177639 -0.0299045 0.104656 truth 1.43671e-06 -0.0347732 3.10468e-05 0.999395 -0.00683433 -2.9086e-06 0.0857565
ekf 0.000720097 -0.0446672 0.000994372 0.999001 0.0206953 -0.0221017 0.100609 truth 1.88722e-06 -0.0347428 4.38951e-05 0.999396 -0.00716341 -4.44413e-06 0.0857602
ekf 0.000941706 -0.0459828 0.00196311 0.99894 0.0157402 -0.0155746 0.0864004 truth 2.45785e-06 -0.0346977 5.98549e-05 0.999398 -0.00752736 -6.35281e-06 0.0857656
ekf -0.000406728 -0.0451509 0.00140291 0.998979 0.00151986 -0.0171761 0.0857086 truth 3.14047e-06 -0.0346316 7.89239e-05 0.9994 -0.00792594 -8.63312e-06 0.0857736
ekf -0.000888394 -0.0459175 0.00102733 0.998944 -0.000522786 -0.00310692 0.0779259 truth 3.94361e-06 -0.0345428 0.000101562 0.999403 -0.00835888 -1.13388e-05 0.0857842
ekf -0.00209431 -0.0441893 0.000167965 0.999021 -0.00864357 -0.000999438 0.0620739 truth 4.89197e-06 -0.0344275 0.000128365 0.999407 -0.00882593 -1.45411e-05 0.085798
ekf 0.000504679 -0.0445978 -6.58858e-05 0.999005 -0.0149758 -0.00281832 0.0791386 truth 5.9868e-06 -0.0342789 0.000159821 0.999412 -0.00932709 -1.82966e-05 0.0858158
ekf -0.00127069 -0.0480688 -0.00178408 0.998842 -0.0101744 0.00803172 0.0771401 truth 7.16678e-06 -0.0341017 0.000195065 0.999418 -0.00986173 -2.24971e-05 0.085837
ekf -0.00101304 -0.0474169 -0.00197587 0.998873 -0.00874655 0.0202993 0.0735373 truth 8.50393e-06 -0.0338937 0.000235167 0.999425 -0.0104292 -2.72745e-05 0.0858618
ekf -0.000725364 -0.0460064 -0.0017169 0.998939 -0.00629284 0.0218529 0.0804425 truth 9.993e-06 -0.0336525 0.00028037 0.999434 -0.0110292 -3.26559e-05 0.0858906
ekf -0.00104119 -0.0455408 -0.00141334 0.998961 -0.0111327 0.0135415 0.084441 truth 1.16141e-05 -0.033379 0.000330566 0.999443 -0.0116615 -3.86252e-05 0.0859232
ekf -0.00185442 -0.0446275 -0.00205164 0.999 -0.011377 0.0117129 0.0922873 truth 1.33502e-05 -0.0330734 0.000385525 0.999453 -0.0123255 -4.51531e-05 0.0859597
ekf 0.00166167 -0.0436486 -0.00439072 0.999036 -0.0144063 0.0170622 0.0917228 truth 1.52051e-05 -0.0327372 0.000445502 0.999464 -0.0130206 -5.22686e-05 0.0859997
ekf 0.000182431 -0.0406105 -0.0011483 0.999174 -0.0120055 0.0183698 0.0970565 truth 1.7106e-05 -0.0323688 0.000509903 0.999476 -0.0137465 -5.98615e-05 0.0860435
ekf 0.000263544 -0.036482 -0.00104659 0.999334 -0.00717501 0.0147145 0.0963057 truth 1.9123e-05 -0.031969 0.000578685 0.999489 -0.0145028 -6.7998e-05 0.086091
ekf 0.000655023 -0.0370126 -0.00171207 0.999313 0.00180734 0.0282 0.0979804 truth 2.1192e-05 -0.0315364 0.000651679 0.999502 -0.0152895 -7.66178e-05 0.0861424
ekf 0.00165658 -0.034614 -0.000385988 0.999399 -0.0125585 0.0246985 0.0980361 truth 2.33238e-05 -0.0310702 0.000729314 0.999517 -0.0161059 -8.57701e-05 0.0861977
ekf 0.00192594 -0.0320244 0.000183018 0.999485 -0.026921 0.0294474 0.0993437 truth 2.54755e-05 -0.0305691 0.000811015 0.999532 -0.0169514 -9.53818e-05 0.0862571
ekf -0.00219024 -0.0304012 -0.000174612 0.999535 -0.0287102 0.0274898 0.107119 truth 2.76448e-05 -0.0300326 0.000896756 0.999549 -0.0178255 -0.000105448 0.0863206
ekf -0.00122297 -0.0302495 -0.000187135 0.999542 -0.0221801 0.0221905 0.0880091 truth 2.98704e-05 -0.0294623 0.000987763 0.999565 -0.0187273 -0.000116114 0.086388
ekf 0.00123627 -0.0258763 -0.00249575 0.999661 -0.0149819 0.0140061 0.108446 truth 3.20722e-05 -0.0288501 0.00108359 0.999583 -0.0196565 -0.000127313 0.0864603
ekf -0.00196223 -0.0241707 -0.00429915 0.999697 -0.0127652 0.0144693 0.127498 truth 3.41837e-05 -0.0282025 0.00118346 0.999602 -0.0206124 -0.000138949 0.0865367
ekf -0.00190298 -0.026358 -0.00428531 0.999642 -0.0385831 0.00521087 0.106098 truth 3.63103e-05 -0.0275249 0.00128909 0.99962 -0.0215942 -0.000151082 0.0866164
ekf -0.00167979 -0.028647 -0.00552569 0.999573 -0.0276816 0.0188759 0.098076 truth 3.83682e-05 -0.0268079 0.00139981 0.99964 -0.0226006 -0.000163749 0.0867007
ekf -0.00223472 -0.0301155 -0.00633551 0.999524 -0.0320387 0.0120678 0.103544 truth 4.03581e-05 -0.026047 0.00151618 0.99966 -0.0236307 -0.000177005 0.0867899
ekf -0.00259322 -0.0291139 -0.00596047 0.999555 -0.0375731 0.00137029 0.09928 truth 3.87735e-05 -0.0252388 0.00163974 0.99968 -0.0246832 -0.000190295 0.0868835
ekf 0.000696249 -0.0276033 -0.00393565 0.999611 -0.024583 0.0184906 0.102055 truth 4.11892e-05 -0.024388 0.00176703 0.999701 -0.025757 -0.000204752 0.0869831
ekf -0.00130972 -0.0268549 -0.00523834 0.999625 -0.0131438 0.0027729 0.106771 truth 4.51418e-05 -0.0234919 0.00189936 0.999722 -0.0268514 -0.000219656 0.0870884
ekf -0.0029029 -0.0265826 -0.00551278 0.999627 -0.0246805 -0.00324261 0.112365 truth 5.22577e-05 -0.0225523 0.0020378 0.999744 -0.0279652 -0.000234957 0.0871994
ekf -0.00161348 -0.0255997 -0.00398134 0.999663 -0.0254869 -0.013965 0.113799 truth 6.21931e-05 -0.0215694 0.0021827 0.999765 -0.0290971 -0.000250669 0.0873161
ekf -0.00267326 -0.024399 -0.00290615 0.999695 -0.0279254 -0.0177836 0.126008 truth 7.52105e-05 -0.0205428 0.00233252 0.999786 -0.0302458 -0.000266827 0.0874386
ekf -0.00372667 -0.0239676 -0.000795505 0.999705 -0.0315588 -0.0339889 0.123967 truth 9.11633e-05 -0.0194754 0.00248637 0.999807 -0.0314101 -0.000283678 0.0875665
ekf -0.00268292 -0.0237677 -0.0011005 0.999713 -0.0415312 -0.025492 0.118622 truth 0.000112379 -0.0183672 0.00264269 0.999828 -0.0325886 -0.000301563 0.0877005
ekf -0.00455702 -0.0212482 -0.000205317 0.999764 -0.0374675 -0.0236186 0.123789 truth 0.00014086 -0.017217 0.00280176 0.999848 -0.0337798 -0.000320541 0.0878412
ekf -0.00644946 -0.0203474 0.00224439 0.99977 -0.0470966 -0.0172256 0.127115 truth 0.000180362 -0.0160291 0.00296334 0.999867 -0.0349824 -0.000341054 0.0879892
ekf -0.0065879 -0.0166352 0.00170661 0.999838 -0.0351656 -0.0310632 0.14775 truth 0.00023399 -0.0148062 0.00312621 0.999885 -0.0361948 -0.000363737 0.0881452
ekf -0.0048934 -0.0145395 0.000821545 0.999882 -0.0425799 -0.0106634 0.136611 truth 0.0003 -0.0135534 0.00329033 0.999903 -0.0374159 -0.000388436 0.0883079
ekf -0.00563434 -0.0154285 0.0021482 0.999863 -0.0354989 -0.033312 0.12412 truth 0.000383709 -0.0122706 0.00345653 0.999919 -0.0386441 -0.00041534 0.0884791
ekf -0.00670142 -0.0116351 0.00180566 0.999908 -0.0254521 -0.0505546 0.137238 truth 0.000489152 -0.0109558 0.00362336 0.999933 -0.039878 -0.000444863 0.0886599
ekf -0.00771097 -0.0118821 1.70232e-05 0.9999 -0.0378186 -0.0458337 0.117565 truth 0.000616503 -0.00961352 0.00379115 0.999946 -0.0411162 -0.000476982 0.0888501
ekf -0.007387 -0.0112458 0.000693773 0.999909 -0.038625 -0.0493661 0.109337 truth 0.000771971 -0.0082411 0.00396163 0.999958 -0.042357 -0.000511958 0.0890515
ekf -0.00418266 -0.00681472 -0.00225692 0.999965 -0.0474728 -0.0388051 0.126096 truth 0.00095943 -0.00683808 0.00413404 0.999968 -0.0435987 -0.000550213 0.0892655
ekf -0.00394576 -0.00696466 -0.00201886 0.999966 -0.061738 -0.0459819 0.116914 truth 0.0011749 -0.0054062 0.00431017 0.999975 -0.0448398 -0.000591196 0.0894907
ekf -0.000892172 -0.00562814 -0.00219356 0.999981 -0.0540196 -0.0301669 0.121128 truth 0.00142325 -0.0039419 0.00448957 0.999981 -0.0460787 -0.000635355 0.0897277
ekf -0.00219363 -0.00123971 -0.00214353 0.999995 -0.0646333 -0.0261723 0.126527 truth 0.00169874 -0.00244767 0.00467177 0.999985 -0.0473134 -0.000682615 0.0899768
ekf -0.000986432 -0.000639232 -0.000934174 0.999999 -0.0620805 0.00817278 0.12335 truth 0.00200678 -0.000927714 0.00485715 0.999986 -0.0485425 -0.000733644 0.0902383
ekf -0.00050731 -0.00222181 5.69796e-05 0.999997 -0.0620711 0.0122134 0.113111 truth 0.00235323 0.000617034 0.00504537 0.999984 -0.0497642 -0.00078927 0.090513
ekf 0.000190257 -0.00138474 0.00365293 0.999992 -0.0727278 0.00668221 0.107502 truth 0.00265569 0.00216231 0.00523164 0.99998 -0.0509759 -0.000846842 0.0908072
ekf -0.00303241 -0.0017516 0.00420661 0.999985 -0.072976 0.0210242 0.0885529 truth 0.0030011 0.00373396 0.0054168 0.999974 -0.0521761 -0.000910591 0.0911169
ekf -0.00220514 -7.8749e-05 0.00316228 0.999993 -0.0742374 0.0209926 0.0888274 truth 0.00340041 0.00533173 0.00560132 0.999964 -0.0533628 -0.000981718 0.0914445
ekf -0.00221692 0.000516503 0.00318322 0.999992 -0.0631176 0.0118773 0.089328 truth 0.00385128 0.00695428 0.00578575 0.999952 -0.0545341 -0.00106038 0.0917906
ekf -0.00194648 0.00178368 0.00434245 0.999987 -0.0627953 0.0187006 0.0832765 truth 0.00435042 0.00859984 0.0059698 0.999936 -0.0556882 -0.00114691 0.0921553
ekf -0.000920099 0.00343817 0.00185042 0.999992 -0.0588576 0.0232853 0.0733411 truth 0.00489961 0.0102668 0.00615256 0.999916 -0.0568232 -0.00124212 0.0925399
ekf -0.000326298 0.00587934 0.00200584 0.999981 -0.0668098 0.0285411 0.0774959 truth 0.00549197 0.0119525 0.00633568 0.999893 -0.057937 -0.00134598 0.092946
ekf 0.00112855 0.00654302 0.00373781 0.999971 -0.0469303 0.0367428 0.0808686 truth 0.00612697 0.013655 0.0065188 0.999867 -0.0590279 -0.0014592 0.0933735
ekf 0.0027723 0.00891687 0.0065909 0.999935 -0.0466838 0.0483581 0.0896867 truth 0.00680426 0.0153715 0.00670039 0.999836 -0.0600938 -0.00158269 0.0938227
ekf 0.00393552 0.0113222 0.00564313 0.999912 -0.0494382 0.0362533 0.0924738 truth 0.00752496 0.0170993 0.00687801 0.999802 -0.0611328 -0.00171762 0.0942929
ekf 0.00314555 0.0123121 0.00826349 0.999885 -0.0514046 0.0248017 0.0868417 truth 0.00828113 0.018836 0.0070517 0.999763 -0.0621431 -0.00186427 0.0947845
ekf 0.00665694 0.0125223 0.00994535 0.99985 -0.0276909 -0.000451732 0.0772835 truth 0.00907521 0.0205803 0.00721933 0.999721 -0.0631226 -0.00202401 0.0952983
ekf 0.00862877 0.0158389 0.0106093 0.999781 -0.0404727 -0.00233621 0.0783738 truth 0.00989142 0.0223298 0.00737845 0.999674 -0.0640692 -0.00219698 0.0958358
ekf 0.00981957 0.0164107 0.0105202 0.999762 -0.0469693 -0.0217809 0.0792178 truth 0.0107234 0.0240818 0.00752819 0.999624 -0.064981 -0.00238384 0.0963969
ekf 0.0122244 0.0181501 0.0115751 0.999694 -0.0492476 -0.0188838 0.0679918 truth 0.0115623 0.0258366 0.00766795 0.99957 -0.065856 -0.00258503 0.0969817
ekf 0.013426 0.016183 0.0127701 0.999697 -0.0566502 -0.00121703 0.04118 truth 0.0124025 0.027592 0.00779665 0.999512 -0.0666919 -0.00280137 0.0975916
ekf 0.013426 0.016183 0.0127701 0.999697 -0.0566502 -0.00121703 0.04118 truth 0.0132488 0.0293504 0.00791355 0.99945 -0.0674865 -0.00303433 0.0982296
ekf 0.0176414 0.0169097 0.0144792 0.999597 -0.0536152 -0.0323695 0.0329135 truth 0.014099 0.0311121 0.0080187 0.999384 -0.0682375 -0.00328481 0.0988959
ekf 0.0185711 0.020589 0.0147178 0.999507 -0.0714583 -0.0289673 0.0394748 truth 0.014934 0.0328759 0.00810974 0.999315 -0.0689429 -0.00355281 0.099591
ekf 0.0190223 0.0258877 0.0172314 0.999335 -0.0654418 -0.0279918 0.0573297 truth 0.0157526 0.0346396 0.0081864 0.999242 -0.0696008 -0.00383928 0.100314
ekf 0.0219258 0.0294379 0.0147983 0.999217 -0.0694809 -0.0158784 0.0692866 truth 0.0165572 0.0363967 0.00824673 0.999166 -0.0702096 -0.00414556 0.101065
ekf 0.0203389 0.0293878 0.0148511 0.999251 -0.0584962 0.000366357 0.0655521 truth 0.0173376 0.0381431 0.00829249 0.999087 -0.0707677 -0.00447166 0.101841
ekf 0.02185 0.0371928 0.0144057 0.998965 -0.0588155 0.0164059 0.0776569 truth 0.0181034 0.0398779 0.00832431 0.999006 -0.0712729 -0.0048191 0.102644
ekf 0.0206729 0.0395248 0.0140011 0.998907 -0.0698412 0.0144187 0.0768663 truth 0.0188542 0.0415921 0.00834239 0.998922 -0.0717241 -0.00518868 0.103472
ekf 0.0178006 0.0391542 0.0111325 0.999013 -0.0746858 -0.00138707 0.0657522 truth 0.0195926 0.0432845 0.00834724 0.998836 -0.0721192 -0.00558141 0.104326
ekf 0.0187262 0.0445571 0.00921899 0.998789 -0.07968 0.00125466 0.0764429 truth 0.0203205 0.0449559 0.00834141 0.998747 -0.0724561 -0.00599802 0.105208
ekf 0.0204823 0.0476468 0.00978351 0.998606 -0.0728701 0.00347063 0.0881261 truth 0.0210313 0.0466009 0.00832636 0.998657 -0.0727334 -0.00643865 0.106115
ekf 0.021206 0.0507289 0.00926992 0.998444 -0.0626191 0.0130292 0.0863447 truth 0.0217204 0.0482154 0.00830165 0.998566 -0.0729495 -0.00690382 0.107048
ekf 0.0223188 0.0484966 0.00754554 0.998545 -0.0684203 0.0140083 0.0809785 truth 0.0223884 0.0497946 0.00826755 0.998474 -0.073103 -0.00739433 0.108006
ekf 0.0234265 0.0482489 0.00598567 0.998543 -0.0771203 0.00720775 0.0798236 truth 0.0230291 0.0513422 0.00822555 0.998382 -0.0731918 -0.00791037 0.108989
ekf 0.0264406 0.0486819 0.00534513 0.99845 -0.0753063 0.0057204 0.0827126 truth 0.0236351 0.0528592 0.00817692 0.998289 -0.0732141 -0.00845199 0.109998
ekf 0.0268543 0.0488701 0.00594829 0.998426 -0.0864069 7.55032e-05 0.0863374 truth 0.0241966 0.0543448 0.00812189 0.998196 -0.0731683 -0.00901918 0.111033
ekf 0.0273025 0.0507989 0.00631819 0.998316 -0.0965922 0.014806 0.0839822 truth 0.0247125 0.0558001 0.00806 0.998104 -0.0730527 -0.00961253 0.112092
ekf 0.0263672 0.0529507 0.00676355 0.998226 -0.0845652 0.0022341 0.0697446 truth 0.0251857 0.0572242 0.00799122 0.998012 -0.0728658 -0.0102328 0.113176
ekf 0.0298931 0.056421 0.00856675 0.997923 -0.0861739 -0.000692037 0.0764124 truth 0.0256178 0.0586136 0.00791507 0.997921 -0.0726061 -0.0108807 0.114287
ekf 0.0276292 0.055752 0.00936949 0.998018 -0.088153 0.00620006 0.0677559 truth 0.0260006 0.0599645 0.0078298 0.997831 -0.0722724 -0.0115564 0.115423
ekf 0.0270226 0.0552195 0.0101728 0.998057 -0.0840628 0.0337704 0.0589838 truth 0.0263446 0.0612781 0.0077353 0.997743 -0.0718633 -0.0122609 0.116586
ekf 0.0279893 0.0573895 0.0121952 0.997885 -0.0960581 0.0217422 0.066753 truth 0.0266599 0.0625547 0.00763153 0.997656 -0.071377 -0.0129953 0.117778
ekf 0.0256347 0.0595383 0.011301 0.997833 -0.0864114 0.0205994 0.0723672 truth 0.0269449 0.0637936 0.00751663 0.997571 -0.0708125 -0.0137599 0.118996
ekf 0.0258125 0.0616496 0.011265 0.9977 -0.0762983 0.0319487 0.0839948 truth 0.0272056 0.0649911 0.0073914 0.997488 -0.0701688 -0.0145553 0.12024
ekf 0.02746 0.0676203 0.00834872 0.997298 -0.0727303 0.0353455 0.085852 truth 0.0274447 0.0661443 0.00725587 0.997406 -0.0694452 -0.0153818 0.121509
ekf 0.0269785 0.0697064 0.00812952 0.99717 -0.0652508 0.0188682 0.0920984 truth 0.0276534 0.0672463 0.00711238 0.997328 -0.0686409 -0.0162386 0.122804
ekf 0.0295091 0.0723487 0.00636966 0.996922 -0.0746296 0.0143022 0.102527 truth 0.0278289 0.0682947 0.00696125 0.997253 -0.0677553 -0.0171255 0.124122
ekf 0.0319578 0.0719093 0.00768963 0.996869 -0.084124 0.0100659 0.0920132 truth 0.0279589 0.0692877 0.00680372 0.997182 -0.0667877 -0.0180418 0.125464
ekf 0.0314072 0.0691936 0.00614729 0.99709 -0.0870201 -0.000667057 0.0992862 truth 0.0280382 0.0702268 0.00663871 0.997115 -0.0657368 -0.0189871 0.12683
ekf 0.0300765 0.0681252 0.00640292 0.997203 -0.0840606 0.00218795 0.103625 truth 0.0280633 0.0711153 0.0064676 0.997052 -0.0646018 -0.0199612 0.128218
ekf 0.0300299 0.0699041 0.00771984 0.997072 -0.102999 0.00405468 0.107238 truth 0.0280403 0.0719543 0.00629039 0.996994 -0.063382 -0.0209642 0.129629
ekf 0.0300592 0.0730802 0.00578353 0.996856 -0.0913683 -0.00812845 0.115046 truth 0.0279721 0.0727441 0.00610616 0.99694 -0.0620765 -0.0219963 0.131063
ekf 0.0295937 0.0761688 0.0031496 0.996651 -0.0977042 0.00367617 0.128013 truth 0.0278537 0.0734798 0.00591632 0.99689 -0.0606854 -0.0230567 0.132519
ekf 0.0295445 0.0755453 0.00431767 0.996695 -0.105307 -0.00557824 0.131244 truth 0.0276856 0.0741589 0.0057234 0.996846 -0.0592084 -0.0241447 0.133995
ekf 0.031985 0.078879 0.0039002 0.996363 -0.0826824 -0.0110965 0.153514 truth 0.0274681 0.0747831 0.0055262 0.996806 -0.0576451 -0.0252602 0.135491
ekf 0.0303217 0.072565 0.00461726 0.996892 -0.0757865 -0.000733891 0.168089 truth 0.0271912 0.0753469 0.00532506 0.996772 -0.0559959 -0.0264018 0.137004
ekf 0.0315823 0.075806 0.00213345 0.99662 -0.0848191 -0.00494473 0.146217 truth 0.0268648 0.0758567 0.00511968 0.996744 -0.0542602 -0.0275698 0.138534
ekf 0.0289097 0.0754686 0.00359929 0.996723 -0.087045 -0.00221854 0.157159 truth 0.0264802 0.0763099 0.00491213 0.99672 -0.0524377 -0.0287627 0.140082
ekf 0.0298544 0.0761786 0.00370419 0.99664 -0.0849697 0.00373049 0.151245 truth 0.0260486 0.0767074 0.00470123 0.996702 -0.0505282 -0.0299809 0.141648
ekf 0.0341301 0.0738862 0.00408524 0.996674 -0.0766135 -0.00436803 0.147742 truth 0.0255691 0.0770487 0.00448702 0.996689 -0.0485317 -0.0312236 0.143233
ekf 0.0336121 0.0785379 0.00372197 0.996337 -0.0673432 -0.00203437 0.163601 truth 0.0250274 0.0773356 0.0042692 0.996682 -0.0464481 -0.0324892 0.144836
ekf 0.0306527 0.0807961 0.00250812 0.996256 -0.0845463 -0.00699966 0.16228 truth 0.0244255 0.077562 0.0040481 0.99668 -0.0442781 -0.0337769 0.146456
ekf 0.0292502 0.0777066 0.00348011 0.996541 -0.096302 -0.0242947 0.176673 truth 0.0237709 0.0777278 0.00382456 0.996684 -0.0420219 -0.035086 0.148094
ekf 0.0278659 0.0835248 -0.000492733 0.996116 -0.0824293 -0.0455443 0.164658 truth 0.0230641 0.0778375 0.00359805 0.996693 -0.0396795 -0.0364158 0.149749
ekf 0.0285672 0.0849992 -0.000748409 0.995971 -0.0787558 -0.0474842 0.161414 truth 0.0222987 0.0778836 0.00337164 0.996707 -0.0372516 -0.0377644 0.151421
ekf 0.0243056 0.0880757 -0.000145132 0.995817 -0.0771661 -0.0498086 0.151249 truth 0.0214727 0.0778648 0.00314547 0.996728 -0.0347388 -0.0391305 0.153112
ekf 0.0231844 0.0880965 0.00121234 0.995841 -0.0614325 -0.0477727 0.145125 truth 0.0206002 0.0777776 0.00291899 0.996754 -0.0321415 -0.0405141 0.154823
ekf 0.0246832 0.0853682 0.00020558 0.996044 -0.0705632 -0.0352063 0.151056 truth 0.019688 0.0776207 0.00269119 0.996785 -0.0294603 -0.0419143 0.156555
ekf 0.022838 0.0779167 -0.000232606 0.996698 -0.0666248 -0.0337207 0.175349 truth 0.0187335 0.077399 0.00246295 0.996821 -0.0266956 -0.0433297 0.158308
ekf 0.0245455 0.0832651 0.00206192 0.996223 -0.0474154 -0.047812 0.169586 truth 0.0177418 0.0771203 0.00223504 0.996861 -0.0238478 -0.0447591 0.160079
ekf 0.0224535 0.0825408 -0.000642045 0.996335 -0.0392851 -0.0554717 0.16777 truth 0.0167073 0.0767772 0.00200549 0.996906 -0.0209183 -0.0462009 0.161869
ekf 0.0224813 0.0813845 -0.000728808 0.996429 -0.0461413 -0.0539046 0.16464 truth 0.0156307 0.0763699 0.00177667 0.996955 -0.017908 -0.0476535 0.16368
ekf 0.0202721 0.083782 -0.000849529 0.996278 -0.0442449 -0.0444767 0.171159 truth 0.0145133 0.075901 0.00154836 0.997009 -0.0148176 -0.0491156 0.165511
ekf 0.0172286 0.0844555 -0.00160343 0.996277 -0.0286762 -0.0331859 0.188855 truth 0.013364 0.0753678 0.00132087 0.997065 -0.0116483 -0.050586 0.167362
ekf 0.0151271 0.0828433 -0.00182054 0.996446 -0.0186775 -0.0391999 0.176065 truth 0.0121941 0.0747683 0.0010951 0.997126 -0.00840181 -0.0520638 0.169232
ekf 0.0105357 0.0832647 -0.0030475 0.996467 -0.0080365 -0.0525781 0.180539 truth 0.0110078 0.0741037 0.000871474 0.997189 -0.00507899 -0.0535477 0.171123
ekf 0.00783172 0.0871366 -0.00262517 0.996162 -0.0021348 -0.0325853 0.174048 truth 0.00981522 0.0733723 0.000650955 0.997256 -0.00168131 -0.0550365 0.173035
ekf 0.0064942 0.0885829 -0.00191888 0.996046 -0.00204992 -0.0274915 0.155721 truth 0.00863031 0.0725701 0.000433253 0.997326 0.00178962 -0.0565296 0.174969
ekf 0.00497445 0.087762 -0.0032709 0.996124 0.0124813 -0.0223699 0.167699 truth 0.00745955 0.0716959 0.000217739 0.997399 0.00533253 -0.058026 0.176926
ekf 0.00329071 0.0863435 -0.00368221 0.996253 0.0338837 -0.0298346 0.168435 truth 0.00630586 0.0707495 6.00704e-06 0.997474 0.00894562 -0.059524 0.178907
ekf 0.00363622 0.0893437 -0.00306765 0.995989 0.0458943 -0.03373 0.169667 truth 0.00517296 0.0697309 -0.000201848 0.997552 0.0126272 -0.0610223 0.180911
ekf 0.00170529 0.0898409 -0.00133821 0.995954 0.0765572 -0.0230248 0.182202 truth 0.00405874 0.0686363 -0.00040614 0.997633 0.0163753 -0.0625194 0.182938
ekf 0.00170529 0.0898409 -0.00133821 0.995954 0.0765572 -0.0230248 0.182202 truth 0.00297521 0.0674623 -0.000608013 0.997717 0.0201874 -0.0640146 0.184988
ekf -0.00152698 0.0832405 -0.00324759 0.996523 0.0738752 -0.0385219 0.208613 truth 0.00192131 0.0662094 -0.000807446 0.997804 0.0240617 -0.0655066 0.18706
ekf -0.00484496 0.0781808 -0.000749408 0.996927 0.092984 -0.0460592 0.215063 truth 0.000899678 0.0648856 -0.00100303 0.997892 0.0279965 -0.0669939 0.189153
ekf -0.00637045 0.0809564 -0.000856035 0.996697 0.101613 -0.0357306 0.197255 truth -7.8768e-05 0.0634949 -0.00119664 0.997981 0.0319899 -0.0684762 0.191267
ekf -0.00738669 0.0770887 -0.00120476 0.996996 0.103153 -0.0366671 0.192046 truth -0.00100651 0.0620338 -0.00138787 0.998073 0.0360396 -0.0699528 0.193404
ekf -0.00685245 0.0697001 -0.00135283 0.997544 0.0907749 -0.0487761 0.201236 truth -0.00188192 0.0605067 -0.00157598 0.998165 0.0401439 -0.0714223 0.195565
ekf -0.00609371 0.0701433 -0.00122854 0.997518 0.0920689 -0.0209486 0.182912 truth -0.00271098 0.0589234 -0.00176093 0.998257 0.0443009 -0.0728835 0.197751
ekf -0.00580367 0.0673127 -0.000227583 0.997715 0.116182 -0.0144175 0.200779 truth -0.0034883 0.0572833 -0.00194261 0.99835 0.0485086 -0.0743355 0.199964
ekf -0.00243533 0.0621182 -0.00192766 0.998064 0.118437 -0.0156308 0.210748 truth -0.00421314 0.0555877 -0.00212174 0.998443 0.0527642 -0.0757777 0.202202
ekf -0.00250057 0.0593567 -0.000241258 0.998234 0.104698 -0.0111735 0.203832 truth -0.0049 0.0538425 -0.00229705 0.998535 0.0570655 -0.0772079 0.204466
ekf -0.0031479 0.0550685 -0.00205611 0.998475 0.111795 -0.019274 0.210052 truth -0.00554516 0.0520524 -0.0024698 0.998626 0.0614105 -0.0786259 0.206755
ekf -0.0059168 0.0545639 -0.00120529 0.998492 0.121581 -0.0112815 0.21219 truth -0.00615101 0.0502219 -0.00263855 0.998716 0.0657967 -0.0800304 0.209072
ekf -0.0067511 0.0552984 -0.00466587 0.998436 0.142752 -0.000644181 0.210935 truth -0.00670591 0.0483505 -0.00280344 0.998804 0.0702213 -0.0814217 0.211414
ekf -0.00679358 0.0566623 -0.00468034 0.998359 0.161966 -0.0232243 0.203084 truth -0.0072099 0.0464358 -0.00296139 0.998891 0.0746816 -0.0827986 0.213784
ekf -0.00731143 0.053987 -0.00470999 0.998504 0.154609 -0.0284943 0.215532 truth -0.00766948 0.0444748 -0.0031125 0.998976 0.0791745 -0.0841603 0.216183
ekf -0.0103438 0.0504102 -0.00371665 0.998668 0.145552 -0.0317563 0.2034 truth -0.00808464 0.0424714 -0.00325674 0.99906 0.0836974 -0.0855062 0.218609
ekf -0.0119013 0.0458741 -0.00261246 0.998873 0.140528 -0.0453486 0.215647 truth -0.00844532 0.0404308 -0.00339475 0.999141 0.0882479 -0.0868366 0.221064
ekf -0.0107436 0.0507394 -0.00371926 0.998647 0.131835 -0.0408511 0.192851 truth -0.00874904 0.0383584 -0.00352713 0.99922 0.0928235 -0.0881514 0.223548
ekf -0.00524738 0.0391065 -0.00571471 0.999205 0.135979 -0.0452166 0.219121 truth -0.00900027 0.0362505 -0.00365311 0.999296 0.097421 -0.08945 0.226064
ekf -0.00557331 0.0411432 -0.00566131 0.999122 0.143116 -0.0409597 0.208623 truth -0.0092219 0.0341194 -0.0037717 0.999368 0.102038 -0.0907304 0.228609
ekf -0.00744576 0.0395965 -0.00456109 0.999178 0.15326 -0.0416681 0.213194 truth -0.0094106 0.0319623 -0.00388273 0.999437 0.106672 -0.0919926 0.231185
ekf -0.00697966 0.0367499 -0.00496813 0.999288 0.150728 -0.0305107 0.220247 truth -0.00955945 0.0297802 -0.00398679 0.999503 0.11132 -0.0932372 0.233791
ekf -0.00764603 0.0355345 -0.00605044 0.999321 0.133317 -0.0314342 0.208916 truth -0.00966805 0.0275766 -0.00408375 0.999565 0.115978 -0.094464 0.236428
ekf -0.00595294 0.033635 -0.00767743 0.999387 0.153833 -0.020297 0.212605 truth -0.00973615 0.0253549 -0.00417227 0.999622 0.120645 -0.0956729 0.239097
ekf -0.00712307 0.0277648 -0.0104275 0.999535 0.151795 -0.0339103 0.233858 truth -0.00976865 0.0231153 -0.00425139 0.999676 0.125316 -0.0968634 0.241797
ekf -0.00744101 0.0200855 -0.0113607 0.999706 0.172758 -0.0469791 0.258382 truth -0.00977016 0.0208646 -0.00431904 0.999725 0.12999 -0.0980351 0.244527
ekf -0.00744396 0.0178448 -0.0114193 0.999748 0.177647 -0.048229 0.261091 truth -0.00974506 0.0186092 -0.00437469 0.99977 0.134664 -0.0991877 0.247285
ekf -0.00696881 0.0211935 -0.0103251 0.999698 0.15831 -0.0451267 0.237928 truth -0.00969389 0.0163512 -0.00441822 0.99981 0.139335 -0.100321 0.250071
ekf -0.00632367 0.0147593 -0.00770899 0.999841 0.1638 -0.0311283 0.253211 truth -0.00961574 0.0140889 -0.00445043 0.999845 0.143999 -0.101437 0.252887
ekf -0.00607355 0.0131123 -0.00788042 0.999865 0.16399 -0.0447953 0.250788 truth -0.00950505 0.0118288 -0.00447328 0.999875 0.148655 -0.102534 0.255731
ekf -0.00924833 0.00777876 -0.00889969 0.999887 0.160214 -0.0421857 0.25685 truth -0.00936698 0.00957296 -0.00448705 0.9999 0.153299 -0.103613 0.258606
ekf -0.0102173 0.0081118 -0.0104106 0.999861 0.15352 -0.0313456 0.245197 truth -0.00919295 0.00732754 -0.00449022 0.999921 0.157929 -0.104676 0.261508
ekf -0.00646442 0.0028736 -0.0120284 0.999903 0.15685 -0.0449717 0.259231 truth -0.008979 0.00509278 -0.00448121 0.999937 0.162542 -0.105721 0.264442
ekf -0.0104563 -0.0031156 -0.0133398 0.999851 0.144992 -0.0670961 0.256183 truth -0.00874369 0.00287438 -0.00445984 0.999948 0.167135 -0.10675 0.267403
ekf -0.0102911 0.0016575 -0.0131624 0.999859 0.160333 -0.051641 0.241239 truth -0.00848189 0.000680077 -0.00442469 0.999954 0.171707 -0.107761 0.270394
ekf -0.0107665 -0.00086422 -0.00986855 0.999893 0.162567 -0.057116 0.244956 truth -0.0081898 -0.00149702 -0.00437561 0.999956 0.176253 -0.108756 0.273415
ekf -0.0100632 -0.0090317 -0.0110627 0.999847 0.161787 -0.0529959 0.266826 truth -0.00786206 -0.00365426 -0.00431514 0.999953 0.180772 -0.109735 0.276467
ekf -0.0101659 -0.0151502 -0.0112193 0.999771 0.171007 -0.0509999 0.28009 truth -0.00750242 -0.0057828 -0.00424268 0.999946 0.185261 -0.1107 0.279546
ekf -0.00936633 -0.01072 -0.00967274 0.999852 0.192762 -0.0574343 0.276337 truth -0.00711051 -0.00787671 -0.00415804 0.999935 0.189718 -0.111651 0.282652
ekf -0.00690441 -0.020205 -0.010472 0.999717 0.188121 -0.069629 0.290554 truth -0.00668828 -0.00994311 -0.00406262 0.99992 0.19414 -0.112588 0.285784
ekf -0.00524251 -0.0227417 -0.0087536 0.999689 0.191668 -0.0867069 0.292841 truth -0.00624795 -0.0119711 -0.00395682 0.999901 0.198525 -0.113511 0.288942
ekf -0.00615193 -0.0244894 -0.00886865 0.999642 0.180481 -0.0798384 0.291239 truth -0.00579718 -0.0139582 -0.0038424 0.999878 0.202872 -0.114421 0.292124
ekf -0.00384021 -0.0259589 -0.00978617 0.999608 0.197477 -0.0822372 0.296511 truth -0.00533143 -0.0159016 -0.00371911 0.999852 0.207176 -0.115318 0.295331
ekf -0.00380201 -0.0262341 -0.00898513 0.999608 0.200917 -0.0767312 0.29986 truth -0.00486012 -0.0178016 -0.00358716 0.999823 0.211438 -0.116203 0.298562
ekf -0.00613533 -0.0272451 -0.00846406 0.999574 0.210356 -0.0815567 0.30269 truth -0.00438031 -0.0196585 -0.00344704 0.999791 0.215653 -0.117076 0.301817
ekf -0.00451671 -0.0278227 -0.00820822 0.999569 0.214214 -0.0953598 0.300992 truth -0.00388541 -0.0214726 -0.00329824 0.999756 0.21982 -0.117939 0.305096
ekf -0.00644086 -0.0260311 -0.00764176 0.999611 0.210578 -0.0997103 0.28986 truth -0.00338327 -0.0232437 -0.00314194 0.999719 0.223937 -0.118792 0.3084
ekf -0.0052412 -0.0285312 -0.00916002 0.999537 0.235265 -0.0992902 0.303222 truth -0.00286777 -0.0249735 -0.00297814 0.99968 0.228002 -0.119636 0.311729
ekf -0.00379873 -0.0306678 -0.0087926 0.999484 0.228671 -0.108446 0.302643 truth -0.00234551 -0.0266614 -0.00280597 0.999638 0.232012 -0.120471 0.315083
ekf -0.00477028 -0.0262886 -0.00829379 0.999609 0.241125 -0.114975 0.291035 truth -0.00182298 -0.028305 -0.00262645 0.999594 0.235966 -0.121298 0.318461
ekf -0.00419757 -0.0271982 -0.00786809 0.99959 0.244192 -0.103862 0.292635 truth -0.00129771 -0.0299102 -0.00243968 0.999549 0.239862 -0.122118 0.321866
ekf -0.00399976 -0.0238062 -0.00445684 0.999699 0.25688 -0.0993577 0.287975 truth -0.000767465 -0.0314764 -0.00224609 0.999502 0.243697 -0.122931 0.325297
ekf -0.00333771 -0.0311338 -0.00356687 0.999503 0.261727 -0.0983068 0.314183 truth -0.00022624 -0.0330089 -0.00204807 0.999453 0.24747 -0.123739 0.328756
ekf -0.00159934 -0.0305771 -0.0047004 0.99952 0.276743 -0.114877 0.311848 truth 0.000324126 -0.0345006 -0.00184617 0.999403 0.25118 -0.124542 0.332239
ekf -0.000707347 -0.0303008 -0.00564703 0.999525 0.286411 -0.120487 0.304712 truth 0.000871941 -0.0359529 -0.00164091 0.999352 0.254824 -0.125342 0.335746
ekf 0.000851795 -0.0360026 -0.00596215 0.999334 0.287146 -0.10463 0.312856 truth 0.00141166 -0.0373673 -0.00143213 0.9993 0.258401 -0.126137 0.339279
ekf 0.00327005 -0.0356332 -0.00479182 0.999348 0.280875 -0.119489 0.306443 truth 0.00194155 -0.0387374 -0.00121967 0.999247 0.261911 -0.126929 0.342837
ekf 0.00378147 -0.0369302 -0.00457025 0.9993 0.284363 -0.120362 0.309946 truth 0.00245229 -0.0400636 -0.00100568 0.999194 0.265351 -0.127718 0.346419
ekf 0.00416633 -0.039144 -0.00371073 0.999218 0.286123 -0.112944 0.322248 truth 0.00294256 -0.0413446 -0.000790493 0.99914 0.26872 -0.128504 0.350026
ekf 0.00471221 -0.0404559 -0.00214077 0.999168 0.284897 -0.123398 0.318157 truth 0.00341413 -0.0425786 -0.000574629 0.999087 0.272018 -0.129288 0.353655
ekf 0.00862975 -0.0474171 -0.00497798 0.998825 0.263127 -0.109876 0.327252 truth 0.00386503 -0.0437638 -0.000359799 0.999034 0.275243 -0.130072 0.357308
ekf 0.00770898 -0.0555983 -0.00511911 0.99841 0.246182 -0.104035 0.33643 truth 0.00428291 -0.0448912 -0.000144947 0.998983 0.278395 -0.130854 0.360981
ekf 0.00344061 -0.0651449 -0.00369614 0.997863 0.226939 -0.103403 0.348433 truth 0.00467144 -0.0459501 7.06034e-05 0.998933 0.281473 -0.131635 0.364672
ekf 0.00335397 -0.0672536 -0.00375528 0.997723 0.238304 -0.0997902 0.367471 truth 0.00504643 -0.0469287 0.000287567 0.998885 0.284479 -0.132417 0.368377
ekf 0.00410185 -0.071149 -0.0021291 0.997455 0.241489 -0.106398 0.379613 truth 0.00540916 -0.0478264 0.000506222 0.998841 0.287411 -0.1332 0.372094
ekf 0.00450088 -0.0707427 -0.00277935 0.997481 0.244403 -0.0999514 0.377969 truth 0.00575737 -0.0486391 0.000725114 0.9988 0.29027 -0.133986 0.375821
ekf 0.00178283 -0.0681526 -0.00213756 0.997671 0.252883 -0.126594 0.381855 truth 0.0060907 -0.0493684 0.000944563 0.998762 0.293054 -0.134773 0.37956
ekf 0.00152757 -0.0742695 -0.00216774 0.997235 0.229216 -0.13773 0.394668 truth 0.00641236 -0.0500181 0.00116418 0.998727 0.295762 -0.135564 0.383309
ekf 0.0046032 -0.077618 -0.00245739 0.99697 0.225193 -0.143239 0.408299 truth 0.00671973 -0.0505804 0.0013838 0.998696 0.298396 -0.136357 0.387067
ekf 0.00353151 -0.0716932 -0.00268572 0.997417 0.249382 -0.151934 0.407508 truth 0.00700109 -0.0510515 0.00160243 0.99867 0.300955 -0.137153 0.390831
ekf 0.00330224 -0.0734963 -0.00240496 0.997287 0.245565 -0.165196 0.41581 truth 0.0072573 -0.0514407 0.0018203 0.998648 0.303439 -0.137953 0.394602
ekf 0.00270378 -0.0713133 -0.00498499 0.997438 0.262833 -0.170166 0.423045 truth 0.00748557 -0.0517465 0.00203697 0.99863 0.305846 -0.138756 0.398381
ekf 0.00385749 -0.0650536 -0.00411469 0.997866 0.273772 -0.153022 0.423758 truth 0.00768351 -0.0519728 0.00225431 0.998616 0.308179 -0.139561 0.402168
ekf 0.00740213 -0.0625078 -0.00183698 0.998015 0.285731 -0.1578 0.423927 truth 0.00785346 -0.0521281 0.00247167 0.998606 0.310434 -0.140371 0.405964
ekf 0.010778 -0.0608186 -0.00104268 0.99809 0.287851 -0.175671 0.421255 truth 0.00798692 -0.0522166 0.00268602 0.9986 0.312613 -0.141184 0.40977
ekf 0.00962069 -0.0587336 -0.0011593 0.998227 0.296832 -0.173516 0.417657 truth 0.00807094 -0.0522406 0.00289509 0.998598 0.314715 -0.142 0.413587
ekf 0.00769196 -0.0535012 0.000357611 0.998538 0.301088 -0.162197 0.410713 truth 0.00810962 -0.0522035 0.00309948 0.998599 0.316741 -0.142819 0.417417
ekf 0.00928295 -0.058343 0.00196379 0.998252 0.296277 -0.14968 0.42012 truth 0.00811678 -0.0521119 0.00329937 0.998603 0.318691 -0.143643 0.421261
ekf 0.00926263 -0.0566258 0.00236598 0.99835 0.303668 -0.163146 0.42954 truth 0.00809247 -0.0519601 0.00349361 0.99861 0.320564 -0.144471 0.425118
ekf 0.00931741 -0.0543744 0.000493819 0.998477 0.29892 -0.152115 0.412751 truth 0.0080342 -0.0517512 0.0036816 0.998621 0.322362 -0.145304 0.428988
ekf 0.00846447 -0.0513167 -0.000527413 0.998646 0.302436 -0.168189 0.418927 truth 0.00794254 -0.0514874 0.00386489 0.998635 0.324086 -0.14614 0.432874
ekf 0.00782055 -0.0475511 -0.000846055 0.998838 0.307076 -0.163135 0.410344 truth 0.00781461 -0.0511727 0.00404394 0.998651 0.325735 -0.146981 0.436774
ekf 0.00795926 -0.0496906 -0.00433537 0.998724 0.303007 -0.156404 0.43891 truth 0.00765462 -0.0508123 0.00421937 0.99867 0.32731 -0.147825 0.440693
ekf 0.00840781 -0.0535254 -0.00379863 0.998524 0.305135 -0.1744 0.444309 truth 0.0074633 -0.0504052 0.00439382 0.998691 0.328812 -0.148673 0.444626
ekf 0.00840413 -0.0535048 -0.0037909 0.998525 0.311033 -0.173119 0.441539 truth 0.00723146 -0.0499463 0.00456639 0.998715 0.330242 -0.149523 0.448572
ekf 0.0106021 -0.0519808 -0.000319089 0.998592 0.303718 -0.165899 0.445804 truth 0.00695986 -0.0494363 0.00473711 0.998742 0.331602 -0.150375 0.452533
ekf 0.0101076 -0.0512629 0.00187608 0.998632 0.304919 -0.166658 0.449788 truth 0.00664821 -0.0488764 0.00490309 0.998771 0.332892 -0.15123 0.456508
ekf 0.0101332 -0.0504233 0.00190524 0.998675 0.307329 -0.170525 0.455377 truth 0.00630261 -0.0482675 0.00506308 0.998802 0.334114 -0.152086 0.460497
ekf 0.00764819 -0.0457432 0.00153209 0.998923 0.317086 -0.170575 0.446142 truth 0.00592173 -0.0476111 0.0052169 0.998835 0.335269 -0.152945 0.4645
ekf 0.00710651 -0.0462802 0.00186372 0.998901 0.308312 -0.170502 0.442547 truth 0.00551468 -0.0469133 0.00536593 0.998869 0.336356 -0.153805 0.46852
ekf 0.00586811 -0.0500412 0.000800006 0.99873 0.298821 -0.169321 0.469936 truth 0.00508374 -0.0461729 0.00551025 0.998905 0.337378 -0.154667 0.472557
ekf 0.00659944 -0.0444221 0.00174381 0.99899 0.312434 -0.166169 0.458229 truth 0.00463166 -0.0453853 0.00565113 0.998943 0.338336 -0.155529 0.476608
ekf 0.00447 -0.045679 0.00153618 0.998945 0.308336 -0.167465 0.458539 truth 0.00415877 -0.0445581 0.00578784 0.998981 0.339232 -0.156392 0.480675
ekf 0.00359885 -0.0438873 0.00243028 0.999027 0.316042 -0.177615 0.458033 truth 0.00367072 -0.0436898 0.00592133 0.999021 0.340066 -0.157255 0.484759
ekf 0.00533125 -0.0460312 0.00337007 0.99892 0.31517 -0.180369 0.450788 truth 0.00316945 -0.0427831 0.00605108 0.999061 0.34084 -0.158118 0.48886
ekf 0.00284579 -0.0442202 0.0049751 0.999005 0.308838 -0.18714 0.465775 truth 0.00265136 -0.0418357 0.0061759 0.999102 0.341555 -0.15898 0.492981
ekf 0.00177097 -0.0408148 0.00683292 0.999142 0.326943 -0.185647 0.482103 truth 0.00212447 -0.040849 0.0062955 0.999143 0.342213 -0.15984 0.497119
ekf 0.000586485 -0.0386001 0.00851825 0.999218 0.328179 -0.177842 0.479967 truth 0.00159648 -0.0398289 0.00640899 0.999185 0.342816 -0.160699 0.501274
ekf -0.000306255 -0.0359647 0.006908 0.999329 0.330539 -0.184075 0.471752 truth 0.00107517 -0.0387778 0.00651596 0.999226 0.343364 -0.161558 0.505447
ekf -0.00208171 -0.0364049 0.00876862 0.999296 0.313997 -0.197003 0.460056 truth 0.00056018 -0.0376991 0.00661748 0.999267 0.34386 -0.162414 0.50964
ekf -0.000297699 -0.0356374 0.00928165 0.999322 0.322364 -0.199481 0.479295 truth 5.61676e-05 -0.0365906 0.00671266 0.999308 0.344304 -0.163268 0.513854
ekf 0.00180398 -0.029955 0.00803617 0.999517 0.339397 -0.195936 0.487035 truth -0.000443045 -0.0354541 0.00680051 0.999348 0.344698 -0.164119 0.518088
ekf 0.00232351 -0.031468 0.00662684 0.99948 0.337213 -0.18578 0.493356 truth -0.000945345 -0.0342974 0.00688127 0.999388 0.345045 -0.164965 0.522341
ekf 0.00201079 -0.0268746 0.00739173 0.999609 0.3494 -0.182146 0.501095 truth -0.00145212 -0.0331197 0.00695594 0.999426 0.345345 -0.165805 0.526614
ekf 0.00501495 -0.0290356 0.0068012 0.999543 0.340533 -0.199769 0.503632 truth -0.00195998 -0.0319266 0.0070242 0.999464 0.3456 -0.16664 0.530907
ekf 0.00435686 -0.0275592 0.00549151 0.999596 0.341955 -0.194322 0.502609 truth -0.00248409 -0.0307151 0.0070851 0.9995 0.345812 -0.167468 0.535219
ekf 0.00544113 -0.0302832 0.00476599 0.999515 0.328187 -0.188588 0.49433 truth -0.00302202 -0.029487 0.00713992 0.999535 0.345983 -0.168287 0.539551
ekf 0.00516578 -0.0317171 0.00588613 0.999466 0.321382 -0.202312 0.485548 truth -0.00357659 -0.0282379 0.00718911 0.999569 0.346115 -0.169098 0.543904
ekf 0.00144311 -0.0289767 0.00761415 0.99955 0.327519 -0.186117 0.501103 truth -0.0041485 -0.0269655 0.00723165 0.999602 0.34621 -0.169899 0.548279
ekf -0.00142537 -0.0298508 0.00907805 0.999512 0.316356 -0.178584 0.527284 truth -0.00471897 -0.0256734 0.007268 0.999633 0.34627 -0.17069 0.552674
ekf -0.00273958 -0.0270303 0.00664785 0.999609 0.318318 -0.16368 0.527263 truth -0.00527564 -0.0243602 0.00729819 0.999663 0.346296 -0.171473 0.557089
ekf -0.00237963 -0.023539 0.00532487 0.999706 0.327928 -0.148891 0.53345 truth -0.00581408 -0.0230289 0.00732479 0.999691 0.346291 -0.172246 0.561522
ekf -0.00139405 -0.022802 0.00697696 0.999715 0.332734 -0.148521 0.544791 truth -0.00633303 -0.0216843 0.00734898 0.999718 0.346256 -0.17301 0.565974
ekf -0.00147345 -0.0278678 0.00691018 0.999587 0.315054 -0.144278 0.546735 truth -0.00683312 -0.020328 0.00736937 0.999743 0.346193 -0.173762 0.570445
ekf -0.00317836 -0.0232171 0.00609087 0.999707 0.326944 -0.145639 0.558452 truth -0.0073145 -0.0189527 0.00738612 0.999766 0.346105 -0.174503 0.574934
ekf -0.00381632 -0.020792 0.00346043 0.999771 0.330073 -0.137894 0.574467 truth -0.00777252 -0.0175646 0.0074 0.999788 0.345992 -0.175232 0.579441
ekf -0.00364526 -0.0155132 0.00267208 0.999869 0.34591 -0.112601 0.596486 truth -0.00820707 -0.0161669 0.00741334 0.999808 0.345858 -0.175949 0.583964
ekf -0.00407261 -0.0076133 0.00553045 0.999947 0.374544 -0.132732 0.594405 truth -0.0086136 -0.0147674 0.00742725 0.999826 0.345702 -0.176653 0.588503
ekf -0.00506448 -0.00792683 0.00677669 0.999933 0.368512 -0.132004 0.596935 truth -0.00899194 -0.0133773 0.00743939 0.999842 0.345527 -0.177344 0.593058
ekf -0.00328476 -0.00783347 0.00630949 0.999944 0.355265 -0.160481 0.595862 truth -0.00933536 -0.0119956 0.00744892 0.999857 0.345335 -0.178022 0.597631
ekf -0.00604125 -0.00710245 0.00520603 0.999943 0.351643 -0.169718 0.601409 truth -0.00965975 -0.010621 0.0074551 0.999869 0.345127 -0.178686 0.60222
ekf -0.00739053 -0.00472034 0.0048795 0.99995 0.352486 -0.17312 0.614407 truth -0.00996075 -0.00925378 0.00745919 0.99988 0.344905 -0.179335 0.606826
ekf -0.00489684 -0.00282372 0.00425014 0.999975 0.363255 -0.161175 0.607486 truth -0.0102348 -0.00789674 0.00746156 0.999889 0.344672 -0.17997 0.611449
ekf -0.00428256 -0.00283586 0.0040203 0.999979 0.350579 -0.168738 0.585232 truth -0.0104892 -0.00655266 0.00746242 0.999896 0.344428 -0.180589 0.616089
ekf -0.004065 -0.000652823 0.00290972 0.999987 0.352879 -0.178921 0.584705 truth -0.0107273 -0.00522027 0.00746159 0.999901 0.344176 -0.181192 0.620748
ekf -0.00389922 0.00462492 0.0055258 0.999966 0.363735 -0.139838 0.567439 truth -0.010955 -0.00390201 0.00745966 0.999905 0.343917 -0.181778 0.625428
ekf -0.00498805 0.00318231 0.00444065 0.999973 0.352918 -0.151916 0.582589 truth -0.0111585 -0.00260426 0.00745534 0.999907 0.343653 -0.182348 0.63013
ekf -0.00445623 0.00402256 0.00391654 0.999974 0.349043 -0.145263 0.57307 truth -0.011339 -0.00132436 0.00744955 0.999907 0.343386 -0.182901 0.634854
ekf -0.00643213 0.0122365 0.00436465 0.999895 0.368302 -0.145264 0.579287 truth -0.0114968 -6.27171e-05 0.00744251 0.999906 0.343117 -0.183439 0.6396
ekf -0.00660411 0.0131625 0.00438939 0.999882 0.367868 -0.140339 0.62161 truth -0.011625 0.00116952 0.00743445 0.999904 0.342847 -0.183959 0.644369
ekf -0.00596016 0.0129882 0.00413438 0.999889 0.368318 -0.154442 0.611187 truth -0.0117236 0.00237237 0.00742533 0.999901 0.342579 -0.184464 0.649156
ekf -0.00252001 0.0120509 0.00395591 0.999916 0.353186 -0.142521 0.620628 truth -0.0117977 0.00354525 0.00741492 0.999897 0.342312 -0.184952 0.653962
ekf -0.00257838 0.0131536 0.00397535 0.999902 0.352982 -0.142961 0.625488 truth -0.0118559 0.00469063 0.00740284 0.999891 0.34205 -0.185423 0.658787
ekf -0.00168023 0.0141423 0.00404723 0.99989 0.352955 -0.129117 0.625438 truth -0.011898 0.0058077 0.007389 0.999885 0.341794 -0.185877 0.66363
ekf 0.000953644 0.0163292 0.00340102 0.99986 0.356122 -0.12978 0.624346 truth -0.0119235 0.00689546 0.00737351 0.999878 0.341545 -0.186313 0.668491
ekf -0.000407446 0.0160128 0.00580248 0.999855 0.350534 -0.127608 0.626517 truth -0.0119428 0.00795134 0.00735633 0.99987 0.341305 -0.186732 0.673372
ekf -0.00281562 0.0158577 0.00474882 0.999859 0.343191 -0.130247 0.639555 truth -0.0119468 0.00897659 0.00733582 0.999861 0.341074 -0.187134 0.678271
ekf -0.00432179 0.0209312 0.00229687 0.999769 0.357737 -0.14397 0.658594 truth -0.0119305 0.00997188 0.00731329 0.999852 0.340855 -0.187519 0.683187
ekf -0.00444362 0.0198952 0.00189207 0.99979 0.350828 -0.148213 0.688613 truth -0.0118958 0.0109303 0.00729058 0.999843 0.340647 -0.187887 0.68812
ekf -0.00670365 0.0236542 -0.000588517 0.999698 0.362109 -0.143879 0.68706 truth -0.0118456 0.011854 0.00726795 0.999833 0.340453 -0.188239 0.693066
ekf -0.00832843 0.023985 9.57464e-05 0.999678 0.359494 -0.137101 0.695296 truth -0.0117744 0.0127377 0.00724769 0.999823 0.340273 -0.188573 0.698026
ekf -0.00913784 0.0222997 0.000270591 0.99971 0.350081 -0.143913 0.687336 truth -0.0116749 0.0135815 0.00722974 0.999813 0.340108 -0.188892 0.702999
ekf -0.00971784 0.0203866 0.00319702 0.99974 0.342759 -0.135576 0.680866 truth -0.0115464 0.0143888 0.0072139 0.999804 0.339959 -0.189196 0.707986
ekf -0.00803201 0.0264216 0.00367705 0.999612 0.361899 -0.151277 0.684058 truth -0.0113809 0.0151627 0.0071981 0.999794 0.339829 -0.189484 0.712988
ekf -0.0107004 0.0252705 0.00350498 0.999617 0.358816 -0.141059 0.681195 truth -0.0111882 0.0158949 0.0071814 0.999785 0.339716 -0.189758 0.718006
ekf -0.0104975 0.025467 0.00414969 0.999612 0.359333 -0.152561 0.686301 truth -0.010956 0.0165877 0.00716463 0.999777 0.339623 -0.190018 0.72304
ekf -0.0114262 0.0323485 0.00635177 0.999391 0.385265 -0.165024 0.690162 truth -0.0106881 0.017241 0.00714695 0.999769 0.33955 -0.190265 0.728089
ekf -0.0121969 0.0310897 0.00346981 0.999436 0.379694 -0.165802 0.709041 truth -0.0103816 0.0178449 0.00712663 0.999761 0.339496 -0.190499 0.733154
ekf -0.0118475 0.0316935 0.00342588 0.999422 0.379737 -0.166053 0.714121 truth -0.0100391 0.0184017 0.00710591 0.999755 0.339464 -0.19072 0.738232
ekf -0.0138654 0.0348934 0.00541942 0.99928 0.391425 -0.145866 0.717586 truth -0.00966265 0.0189109 0.00708486 0.999749 0.339453 -0.190929 0.743324
ekf -0.011873 0.0367303 0.00398438 0.999247 0.393977 -0.136766 0.721072 truth -0.00923813 0.0193683 0.00706261 0.999745 0.339464 -0.191128 0.748429
ekf -0.0142317 0.0386933 0.00657885 0.999128 0.40137 -0.152686 0.704636 truth -0.00877135 0.0197718 0.00703996 0.999741 0.339497 -0.191316 0.753547
ekf -0.0136774 0.0404451 0.00652191 0.999067 0.407159 -0.152688 0.729677 truth -0.0082554 0.0201192 0.007015 0.999739 0.339552 -0.191495 0.75868
ekf -0.0141771 0.045519 0.00482805 0.998851 0.421877 -0.159256 0.743628 truth -0.00769344 0.0204079 0.00698771 0.999738 0.339629 -0.191665 0.763826
ekf -0.013323 0.044986 0.00492274 0.998887 0.420483 -0.143314 0.745445 truth -0.00708834 0.0206317 0.00695925 0.999738 0.339729 -0.191828 0.768982
ekf -0.011226 0.0411461 0.00498422 0.999078 0.406542 -0.151439 0.767191 truth -0.00643844 0.0207917 0.00692969 0.999739 0.339851 -0.191984 0.77415
ekf -0.00902185 0.0401042 0.00372143 0.999148 0.401675 -0.137462 0.782985 truth -0.00575411 0.0208941 0.00689824 0.999741 0.339996 -0.192133 0.779326
ekf -0.0083479 0.0401346 0.00364087 0.999153 0.402082 -0.137628 0.788141 truth -0.00504129 0.0209401 0.00686599 0.999744 0.340163 -0.192276 0.784511
ekf -0.00678037 0.0391806 0.00590519 0.999192 0.399566 -0.156838 0.78935 truth -0.00430171 0.0209301 0.00683283 0.999748 0.340354 -0.192414 0.789703
ekf -0.00639442 0.0386381 0.00601329 0.999215 0.396611 -0.162891 0.775532 truth -0.00354228 0.0208657 0.0067964 0.999753 0.340567 -0.192547 0.794903
ekf -0.0042013 0.0442027 0.00634382 0.998994 0.414407 -0.164259 0.791922 truth -0.00276595 0.0207483 0.00675631 0.999758 0.340803 -0.192676 0.800113
ekf 0.000349739 0.0431682 0.00554192 0.999052 0.412684 -0.168745 0.789713 truth -0.00197914 0.0205704 0.00671188 0.999764 0.341061 -0.192803 0.805331
ekf -0.000375039 0.0413353 0.00711187 0.99912 0.406321 -0.160648 0.770389 truth -0.00119893 0.0203337 0.006663 0.99977 0.341341 -0.192926 0.810557
ekf 0.000243273 0.0362044 0.00418615 0.999336 0.393705 -0.166673 0.782337 truth -0.000418394 0.0200415 0.00660886 0.999777 0.341642 -0.193049 0.815795
ekf 0.00144856 0.0317375 0.00346988 0.999489 0.385863 -0.16731 0.799684 truth 0.000355232 0.0197009 0.00655148 0.999784 0.341964 -0.19317 0.821044
ekf 0.00247538 0.0326971 0.00293662 0.999458 0.395437 -0.172217 0.801835 truth 0.0011159 0.0193177 0.00649124 0.999792 0.342308 -0.19329 0.826301
ekf 0.00398535 0.0330113 0.00294563 0.999443 0.39931 -0.167788 0.802172 truth 0.00185952 0.0188903 0.00642826 0.999799 0.342671 -0.193411 0.831567
ekf 0.00350525 0.0242706 0.00243103 0.999696 0.376946 -0.181307 0.797079 truth 0.00258264 0.0184181 0.00636228 0.999807 0.343055 -0.193533 0.836843
ekf 0.00466188 0.0290049 0.0023311 0.999566 0.393924 -0.194329 0.808281 truth 0.00328225 0.0179136 0.00629364 0.999814 0.343459 -0.193656 0.842128
ekf 0.00681329 0.0289645 0.00383234 0.99955 0.396824 -0.185404 0.82199 truth 0.00395138 0.0173702 0.00622203 0.999822 0.343881 -0.193782 0.847423
ekf 0.0069854 0.0193354 0.00494737 0.999776 0.374108 -0.209339 0.834996 truth 0.00458791 0.0167876 0.00614604 0.99983 0.34432 -0.193911 0.852726
ekf 0.00864743 0.0254542 0.00464529 0.999628 0.387096 -0.207849 0.839503 truth 0.00518568 0.0161792 0.00606461 0.999837 0.344778 -0.194043 0.858036
ekf 0.00793307 0.0248426 0.00512208 0.999647 0.386488 -0.211704 0.873455 truth 0.00574041 0.0155368 0.00597733 0.999845 0.345252 -0.194179 0.863353
ekf 0.00990513 0.0248782 0.00426439 0.999632 0.390446 -0.210938 0.884504 truth 0.00625389 0.0148612 0.00588409 0.999853 0.34574 -0.194321 0.868673
ekf 0.00983567 0.0203545 0.00395082 0.999737 0.380783 -0.214494 0.882669 truth 0.0067191 0.014152 0.00578513 0.999861 0.346243 -0.194467 0.873996
ekf 0.0111979 0.0203698 0.00391152 0.999722 0.386806 -0.227659 0.900311 truth 0.00713591 0.0134154 0.00568077 0.999868 0.34676 -0.194618 0.879323
ekf 0.0139334 0.0155927 0.00351025 0.999775 0.378822 -0.20757 0.922105 truth 0.00749626 0.012651 0.00557063 0.999876 0.347288 -0.194775 0.884651
ekf 0.0137406 0.0171585 0.00352333 0.999752 0.383902 -0.187472 0.919546 truth 0.00779649 0.0118649 0.005455 0.999884 0.347829 -0.194938 0.889978
ekf 0.0134706 0.0152075 0.0058907 0.999776 0.38235 -0.184056 0.932767 truth 0.00804324 0.0110552 0.00533402 0.999892 0.34838 -0.195107 0.895306
ekf 0.0142072 0.0146271 0.0047785 0.999781 0.387303 -0.191282 0.933514 truth 0.00824246 0.0102241 0.00520611 0.9999 0.34894 -0.195283 0.900632
ekf 0.0160285 0.0124171 0.00618919 0.999775 0.381517 -0.200971 0.938222 truth 0.00838889 0.00937212 0.00507182 0.999908 0.349509 -0.195466 0.905958
ekf 0.0159475 0.00699368 0.00601766 0.99983 0.364627 -0.187198 0.950153 truth 0.00847647 0.00850218 0.0049295 0.999916 0.350085 -0.195656 0.911284
ekf 0.0148167 0.0108734 0.00622425 0.999812 0.382364 -0.191014 0.948733 truth 0.00850919 0.0076223 0.00477997 0.999923 0.350668 -0.195853 0.916607
ekf 0.0116675 0.0155029 0.00371384 0.999805 0.399526 -0.189713 0.949633 truth 0.00849058 0.00672674 0.00462291 0.999931 0.351256 -0.196057 0.92193
ekf 0.0115221 0.011215 0.00353989 0.999864 0.388715 -0.181468 0.936239 truth 0.00842814 0.00580889 0.00446084 0.999938 0.351848 -0.196269 0.927253
ekf 0.0131362 0.00977071 0.00259382 0.999863 0.389979 -0.19703 0.955747 truth 0.00832446 0.00487498 0.00429439 0.999944 0.352442 -0.196488 0.932578
ekf 0.0101054 0.00568395 0.00677073 0.99991 0.379994 -0.18887 0.950084 truth 0.00816937 0.00392626 0.00412351 0.99995 0.353038 -0.196714 0.937902
ekf 0.0096851 0.00646063 0.00709241 0.999907 0.390063 -0.200107 0.96327 truth 0.00798281 0.00296807 0.00394626 0.999956 0.353634 -0.196948 0.943228
ekf 0.00758207 0.00100956 0.00681892 0.999947 0.378632 -0.204449 0.986686 truth 0.00776184 0.00199943 0.00376225 0.999961 0.354229 -0.197189 0.948553
ekf 0.00739207 -0.005469 0.00672907 0.999935 0.364205 -0.213505 0.990027 truth 0.00751115 0.00102726 0.00357183 0.999965 0.354823 -0.197438 0.953876
ekf 0.00406947 -0.00063379 0.00660475 0.99997 0.379999 -0.220219 1.00117 truth 0.00722918 6.00984e-05 0.00337509 0.999968 0.355415 -0.197693 0.959197
ekf 0.00361525 0.000547702 0.00638561 0.999973 0.38853 -0.207446 1.00988 truth 0.00692429 -0.000909056 0.00317268 0.999971 0.356003 -0.197956 0.964514
ekf 0.00206226 0.00767675 0.00655579 0.999947 0.411513 -0.200942 1.01137 truth 0.00660145 -0.00188224 0.0029652 0.999972 0.356586 -0.198225 0.969829
ekf 0.00114388 0.00673676 0.00179321 0.999975 0.4111 -0.196863 1.0286 truth 0.00626843 -0.00286934 0.00275305 0.999972 0.357161 -0.198501 0.975141
ekf 0.000777254 0.00234848 0.00346644 0.999991 0.404192 -0.189862 1.03779 truth 0.00592193 -0.00386966 0.00254005 0.999972 0.357728 -0.198783 0.980449
ekf 0.00145105 -0.0012342 0.00204761 0.999996 0.397334 -0.198525 1.04475 truth 0.0055672 -0.00487781 0.00232526 0.99997 0.358285 -0.199071 0.985753
ekf -0.000362708 -0.00159814 0.00139039 0.999998 0.396501 -0.17403 1.03073 truth 0.00519797 -0.00588882 0.00210934 0.999967 0.358832 -0.199363 0.991051
ekf -0.00220008 -0.00326671 -0.00208722 0.99999 0.393026 -0.195964 1.0329 truth 0.00482589 -0.00690204 0.00189381 0.999963 0.359368 -0.19966 0.996347
ekf -0.00219838 -0.00313615 0.000288859 0.999993 0.399604 -0.192676 1.04906 truth 0.0044453 -0.00791537 0.00168132 0.999957 0.359891 -0.19996 1.00164
ekf -0.00291948 -0.00898311 -0.00107491 0.999955 0.386309 -0.203131 1.04865 truth 0.00406127 -0.00892962 0.00146999 0.999951 0.3604 -0.200265 1.00693
ekf -0.00263267 -0.0139509 -0.00113167 0.999899 0.375147 -0.204168 1.0495 truth 0.00367082 -0.00993677 0.00126079 0.999943 0.360894 -0.200571 1.01221
ekf -0.0019245 -0.0183691 -0.0015248 0.999828 0.365103 -0.212096 1.05277 truth 0.0032728 -0.0109303 0.00105383 0.999934 0.361373 -0.200881 1.0175
ekf -0.00356875 -0.0198673 -0.00277107 0.999792 0.364808 -0.212632 1.06476 truth 0.00286212 -0.0119045 0.000849015 0.999925 0.361836 -0.201191 1.02277
ekf -0.00398987 -0.0167591 -0.00271706 0.999848 0.377688 -0.199977 1.07773 truth 0.00244187 -0.0128577 0.000647764 0.999914 0.362282 -0.201502 1.02804
ekf -0.00479494 -0.0105663 -0.000677541 0.999932 0.396067 -0.202616 1.05953 truth 0.00201727 -0.0137948 0.000450441 0.999903 0.362709 -0.201814 1.03331
ekf -0.00577899 -0.0155242 0.000279612 0.999863 0.385017 -0.210325 1.05568 truth 0.00159054 -0.0147236 0.000255247 0.99989 0.363116 -0.202126 1.03857
ekf -0.00645323 -0.0186511 0.000765611 0.999805 0.378749 -0.184082 1.05809 truth 0.00116767 -0.015638 6.19296e-05 0.999877 0.363501 -0.202438 1.04383
ekf -0.0043534 -0.0161994 0.000474118 0.999859 0.38436 -0.173717 1.04716 truth 0.000758367 -0.0165342 -0.000129104 0.999863 0.363865 -0.20275 1.04909
ekf -0.00318328 -0.0215576 0.0019457 0.999761 0.377291 -0.18096 1.06957 truth 0.000358494 -0.0174152 -0.000317718 0.999848 0.364206 -0.203062 1.05434
ekf -0.00232586 -0.0257547 0.000744201 0.999665 0.36498 -0.169422 1.06431 truth -3.55817e-05 -0.0182748 -0.000505556 0.999833 0.364523 -0.203374 1.0596
ekf -0.002253 -0.0231096 0.00255807 0.999727 0.376331 -0.165092 1.06024 truth -0.000425481 -0.0191071 -0.000692017 0.999817 0.364816 -0.203683 1.06485
ekf -0.00369605 -0.0225567 0.00202686 0.999737 0.377855 -0.16621 1.05963 truth -0.000807948 -0.0199162 -0.000878015 0.999801 0.365083 -0.20399 1.0701
ekf -0.00345654 -0.0191847 0.0038196 0.999803 0.388257 -0.179483 1.06053 truth -0.00117859 -0.0207028 -0.00106299 0.999784 0.365324 -0.204295 1.07535
ekf -0.00374957 -0.0155203 0.000701963 0.999872 0.405384 -0.194157 1.08436 truth -0.00153956 -0.0214721 -0.00124859 0.999767 0.365537 -0.204598 1.0806
ekf -0.00410442 -0.0162384 0.000531777 0.99986 0.405601 -0.194348 1.08954 truth -0.00190148 -0.0222287 -0.00143322 0.99975 0.365721 -0.204897 1.08584
ekf -0.00470951 -0.0182655 0.00214147 0.99982 0.398477 -0.174988 1.08442 truth -0.00226041 -0.022973 -0.00161628 0.999732 0.365876 -0.205191 1.09109
ekf -0.00573956 -0.00924461 0.00460976 0.99993 0.422782 -0.185013 1.07716 truth -0.00260643 -0.0237021 -0.0017981 0.999714 0.366 -0.205481 1.09633
ekf -0.00515664 -0.0107199 0.00421519 0.99992 0.421377 -0.199775 1.08591 truth -0.00293595 -0.0244284 -0.00198056 0.999695 0.366092 -0.205768 1.10157
ekf -0.0063281 -0.00965275 0.00135727 0.999932 0.426123 -0.199383 1.08576 truth -0.00325566 -0.02515 -0.00216389 0.999676 0.366152 -0.20605 1.10682
ekf -0.00475808 -0.0172864 0.00184762 0.999838 0.408915 -0.204631 1.09433 truth -0.0035664 -0.0258686 -0.0023457 0.999656 0.366177 -0.206326 1.11206
ekf -0.00642177 -0.0133365 0.00184749 0.999889 0.421175 -0.201596 1.09017 truth -0.00387401 -0.0265741 -0.00252697 0.999636 0.36617 -0.206596 1.11731
ekf -0.00736356 -0.0169544 -6.50148e-05 0.999829 0.413655 -0.188866 1.10162 truth -0.00417243 -0.027272 -0.00270711 0.999616 0.366127 -0.20686 1.12255
ekf -0.00722653 -0.0161982 -0.00213658 0.99984 0.415864 -0.19773 1.10416 truth -0.00445772 -0.0279576 -0.00288419 0.999595 0.366049 -0.207117 1.12779
ekf -0.00741245 -0.0147656 -0.00211286 0.999861 0.419678 -0.178288 1.09319 truth -0.00473639 -0.028632 -0.00305695 0.999574 0.365936 -0.207367 1.13304
ekf -0.00866546 -0.00911063 -0.00127385 0.99992 0.440364 -0.187713 1.11439 truth -0.00500211 -0.0292969 -0.00322484 0.999553 0.365786 -0.20761 1.13828
ekf -0.00888092 -0.0132924 0.000170818 0.999872 0.426828 -0.187686 1.10416 truth -0.00525149 -0.0299611 -0.00338831 0.999532 0.365597 -0.207845 1.14353
ekf -0.00860828 -0.0206711 -0.00108956 0.999749 0.409785 -0.184108 1.11546 truth -0.00548179 -0.0306182 -0.00354827 0.99951 0.365371 -0.208073 1.14877
ekf -0.00900168 -0.0232367 0.00173005 0.999688 0.403981 -0.174704 1.11353 truth -0.00569554 -0.0312586 -0.00370401 0.999488 0.365106 -0.208293 1.15402
ekf -0.0100766 -0.0265259 0.00032689 0.999597 0.399506 -0.166928 1.12505 truth -0.00588468 -0.0318789 -0.00385716 0.999467 0.364803 -0.208505 1.15926
ekf -0.00966381 -0.0233738 0.00121965 0.999679 0.409405 -0.15455 1.13974 truth -0.00604668 -0.032475 -0.00400614 0.999446 0.364461 -0.20871 1.16451
ekf -0.00948001 -0.0227264 0.000794566 0.999696 0.412275 -0.15904 1.15117 truth -0.00617808 -0.0330518 -0.00415146 0.999426 0.36408 -0.208908 1.16975
ekf -0.00760731 -0.0227108 -0.00190617 0.999711 0.416878 -0.177729 1.18278 truth -0.00628187 -0.0336103 -0.00429302 0.999406 0.363658 -0.209098 1.17499
ekf -0.00862835 -0.0294761 -0.00385968 0.999521 0.400712 -0.182328 1.1731 truth -0.00636924 -0.0341525 -0.00442981 0.999387 0.363196 -0.209279 1.18022
ekf -0.00737852 -0.0268591 -0.00542325 0.999597 0.407853 -0.178006 1.18709 truth -0.00644564 -0.034668 -0.00456057 0.999368 0.362693 -0.209451 1.18544
ekf -0.00812597 -0.0330729 -0.00542502 0.999405 0.394487 -0.179249 1.19983 truth -0.00651645 -0.0351605 -0.00468446 0.999349 0.36215 -0.209613 1.19066
ekf -0.0076859 -0.0407981 -0.00538136 0.999123 0.37752 -0.170529 1.20535 truth -0.00658029 -0.035622 -0.00480161 0.999332 0.361566 -0.209766 1.19587
ekf -0.00742495 -0.0452016 -0.00572225 0.998934 0.365048 -0.178268 1.21518 truth -0.006636 -0.0360423 -0.00491198 0.999316 0.360942 -0.209908 1.20108
ekf -0.00715615 -0.0451142 -0.00530314 0.998942 0.364667 -0.185965 1.22189 truth -0.00668705 -0.0364155 -0.00501566 0.999302 0.360278 -0.210041 1.20627
ekf -0.00764051 -0.0521653 -0.00409549 0.998601 0.34592 -0.189433 1.22002 truth -0.00673596 -0.0367423 -0.00511335 0.999289 0.359573 -0.210163 1.21145
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ekf -0.0036136 -0.0439433 -0.00387041 0.99902 0.365225 -0.231026 1.22789 truth -0.00688468 -0.0374021 -0.00537992 0.999262 0.357222 -0.210469 1.22691
ekf -0.00397726 -0.0463005 -0.0057684 0.998903 0.362234 -0.249161 1.23481 truth -0.0069605 -0.0375291 -0.00546295 0.999256 0.356357 -0.210549 1.23205
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ekf -0.0109517 -0.0275852 5.02619e-05 0.999559 0.380889 -0.229482 1.28499 truth -0.0089252 -0.0327849 -0.00611104 0.999404 0.332485 -0.209909 1.32835
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ekf -0.00494657 -0.0295138 -0.00151477 0.999551 0.343383 -0.190953 1.329 truth -0.00857719 -0.0260663 -0.00579194 0.999607 0.3131 -0.207744 1.38335
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ekf 0.0013036 0.0333552 -0.000490207 0.999443 0.24329 -0.208093 1.6783 truth -0.002575 0.0254379 0.00177184 0.999672 0.198833 -0.170806 1.70723
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ekf -0.0017544 0.0345264 -0.000236783 0.999402 0.245746 -0.185122 1.69508 truth -0.00198709 0.025014 0.00194862 0.999683 0.197402 -0.169366 1.71639
ekf -0.00145241 0.0342712 -0.00012543 0.999412 0.245297 -0.184348 1.6996 truth -0.00169886 0.024754 0.00203565 0.99969 0.196737 -0.168648 1.72096
ekf -0.00125638 0.0363043 -0.000417234 0.99934 0.251983 -0.17459 1.70439 truth -0.00141303 0.0244624 0.00212191 0.999698 0.196105 -0.167931 1.72552
ekf -0.00239333 0.0346718 -0.00189496 0.999394 0.247436 -0.180025 1.7065 truth -0.00112732 0.0241366 0.00220778 0.999706 0.195506 -0.167217 1.73008
ekf 0.00108455 0.0349795 -0.000206443 0.999387 0.252458 -0.179092 1.71869 truth -0.000842813 0.0237791 0.00229457 0.999714 0.194939 -0.166505 1.73463
ekf 0.000481423 0.0372601 0.000200616 0.999305 0.259179 -0.171584 1.72367 truth -0.000567362 0.0233889 0.0023803 0.999723 0.194404 -0.165795 1.73918
ekf 0.00272874 0.0368051 0.00102131 0.999318 0.25728 -0.169609 1.73868 truth -0.000296284 0.0229635 0.00246487 0.999733 0.193899 -0.165088 1.74371
ekf 0.000922944 0.0407659 -0.000375031 0.999168 0.270384 -0.145409 1.74113 truth -3.54254e-05 0.0225035 0.00254751 0.999744 0.193423 -0.164384 1.74824
ekf 0.000887313 0.0410151 0.0020137 0.999156 0.2729 -0.145696 1.7533 truth 0.000225031 0.0220036 0.00262982 0.999754 0.192976 -0.163685 1.75276
ekf 0.00016595 0.0407872 0.00108404 0.999167 0.271127 -0.163572 1.77448 truth 0.000488516 0.0214632 0.00270999 0.999766 0.192557 -0.162989 1.75727
ekf 0.000407431 0.04036 0.000796244 0.999185 0.266765 -0.172676 1.78756 truth 0.000751767 0.0208829 0.00278859 0.999778 0.192164 -0.162299 1.76177
ekf -0.000336975 0.0376693 0.00107958 0.99929 0.255371 -0.180653 1.79461 truth 0.0010104 0.0202638 0.00286545 0.99979 0.191797 -0.161613 1.76626
ekf -0.00202922 0.0389594 0.00385231 0.999231 0.265826 -0.176007 1.81028 truth 0.00126449 0.0196103 0.00294045 0.999803 0.191455 -0.160932 1.77074
ekf -0.00379323 0.0301238 0.00404346 0.999531 0.247503 -0.181678 1.82159 truth 0.00152507 0.0189199 0.00301183 0.999815 0.191138 -0.160258 1.7752
ekf -0.00355059 0.0295021 0.00415589 0.99955 0.247446 -0.181068 1.82607 truth 0.00179586 0.0182044 0.00307988 0.999828 0.190844 -0.15959 1.77965
ekf -0.0020596 0.0286113 0.00353638 0.999582 0.248135 -0.169866 1.82735 truth 0.00207633 0.0174643 0.00314437 0.99984 0.190572 -0.15893 1.78409
ekf -0.000419514 0.031935 0.00182021 0.999488 0.261333 -0.182126 1.84228 truth 0.00236297 0.016701 0.00320567 0.999853 0.190322 -0.158277 1.78851
ekf -0.00414658 0.029182 -0.00014915 0.999566 0.260225 -0.179948 1.84518 truth 0.00264518 0.0159095 0.00326464 0.999865 0.190093 -0.15763 1.79291
ekf -0.00338395 0.0261699 -0.000145182 0.999652 0.252851 -0.176158 1.84071 truth 0.0029322 0.0150933 0.00332365 0.999876 0.189883 -0.156991 1.79731
ekf -0.00117827 0.023755 0.00068013 0.999717 0.256267 -0.182153 1.81961 truth 0.00322289 0.0142565 0.00338256 0.999887 0.189691 -0.156359 1.80169
ekf 4.4394e-05 0.0187453 0.00285227 0.99982 0.245504 -0.17719 1.79056 truth 0.00350974 0.0134018 0.00344039 0.999898 0.189517 -0.155735 1.80606
ekf 0.00133211 0.0183987 0.00287708 0.999826 0.247455 -0.175518 1.80818 truth 0.0038057 0.0125324 0.003497 0.999908 0.189359 -0.15512 1.81042
ekf 0.00157453 0.0138413 -0.00060151 0.999903 0.236961 -0.17017 1.82196 truth 0.00409551 0.0116524 0.00355055 0.999917 0.189218 -0.154513 1.81477
ekf 0.00165519 0.0117129 0.00120078 0.999929 0.234198 -0.158774 1.82361 truth 0.004375 0.0107679 0.00360358 0.999926 0.189091 -0.153914 1.81912
ekf 0.00389407 0.00825713 0.00242538 0.999955 0.224373 -0.167107 1.82614 truth 0.00464912 0.00988163 0.0036551 0.999934 0.188978 -0.153324 1.82345
ekf 0.00702408 0.00588049 0.000802201 0.999958 0.216423 -0.18022 1.83328 truth 0.00491114 0.00899818 0.00370364 0.999941 0.188878 -0.152743 1.82777
ekf 0.0072428 -0.00132008 0.002121 0.999971 0.199494 -0.182379 1.82411 truth 0.00514453 0.00812137 0.00374948 0.999947 0.18879 -0.15217 1.83209
ekf 0.00442522 -0.000772866 0.000329572 0.99999 0.198281 -0.175778 1.81927 truth 0.00535008 0.00726054 0.00379181 0.999952 0.188714 -0.151605 1.83639
ekf 0.00225391 0.00255859 0.00379615 0.999987 0.209621 -0.165465 1.82691 truth 0.00553679 0.00641524 0.00383248 0.999957 0.188648 -0.151049 1.84069
ekf 0.00170585 0.00302232 0.00478306 0.999983 0.216813 -0.168423 1.82751 truth 0.00571952 0.00558041 0.00386951 0.999961 0.188591 -0.150503 1.84497
ekf 0.00202959 0.0030253 0.00480852 0.999982 0.222346 -0.179784 1.83096 truth 0.00590037 0.0047548 0.00390236 0.999964 0.188541 -0.149968 1.84925
ekf 0.00181757 0.00681022 0.00347988 0.999969 0.231983 -0.18249 1.82887 truth 0.0060752 0.00393807 0.00393071 0.999966 0.188499 -0.149444 1.85353
ekf 0.00161117 0.00255808 0.00309491 0.999991 0.219909 -0.182778 1.83519 truth 0.00624206 0.00312487 0.00395552 0.999968 0.188461 -0.14893 1.85779
ekf 0.000193454 -0.000292467 0.00151677 0.999999 0.21464 -0.169494 1.83546 truth 0.00640139 0.00232106 0.0039772 0.999969 0.188428 -0.148428 1.86205
ekf -0.000163092 -0.00654938 0.00274223 0.999975 0.199687 -0.170798 1.83703 truth 0.00655861 0.0015302 0.00399749 0.999969 0.188398 -0.147936 1.86631
ekf 7.75058e-05 -0.00597512 0.0034928 0.999976 0.203812 -0.155377 1.84463 truth 0.00671608 0.000760755 0.00401573 0.999969 0.188372 -0.147456 1.87055
ekf 0.00157264 -0.00409171 0.00384682 0.999983 0.211445 -0.148323 1.84573 truth 0.00687821 1.16108e-05 0.00403173 0.999968 0.188348 -0.146988 1.87479
ekf 0.000809482 -0.0020439 6.67509e-05 0.999998 0.218316 -0.146458 1.84816 truth 0.00704298 -0.000720304 0.00404497 0.999967 0.188325 -0.146532 1.87902
ekf 0.00241825 -0.00434553 -0.00192795 0.999986 0.210877 -0.157477 1.85834 truth 0.0072074 -0.00143805 0.00405853 0.999965 0.188302 -0.146088 1.88325
ekf 0.0025646 -0.00229119 -0.00190342 0.999992 0.219673 -0.15825 1.86826 truth 0.0073594 -0.00213837 0.00407327 0.999962 0.188278 -0.145654 1.88747
ekf 0.00149879 -0.00193915 -0.00114949 0.999996 0.221087 -0.156931 1.8917 truth 0.00749926 -0.00282493 0.00408889 0.99996 0.188252 -0.145232 1.89168
ekf 0.00416021 -0.00213948 -0.000491186 0.999989 0.223582 -0.155552 1.89082 truth 0.0076312 -0.0034985 0.00410512 0.999956 0.188223 -0.144821 1.89589
ekf 0.00678749 -0.00340805 -0.00133138 0.99997 0.220913 -0.139937 1.89001 truth 0.00774875 -0.00415897 0.00412081 0.999953 0.18819 -0.144421 1.90008
ekf 0.00497926 -0.00755425 -0.00056874 0.999959 0.206316 -0.144975 1.89225 truth 0.00784628 -0.00480467 0.00413617 0.999949 0.188153 -0.144032 1.90427
ekf 0.00456749 -0.00706583 0.00148288 0.999964 0.21196 -0.152168 1.86913 truth 0.00792949 -0.00542955 0.00415111 0.999945 0.188112 -0.143654 1.90845
ekf 0.00449872 -0.00745519 0.00168474 0.999961 0.212524 -0.156139 1.8652 truth 0.00799962 -0.00603438 0.00416395 0.999941 0.188064 -0.143288 1.91262
ekf 0.00593584 -0.00566291 0.00203709 0.999964 0.216912 -0.15425 1.86506 truth 0.00805774 -0.00661899 0.00417478 0.999937 0.18801 -0.142933 1.91679
ekf 0.00522248 -0.0017688 0.00182052 0.999983 0.231674 -0.161928 1.86902 truth 0.00810124 -0.00718609 0.00418292 0.999933 0.187949 -0.142591 1.92095
ekf 0.00335802 -0.000607267 0.00251057 0.999991 0.237081 -0.137764 1.8834 truth 0.00812893 -0.0077416 0.00418847 0.999928 0.18788 -0.14226 1.92512
ekf 0.00144739 -0.00670599 0.00187145 0.999975 0.220685 -0.135291 1.88855 truth 0.00815468 -0.00828746 0.00419195 0.999924 0.187801 -0.141941 1.92927
ekf 0.000510778 -0.00600489 0.00216065 0.99998 0.223863 -0.140327 1.90763 truth 0.00818421 -0.00881536 0.00419453 0.999919 0.187713 -0.141636 1.93343
ekf -0.00184578 -0.00664605 0.0022664 0.999974 0.223138 -0.13518 1.90637 truth 0.00821874 -0.00932676 0.004196 0.999914 0.187616 -0.141343 1.93758
ekf -0.0033043 -0.00381221 0.00156884 0.999986 0.232051 -0.133665 1.90634 truth 0.00826806 -0.00982092 0.00419723 0.999909 0.187507 -0.141063 1.94172
ekf -0.00105569 -0.000438248 0.00274408 0.999996 0.243553 -0.132719 1.92271 truth 0.00833585 -0.010302 0.0041992 0.999903 0.187388 -0.140798 1.94586
ekf -5.6284e-05 -0.0057664 0.00399292 0.999975 0.228435 -0.147862 1.91237 truth 0.00841664 -0.010775 0.00420019 0.999898 0.187256 -0.140545 1.94999
ekf 0.000798381 -0.00878198 0.00302774 0.999957 0.222745 -0.148509 1.91669 truth 0.00850502 -0.0112322 0.00419888 0.999892 0.187112 -0.140306 1.95412
ekf 0.00162911 -0.0142365 0.00386321 0.99989 0.207573 -0.148103 1.91006 truth 0.00859665 -0.01167 0.00419573 0.999886 0.186956 -0.14008 1.95824
ekf 0.00373963 -0.0214089 0.00456206 0.999753 0.187063 -0.129886 1.91535 truth 0.00868989 -0.0120807 0.00418999 0.99988 0.186787 -0.139866 1.96236
ekf 0.00313742 -0.0259775 0.00319047 0.999653 0.173624 -0.141633 1.92558 truth 0.00878323 -0.0124546 0.00418107 0.999875 0.186606 -0.139666 1.96647
ekf 0.00527832 -0.0235775 0.00276623 0.999704 0.181696 -0.153924 1.93199 truth 0.00887272 -0.0127855 0.00416992 0.99987 0.186412 -0.139478 1.97057
ekf 0.00642307 -0.0212757 0.00454037 0.999743 0.188595 -0.154701 1.94967 truth 0.00894824 -0.0130774 0.00415596 0.999866 0.186207 -0.139302 1.97467
ekf 0.00614815 -0.0229426 0.00505947 0.999705 0.182676 -0.162733 1.9639 truth 0.00900826 -0.0133339 0.0041375 0.999862 0.185988 -0.139138 1.97876
ekf 0.00623149 -0.0231905 0.00498249 0.999699 0.182405 -0.162489 1.96798 truth 0.00905229 -0.0135527 0.00411398 0.999859 0.185756 -0.138986 1.98284
ekf 0.0047141 -0.0226537 0.00486301 0.99972 0.182804 -0.158095 1.9855 truth 0.00907947 -0.0137338 0.0040857 0.999856 0.18551 -0.138846 1.98691
ekf 0.00427602 -0.0219625 0.00228138 0.999747 0.184757 -0.154335 1.98726 truth 0.00909668 -0.0138782 0.00405319 0.999854 0.185251 -0.138718 1.99097
ekf 0.00367814 -0.0242992 0.000856982 0.999698 0.177396 -0.143317 2.00149 truth 0.00910148 -0.0139871 0.00401863 0.999853 0.184979 -0.138602 1.99501
ekf 0.00531678 -0.0242249 0.00272239 0.999689 0.179227 -0.132992 2.00532 truth 0.00909685 -0.0140578 0.00398342 0.999852 0.184692 -0.138497 1.99905
ekf 0.00381249 -0.0300072 0.00198002 0.99954 0.160954 -0.131066 2.01349 truth 0.00908277 -0.0140907 0.00394597 0.999852 0.184392 -0.138405 2.00307
ekf 0.00391123 -0.0315555 0.00200311 0.999492 0.155107 -0.148906 2.01941 truth 0.00906382 -0.0140777 0.00390735 0.999852 0.184079 -0.138325 2.00708
ekf 0.00664051 -0.0362812 0.00103136 0.999319 0.141559 -0.134522 2.01413 truth 0.00903398 -0.014017 0.00386711 0.999853 0.183754 -0.138256 2.01107
ekf 0.00596362 -0.0381979 0.00137329 0.999251 0.136723 -0.145499 2.01263 truth 0.00898697 -0.0139023 0.00382564 0.999856 0.183416 -0.138197 2.01505
ekf 0.00625987 -0.0359595 0.00151839 0.999332 0.143328 -0.141377 2.01442 truth 0.00892336 -0.0137314 0.00378269 0.999859 0.183067 -0.13815 2.01902
ekf 0.00560107 -0.035791 -0.000821464 0.999343 0.139707 -0.13359 2.04379 truth 0.00884381 -0.0135078 0.00373815 0.999863 0.182706 -0.138114 2.02297
ekf 0.00531491 -0.0356445 -0.000775195 0.99935 0.140624 -0.117628 2.05488 truth 0.00874904 -0.0132313 0.00369403 0.999867 0.182335 -0.138087 2.02691
ekf 0.00633649 -0.0392523 0.000461968 0.999209 0.130282 -0.12058 2.05788 truth 0.00864497 -0.0129032 0.00365069 0.999873 0.181952 -0.138072 2.03083
ekf 0.00637169 -0.0351858 -2.37744e-05 0.99936 0.137813 -0.123189 2.06186 truth 0.00852864 -0.0125189 0.00360697 0.999879 0.181559 -0.138066 2.03473
ekf 0.00497062 -0.0321366 -0.000140058 0.999471 0.146585 -0.108985 2.07665 truth 0.00839796 -0.0120838 0.0035632 0.999885 0.181156 -0.138071 2.03862
ekf 0.00425397 -0.037456 -0.00097799 0.999289 0.126002 -0.125604 2.07753 truth 0.00826151 -0.0116024 0.00352005 0.999892 0.180744 -0.138086 2.04249
ekf 0.00380865 -0.0364572 0.00123862 0.999327 0.12964 -0.117677 2.08467 truth 0.00811517 -0.011067 0.00347804 0.9999 0.180324 -0.13811 2.04635
ekf 0.00425048 -0.0441581 0.000877531 0.999015 0.107615 -0.122625 2.08098 truth 0.00796704 -0.0104797 0.00343578 0.999907 0.179896 -0.138144 2.05018
ekf 0.00420498 -0.0415892 -0.000847836 0.999126 0.117411 -0.142041 2.08125 truth 0.00781255 -0.00983026 0.00339349 0.999915 0.179462 -0.138188 2.054
ekf 0.00168144 -0.0390475 0.00074248 0.999236 0.122715 -0.137729 2.08218 truth 0.00764354 -0.00912282 0.0033519 0.999924 0.179022 -0.138241 2.05781
ekf 0.00197151 -0.04076 0.000942822 0.999167 0.119833 -0.142877 2.07973 truth 0.0074725 -0.00836094 0.00331063 0.999932 0.178577 -0.138302 2.0616
ekf 0.00304775 -0.0428295 -9.01396e-05 0.999078 0.112932 -0.128172 2.07151 truth 0.0072966 -0.00754281 0.00326942 0.99994 0.178128 -0.138373 2.06537
ekf 0.00421788 -0.0364943 -0.00138057 0.999324 0.132169 -0.15017 2.05637 truth 0.00711586 -0.00666581 0.00322905 0.999947 0.177677 -0.138452 2.06913
ekf 0.00407076 -0.0341135 -0.000472667 0.99941 0.136052 -0.149726 2.06197 truth 0.00692141 -0.00573851 0.00318956 0.999954 0.177223 -0.138538 2.07288
ekf 0.00529177 -0.0255952 -0.00112425 0.999658 0.155153 -0.163537 2.08276 truth 0.00671245 -0.00476517 0.00315033 0.999961 0.176768 -0.138632 2.07662
ekf 0.00511725 -0.0221818 -0.00386965 0.999733 0.16652 -0.172825 2.0861 truth 0.00648099 -0.00375747 0.00311114 0.999967 0.176313 -0.138733 2.08035
ekf 0.00417581 -0.0165256 -0.00347586 0.999849 0.177727 -0.14326 2.09035 truth 0.0062224 -0.00272058 0.00307379 0.999972 0.175857 -0.138839 2.08407
ekf 0.00504579 -0.0204478 -0.00132576 0.999777 0.164553 -0.148224 2.07986 truth 0.00594888 -0.0016623 0.00303882 0.999976 0.175402 -0.138951 2.08778
ekf 0.00479644 -0.0154098 -0.00214047 0.999867 0.179128 -0.149108 2.07618 truth 0.00565927 -0.000577248 0.00300448 0.999979 0.174949 -0.139068 2.09149
ekf 0.0040022 -0.0152168 -0.000670074 0.999876 0.178434 -0.164544 2.07553 truth 0.00535334 0.000527271 0.00297138 0.999981 0.1745 -0.139192 2.09519
ekf 0.00353451 -0.0141177 -0.000673534 0.999894 0.181351 -0.168949 2.07257 truth 0.00503179 0.00165107 0.00293836 0.999982 0.174056 -0.13932 2.09889
ekf 0.0031415 -0.00762363 -0.000704987 0.999966 0.194525 -0.162376 2.09373 truth 0.00469474 0.00279272 0.00290561 0.999981 0.173618 -0.139452 2.10258
ekf 0.00611487 -0.00686472 -0.0020694 0.999956 0.191767 -0.166144 2.09547 truth 0.00434622 0.00394317 0.00287311 0.999979 0.173186 -0.13959 2.10627
ekf 0.00698595 -0.00519387 -0.0019524 0.99996 0.190766 -0.177428 2.07849 truth 0.00397324 0.00510186 0.00284121 0.999975 0.172763 -0.13973 2.10996
ekf 0.00731122 -0.00734486 -0.00101229 0.999946 0.182612 -0.179211 2.07398 truth 0.00357123 0.00626725 0.00280941 0.99997 0.172349 -0.139872 2.11364
ekf 0.00623428 -0.00600048 -0.00208209 0.99996 0.180428 -0.177791 2.07749 truth 0.00314027 0.0074423 0.00277697 0.999964 0.171947 -0.140016 2.11732
ekf 0.00435606 -0.00803418 -0.00247596 0.999955 0.168169 -0.171614 2.09547 truth 0.00268371 0.00862563 0.00274495 0.999955 0.171557 -0.140162 2.12101
ekf 0.00289757 -0.00984896 -0.00233093 0.999945 0.15811 -0.168416 2.10736 truth 0.0022085 0.00982016 0.00271437 0.999946 0.171182 -0.140308 2.12469
ekf 0.000924807 -0.00913047 -0.00174436 0.999956 0.163481 -0.17004 2.10799 truth 0.00172073 0.0110288 0.00268544 0.999934 0.170822 -0.140456 2.12836
ekf 0.000344947 -0.00737731 -0.000535904 0.999973 0.158132 -0.159821 2.12992 truth 0.0012267 0.0122504 0.00265823 0.999921 0.170479 -0.140604 2.13203
ekf 0.000595718 -0.00478398 -0.000240677 0.999988 0.160867 -0.162866 2.1433 truth 0.000732641 0.0134828 0.00263202 0.999905 0.170156 -0.140753 2.1357
ekf -0.00138057 -0.00518369 -0.00209928 0.999983 0.155008 -0.151607 2.15565 truth 0.000237568 0.014723 0.00260641 0.999888 0.169852 -0.140901 2.13936
ekf -0.000347179 -0.00633229 -0.00149154 0.999979 0.144954 -0.144035 2.1597 truth -0.000252666 0.0159716 0.00258335 0.999869 0.169569 -0.14105 2.14302
ekf -0.000263241 -0.00405605 -0.00497363 0.999979 0.144379 -0.147979 2.17882 truth -0.000738283 0.0172311 0.00256223 0.999848 0.169309 -0.141197 2.14667
ekf -0.00452342 -0.00554072 -0.00118578 0.999974 0.1367 -0.136107 2.17874 truth -0.00122579 0.0184988 0.00254549 0.999825 0.169074 -0.141341 2.1503
ekf -0.00529901 0.00183022 -0.00169344 0.999983 0.158778 -0.141365 2.16625 truth -0.00169329 0.0197772 0.0025315 0.9998 0.168864 -0.141484 2.15394
ekf -0.00784424 0.00157463 -0.000521989 0.999968 0.156286 -0.167049 2.15876 truth -0.00214082 0.0210559 0.00252049 0.999773 0.168681 -0.141625 2.15756
ekf -0.0107612 0.00116491 0.000643755 0.999941 0.153732 -0.165688 2.15061 truth -0.00256569 0.0223355 0.00251142 0.999744 0.168527 -0.141764 2.16118
ekf -0.012634 -0.000391404 0.00159358 0.999919 0.142802 -0.180475 2.16219 truth -0.00295616 0.0236166 0.00250395 0.999714 0.168402 -0.141901 2.1648
ekf -0.0114845 -0.0029925 0.00167361 0.999928 0.136587 -0.171551 2.16101 truth -0.00330914 0.0249021 0.00249754 0.999681 0.168309 -0.142035 2.16842
ekf -0.0132009 0.00236956 0.00236511 0.999907 0.147826 -0.161573 2.15928 truth -0.00362635 0.0261952 0.00249187 0.999647 0.168249 -0.142167 2.17203
ekf -0.0138911 0.0010631 0.000725989 0.999903 0.137909 -0.143609 2.16155 truth -0.00389864 0.0274889 0.00248673 0.999611 0.168224 -0.142296 2.17564
ekf -0.0135896 -0.00446559 -0.00067871 0.999897 0.119151 -0.138102 2.15285 truth -0.0041219 0.0287855 0.00248366 0.999574 0.168234 -0.142423 2.17925
ekf -0.0139021 -0.0011536 -0.00105847 0.999902 0.127529 -0.136547 2.15001 truth -0.00429838 0.0300928 0.00248362 0.999535 0.168283 -0.142547 2.18285
ekf -0.0116919 0.00231527 -0.00071693 0.999929 0.134722 -0.129858 2.14826 truth -0.00442856 0.0314065 0.00248691 0.999494 0.168371 -0.142666 2.18646
ekf -0.0121718 0.00197052 -0.00122883 0.999923 0.129788 -0.118289 2.15049 truth -0.00451755 0.0327215 0.00249286 0.999451 0.1685 -0.142782 2.19006
ekf -0.012157 0.00842191 -0.000816644 0.99989 0.144727 -0.147822 2.15816 truth -0.00456146 0.0340388 0.00250201 0.999407 0.16867 -0.142894 2.19367
ekf -0.0132721 0.00936315 -0.000147266 0.999868 0.143644 -0.131096 2.16041 truth -0.0045681 0.0353497 0.0025134 0.999361 0.168883 -0.143001 2.19728
ekf -0.0133478 0.0125782 0.00322688 0.999827 0.149973 -0.135613 2.17095 truth -0.00452873 0.0366533 0.00252692 0.999315 0.169141 -0.143105 2.20088
ekf -0.012391 0.0105858 0.00382058 0.99986 0.141883 -0.131029 2.16521 truth -0.00443975 0.0379451 0.00253963 0.999267 0.169444 -0.143206 2.20449
ekf -0.0140496 0.01168 0.00369794 0.999826 0.14122 -0.133282 2.16499 truth -0.00430369 0.0392282 0.00255108 0.999218 0.169795 -0.143303 2.2081
ekf -0.0114008 0.017518 0.00337219 0.999776 0.155695 -0.125565 2.17388 truth -0.0041155 0.0405012 0.0025613 0.999168 0.170193 -0.143398 2.21171
ekf -0.013676 0.0213139 0.00486198 0.999667 0.164339 -0.117185 2.16351 truth -0.00388291 0.0417565 0.00257021 0.999117 0.170641 -0.14349 2.21532
ekf -0.0108746 0.0258024 0.00592243 0.99959 0.175643 -0.135734 2.1691 truth -0.00359422 0.0429892 0.00257684 0.999066 0.17114 -0.143581 2.21893
ekf -0.0122642 0.0294322 0.00238412 0.999489 0.182371 -0.139677 2.1721 truth -0.003262 0.0441932 0.00257974 0.999014 0.17169 -0.143669 2.22255
ekf -0.0115868 0.0244715 0.0031688 0.999628 0.163114 -0.137698 2.18483 truth -0.00289012 0.045364 0.00258183 0.998963 0.172292 -0.143756 2.22617
ekf -0.00936986 0.0232738 0.0028201 0.999681 0.156517 -0.133552 2.20121 truth -0.00247896 0.0465089 0.00258236 0.998911 0.172948 -0.143841 2.22978
ekf -0.0107183 0.0277772 0.00310126 0.999552 0.166061 -0.123615 2.20096 truth -0.0020362 0.0476298 0.00258144 0.99886 0.17366 -0.143924 2.2334
ekf -0.00833419 0.0233789 0.00113336 0.999691 0.148478 -0.129751 2.20795 truth -0.00155478 0.0487207 0.00257906 0.998808 0.174427 -0.144007 2.23702
ekf -0.00791443 0.0260066 0.000180414 0.99963 0.154078 -0.134577 2.19984 truth -0.00104706 0.0497887 0.00257637 0.998756 0.175252 -0.14409 2.24064
ekf -0.00710202 0.0302045 0.000962051 0.999518 0.163981 -0.157901 2.21012 truth -0.00051686 0.0508304 0.00257399 0.998704 0.176136 -0.144171 2.24426
ekf -0.00571745 0.0357503 0.00103932 0.999344 0.177969 -0.153698 2.22677 truth 2.74276e-05 0.0518403 0.00257088 0.998652 0.177078 -0.144253 2.24788
ekf -0.00650886 0.0397253 0.00126048 0.999189 0.191235 -0.147375 2.23411 truth 0.000582714 0.0528108 0.00256673 0.998601 0.17808 -0.144335 2.2515
ekf -0.00515876 0.0466247 -0.000628688 0.998899 0.209504 -0.152034 2.23274 truth 0.00115352 0.0537364 0.00256146 0.998551 0.179142 -0.144418 2.25512
ekf -0.00342086 0.0425385 -0.00325902 0.999084 0.195183 -0.151365 2.24796 truth 0.001731 0.0546081 0.00255646 0.998503 0.180264 -0.144503 2.25874
ekf -0.00143026 0.0458479 -0.00169072 0.998946 0.199435 -0.160367 2.2337 truth 0.0023056 0.0554315 0.00255375 0.998457 0.181448 -0.144589 2.26235
ekf 0.000899238 0.042372 -0.000408872 0.999101 0.1846 -0.179699 2.23479 truth 0.00287084 0.0562032 0.00255184 0.998412 0.182693 -0.144676 2.26596
ekf 0.00295806 0.0441405 2.05234e-05 0.999021 0.188098 -0.165607 2.22966 truth 0.00341694 0.0569286 0.00254919 0.998369 0.184001 -0.144766 2.26958
ekf 0.00282538 0.0398736 -0.00233641 0.999198 0.17465 -0.153639 2.23367 truth 0.00394272 0.057606 0.00254549 0.998328 0.185373 -0.144858 2.27319
ekf 0.0032481 0.0438393 -0.000727069 0.999033 0.178958 -0.153933 2.24022 truth 0.00444814 0.0582415 0.00254284 0.998289 0.186809 -0.144953 2.2768
ekf 0.00514412 0.0406142 -0.00142345 0.999161 0.167876 -0.141729 2.25405 truth 0.00493489 0.0588305 0.00253982 0.998253 0.18831 -0.145053 2.28041
ekf 0.00713072 0.0441754 -0.000458985 0.998998 0.179036 -0.157817 2.27908 truth 0.00539847 0.0593778 0.00253718 0.998218 0.189877 -0.145156 2.28403
ekf 0.00690678 0.044642 -0.000963464 0.998979 0.184833 -0.146434 2.28241 truth 0.00583241 0.0598791 0.00253394 0.998185 0.191508 -0.145264 2.28763
ekf 0.00707527 0.0497762 -0.00202024 0.998733 0.19845 -0.14398 2.29428 truth 0.00623867 0.0603328 0.00253034 0.998156 0.193204 -0.145377 2.29124
ekf 0.00683046 0.0492859 -0.00214791 0.998759 0.194183 -0.143839 2.27788 truth 0.00661517 0.0607319 0.00252734 0.998129 0.194966 -0.145495 2.29484
ekf 0.0073414 0.0530626 -0.00350184 0.998558 0.208093 -0.142712 2.28957 truth 0.0069634 0.0610779 0.00252501 0.998106 0.196792 -0.145619 2.29843
ekf 0.00787135 0.0479099 -0.00514729 0.998807 0.197297 -0.147038 2.30072 truth 0.00728007 0.0613653 0.00252457 0.998086 0.198684 -0.145749 2.30203
ekf 0.00864444 0.0473418 -0.00358652 0.998835 0.194103 -0.15619 2.32514 truth 0.00756036 0.0616011 0.00252731 0.998069 0.20064 -0.145885 2.30561
ekf 0.0112156 0.0503266 -0.00403097 0.998662 0.205095 -0.152217 2.34215 truth 0.00780212 0.0617864 0.00253162 0.998056 0.202662 -0.146027 2.30919
ekf 0.0110338 0.0477884 -0.00162709 0.998795 0.196088 -0.152557 2.33725 truth 0.0079982 0.0619171 0.00253784 0.998046 0.204748 -0.146175 2.31277
ekf 0.012334 0.053244 -0.00196716 0.998503 0.204457 -0.13486 2.3241 truth 0.00815244 0.0619971 0.00254408 0.99804 0.206898 -0.14633 2.31633
ekf 0.012912 0.0623858 -0.000956383 0.997968 0.224508 -0.132846 2.30546 truth 0.00826623 0.0620202 0.00255073 0.998037 0.209113 -0.146491 2.31989
ekf 0.010615 0.0612777 0.000551024 0.998064 0.232873 -0.146096 2.31466 truth 0.00834127 0.0619748 0.00255679 0.99804 0.211391 -0.146659 2.32345
ekf 0.00855207 0.0579285 0.000234912 0.998284 0.22704 -0.156276 2.3295 truth 0.00838317 0.0618616 0.00256095 0.998046 0.213731 -0.146835 2.32701
ekf 0.0108612 0.0560435 0.0024497 0.998366 0.225399 -0.163293 2.32826 truth 0.00839521 0.061685 0.00256367 0.998057 0.216134 -0.147019 2.33055
ekf 0.0115831 0.0599744 0.003162 0.998128 0.229568 -0.17041 2.30936 truth 0.00837246 0.0614476 0.00256301 0.998072 0.218599 -0.14721 2.3341
ekf 0.0112953 0.0584281 0.00214703 0.998225 0.220293 -0.170996 2.29542 truth 0.00831227 0.0611454 0.00255812 0.998091 0.221125 -0.14741 2.33764
ekf 0.0108035 0.056357 0.0023212 0.99835 0.216059 -0.179029 2.29324 truth 0.00821459 0.0607815 0.00254996 0.998114 0.223712 -0.147616 2.34118
ekf 0.0117782 0.0519848 0.00362385 0.998572 0.214293 -0.184842 2.30187 truth 0.00807952 0.0603592 0.00253843 0.998141 0.226359 -0.14783 2.34473
ekf 0.0117345 0.0509326 0.00227663 0.998631 0.21777 -0.214565 2.31488 truth 0.00790417 0.0598834 0.0025224 0.998171 0.229067 -0.148051 2.34827
ekf 0.0127345 0.0428806 0.00221539 0.998997 0.205837 -0.238319 2.32683 truth 0.00767919 0.0593552 0.00250283 0.998204 0.231833 -0.148278 2.35181
ekf 0.0100566 0.044042 0.000402464 0.998979 0.223782 -0.241707 2.33747 truth 0.00739514 0.0587847 0.00247966 0.99824 0.234658 -0.148509 2.35536
ekf 0.0095789 0.043585 0.0016339 0.999002 0.230622 -0.234904 2.34382 truth 0.00705719 0.0581686 0.00245458 0.998279 0.23754 -0.148746 2.3589
ekf 0.0076199 0.0537196 4.04995e-05 0.998527 0.256854 -0.224884 2.33204 truth 0.00667104 0.0575074 0.00242666 0.99832 0.240478 -0.148987 2.36244
ekf 0.00672533 0.0489874 0.000250653 0.998777 0.24525 -0.214533 2.3445 truth 0.00624416 0.0567875 0.00239727 0.998364 0.243469 -0.149232 2.36598
ekf 0.00681704 0.0498473 -0.000115155 0.998734 0.253125 -0.198955 2.34055 truth 0.00578231 0.0560157 0.00236654 0.99841 0.246514 -0.149482 2.36952
ekf 0.0073031 0.0546509 0.000839581 0.998478 0.276386 -0.199894 2.36005 truth 0.00528973 0.0551902 0.00233476 0.998459 0.24961 -0.149736 2.37305
ekf 0.00707332 0.0498663 -0.00164247 0.99873 0.271995 -0.190691 2.3668 truth 0.00476615 0.0543039 0.00230116 0.99851 0.252756 -0.149992 2.37659
ekf 0.00558956 0.047996 -0.000302527 0.998832 0.263405 -0.178876 2.37306 truth 0.00421152 0.0533623 0.0022679 0.998564 0.255951 -0.150251 2.38013
ekf 0.00514493 0.0502719 0.00121136 0.998722 0.277666 -0.173065 2.38573 truth 0.0036354 0.0523688 0.00223398 0.998619 0.259192 -0.150512 2.38366
ekf 0.00230253 0.0537583 0.00103244 0.998551 0.294365 -0.169697 2.38234 truth 0.00304383 0.0513196 0.00219845 0.998675 0.262479 -0.150775 2.3872
ekf 0.0031981 0.0512577 0.00211123 0.998678 0.284875 -0.173935 2.36886 truth 0.00244658 0.0502097 0.00216161 0.998733 0.265809 -0.15104 2.39073
ekf 0.00490856 0.0537855 0.00316708 0.998535 0.303377 -0.182624 2.37803 truth 0.00184154 0.0490435 0.00212255 0.998793 0.269181 -0.151305 2.39426
ekf 0.00299506 0.0455639 0.00411676 0.998948 0.295958 -0.187828 2.39404 truth 0.00122209 0.0478169 0.00208027 0.998853 0.272593 -0.151571 2.39779
ekf 0.00364983 0.0449782 0.00300225 0.998977 0.293774 -0.188864 2.39346 truth 0.000593905 0.0465398 0.00203408 0.998914 0.276044 -0.151836 2.40133
ekf -0.000681724 0.0411189 0.000698137 0.999154 0.306195 -0.191077 2.41125 truth -4.60194e-05 0.0452134 0.00198497 0.998975 0.279531 -0.152099 2.40486
ekf -0.000791396 0.0414294 -0.00126742 0.99914 0.306748 -0.195833 2.40785 truth -0.000689094 0.043841 0.00193512 0.999036 0.283054 -0.15236 2.40839
ekf 0.000208235 0.0315869 -0.00265468 0.999497 0.287612 -0.187104 2.42684 truth -0.00133853 0.0424225 0.00188607 0.999097 0.286609 -0.152618 2.41192
ekf 0.00179798 0.0223768 -0.00132491 0.999747 0.268392 -0.210642 2.44301 truth -0.00199815 0.0409705 0.00183894 0.999157 0.290197 -0.152871 2.41545
ekf -0.00222508 0.0145163 -0.00131341 0.999891 0.268085 -0.202114 2.45835 truth -0.00267789 0.0394974 0.00179248 0.999214 0.293815 -0.153118 2.41898
ekf -0.0032569 0.0172729 -0.00134582 0.999845 0.275047 -0.178085 2.44914 truth -0.00336299 0.0380116 0.00174712 0.99927 0.297461 -0.15336 2.4225
ekf -0.00647135 0.0170498 -0.00154882 0.999832 0.278225 -0.175111 2.44658 truth -0.00404277 0.03651 0.00170337 0.999324 0.301135 -0.153595 2.42602
ekf -0.00450707 0.0270145 0.00141971 0.999624 0.29139 -0.178592 2.41597 truth -0.00470624 0.0349924 0.00166181 0.999375 0.304833 -0.153824 2.42955
ekf -0.00665596 0.0288314 0.00404361 0.999554 0.315839 -0.162654 2.42446 truth -0.00536396 0.0334493 0.00161965 0.999425 0.308553 -0.154045 2.43307
ekf -0.00945418 0.0261829 0.00310993 0.999608 0.309705 -0.152061 2.42563 truth -0.00599282 0.031874 0.00157558 0.999473 0.312293 -0.15426 2.4366
ekf -0.00885053 0.0273446 0.00396964 0.999579 0.316963 -0.153486 2.41802 truth -0.00658293 0.0302705 0.00153076 0.999519 0.31605 -0.154468 2.44013
ekf -0.00950953 0.0296135 0.00389841 0.999509 0.333105 -0.152916 2.42079 truth -0.00713536 0.028637 0.00148457 0.999563 0.319823 -0.154669 2.44367
ekf -0.00931635 0.0312595 0.00372441 0.999461 0.352919 -0.13206 2.43114 truth -0.00764848 0.0269698 0.0014376 0.999606 0.323608 -0.154862 2.44721
ekf -0.00908647 0.0288021 0.00273471 0.99954 0.351667 -0.147969 2.43427 truth -0.00811829 0.0252654 0.00139024 0.999647 0.327404 -0.155046 2.45075
ekf -0.00767573 0.0313977 0.00127364 0.999477 0.354041 -0.169406 2.42605 truth -0.00855172 0.0235267 0.00134291 0.999686 0.331207 -0.155221 2.4543
ekf -0.00856605 0.0287661 0.000765545 0.999549 0.347631 -0.154973 2.42052 truth -0.0089612 0.0217512 0.00129625 0.999722 0.335017 -0.155385 2.45786
ekf -0.00791249 0.0213106 0.00115022 0.999741 0.323401 -0.156338 2.41822 truth -0.00934108 0.0199424 0.00125111 0.999757 0.338829 -0.155539 2.46142
ekf -0.0097811 0.0222565 0.0015858 0.999703 0.338692 -0.147579 2.41831 truth -0.00969323 0.0181114 0.00120704 0.999788 0.342644 -0.15568 2.46499
ekf -0.0111162 0.0244127 0.00203151 0.999638 0.344606 -0.139167 2.40991 truth -0.0100093 0.0162559 0.00116431 0.999817 0.346458 -0.15581 2.46857
ekf -0.00987261 0.0267195 0.00262044 0.999591 0.348264 -0.142141 2.4045 truth -0.0102819 0.0143733 0.00112295 0.999843 0.350269 -0.155929 2.47216
ekf -0.0127321 0.0287134 0.00302326 0.999502 0.351381 -0.133482 2.40286 truth -0.010515 0.0124608 0.00108245 0.999866 0.354073 -0.156036 2.47576
ekf -0.0142803 0.0282159 0.00080247 0.9995 0.368697 -0.151149 2.40503 truth -0.0106971 0.0105165 0.00104315 0.999887 0.35787 -0.156132 2.47938
ekf -0.0150488 0.0261584 0.000206185 0.999545 0.352305 -0.14087 2.39764 truth -0.0108314 0.00853944 0.00100671 0.999904 0.361655 -0.156217 2.483
ekf -0.0156403 0.0185782 0.00243131 0.999702 0.350758 -0.12124 2.40705 truth -0.0109143 0.00653408 0.000974331 0.999919 0.365426 -0.15629 2.48664
ekf -0.0156403 0.0185782 0.00243131 0.999702 0.350758 -0.12124 2.40705 truth -0.0109351 0.00450865 0.000944837 0.99993 0.369182 -0.156352 2.49029
ekf -0.0170561 0.0101288 0.00290512 0.999799 0.354148 -0.118087 2.42418 truth -0.0108953 0.00246345 0.000918345 0.999937 0.37292 -0.156403 2.49395
ekf -0.0181055 0.00823721 0.0051992 0.999789 0.352579 -0.108491 2.43111 truth -0.0107886 0.000407347 0.00089494 0.999941 0.376638 -0.156444 2.49762
ekf -0.0168779 0.00388149 0.00473758 0.999839 0.35579 -0.108833 2.44251 truth -0.0106063 -0.00165738 0.000873744 0.999942 0.380333 -0.156476 2.50131
ekf -0.0183916 0.00434768 0.00494642 0.999809 0.368612 -0.106619 2.44704 truth -0.010354 -0.00372606 0.000854685 0.999939 0.384004 -0.1565 2.505
ekf -0.0181816 -0.00301674 0.00362661 0.999824 0.371581 -0.100918 2.46826 truth -0.0100266 -0.00580045 0.000838177 0.999933 0.387647 -0.156514 2.50871
ekf -0.0168492 -0.0084023 0.00208307 0.999821 0.365224 -0.0883024 2.47219 truth -0.0096262 -0.00787274 0.000825449 0.999922 0.39126 -0.156521 2.51242
ekf -0.0160803 -0.00745319 0.000836275 0.999843 0.397703 -0.0979326 2.48832 truth -0.00915615 -0.00993624 0.00081762 0.999908 0.394842 -0.15652 2.51614
ekf -0.0157724 -0.00379704 0.00128484 0.999868 0.42621 -0.112591 2.49618 truth -0.00862354 -0.0119951 0.000815403 0.999891 0.39839 -0.156512 2.51986
ekf -0.0125544 -0.00253313 0.00366275 0.999911 0.443052 -0.112643 2.4998 truth -0.00803404 -0.014056 0.000818163 0.999869 0.4019 -0.156496 2.52359
ekf -0.0119505 -0.0059581 0.0036703 0.999904 0.443887 -0.114332 2.50517 truth -0.00739434 -0.0161219 0.000823398 0.999842 0.40537 -0.156474 2.52733
ekf -0.00996708 -0.00759303 0.00393641 0.999914 0.445374 -0.125512 2.50582 truth -0.00670737 -0.018189 0.000831016 0.999812 0.408798 -0.156447 2.53107
ekf -0.00801309 -0.0102861 0.00489931 0.999903 0.437674 -0.129846 2.50074 truth -0.00598301 -0.0202556 0.000839902 0.999777 0.412181 -0.156414 2.53482
ekf -0.00619676 -0.00700253 0.00631941 0.999936 0.460449 -0.137036 2.50615 truth -0.00522707 -0.0223176 0.000848855 0.999737 0.415518 -0.156376 2.53858
ekf -0.00613005 -0.00830873 0.00581523 0.99993 0.467724 -0.12905 2.51669 truth -0.0044454 -0.0243809 0.000856434 0.999692 0.418805 -0.156335 2.54234
ekf -0.00302765 -0.0144947 0.00553784 0.999875 0.476654 -0.13714 2.53285 truth -0.00363719 -0.0264443 0.000863282 0.999643 0.42204 -0.156291 2.5461
ekf -0.00272356 -0.0190958 0.00363176 0.999807 0.493495 -0.134308 2.55678 truth -0.00281633 -0.0285021 0.000868405 0.999589 0.425221 -0.156244 2.54988
ekf -0.00320922 -0.0228599 0.00588141 0.999716 0.509213 -0.150444 2.57642 truth -0.00198584 -0.0305511 0.000872691 0.999531 0.428346 -0.156195 2.55365
ekf -0.00233989 -0.0300842 0.00592828 0.999527 0.500876 -0.148394 2.58609 truth -0.00114622 -0.0325886 0.000874518 0.999468 0.431413 -0.156146 2.55742
ekf 0.000296975 -0.0247107 0.0045848 0.999684 0.491644 -0.151757 2.55531 truth -0.000300092 -0.0346056 0.000873736 0.999401 0.43442 -0.156098 2.56119
ekf -0.000720496 -0.0279873 0.00426232 0.999599 0.485797 -0.165168 2.55478 truth 0.000549022 -0.036605 0.000871084 0.999329 0.437365 -0.15605 2.56496
ekf 0.000299959 -0.0339961 0.00345822 0.999416 0.491789 -0.155368 2.57502 truth 0.00139291 -0.0385848 0.000866152 0.999254 0.440246 -0.156004 2.56874
ekf 0.000539394 -0.0439691 0.00450349 0.999023 0.479045 -0.152675 2.58899 truth 0.00222947 -0.0405389 0.000859835 0.999175 0.443061 -0.155961 2.57251
ekf 0.0022374 -0.0510115 0.00231029 0.998693 0.48365 -0.182154 2.60497 truth 0.00305978 -0.0424553 0.000851043 0.999093 0.445809 -0.155921 2.57628
ekf 0.0031442 -0.0545221 0.00171834 0.998506 0.474856 -0.183694 2.60853 truth 0.00386639 -0.0443264 0.000840002 0.999009 0.448489 -0.155885 2.58005
ekf 0.00316238 -0.0523255 0.00383922 0.998618 0.484463 -0.188009 2.60248 truth 0.00464484 -0.0461479 0.00082653 0.998923 0.451098 -0.155853 2.58381
ekf 0.00237366 -0.0549092 0.00396667 0.998481 0.49183 -0.181581 2.60451 truth 0.0053973 -0.0479231 0.000809213 0.998836 0.453636 -0.155826 2.58757
ekf 0.00413521 -0.052336 0.00164903 0.99862 0.504615 -0.180182 2.61272 truth 0.00612868 -0.04965 0.000788561 0.998748 0.456099 -0.155805 2.59132
ekf 0.00472227 -0.0573686 0.00218795 0.998339 0.505634 -0.180256 2.63312 truth 0.00683035 -0.0513329 0.000765457 0.998658 0.458486 -0.155792 2.59507
ekf 0.00734116 -0.0700837 0.00496566 0.997502 0.50046 -0.177975 2.66424 truth 0.0075013 -0.0529667 0.000739329 0.998568 0.460797 -0.155785 2.59881
ekf 0.00919604 -0.0695485 0.00328464 0.997531 0.496246 -0.173257 2.65704 truth 0.00811893 -0.0545417 0.000705766 0.998478 0.46303 -0.155786 2.60254
ekf 0.00937704 -0.071947 0.00183737 0.997363 0.492824 -0.161909 2.65419 truth 0.00869474 -0.0560537 0.000666921 0.99839 0.465184 -0.155795 2.60625
ekf 0.0106319 -0.0688675 0.000246181 0.997569 0.496577 -0.157868 2.6426 truth 0.00923 -0.0575001 0.000624208 0.998303 0.467258 -0.155813 2.60996
ekf 0.0124177 -0.070037 0.000881903 0.997467 0.501402 -0.169609 2.65777 truth 0.00972023 -0.0588846 0.00057811 0.998217 0.46925 -0.15584 2.61365
ekf 0.0147207 -0.0693621 -0.00161249 0.997482 0.495347 -0.164875 2.65054 truth 0.0101572 -0.0602068 0.000527155 0.998134 0.47116 -0.155876 2.61734
ekf 0.0145461 -0.0744335 -0.000860734 0.99712 0.479791 -0.163661 2.64107 truth 0.010532 -0.0614668 0.000472057 0.998053 0.472985 -0.155921 2.62101
ekf 0.0126237 -0.0803864 -0.000413559 0.996684 0.471585 -0.167701 2.65415 truth 0.0108474 -0.0626576 0.000412741 0.997976 0.474726 -0.155975 2.62467
ekf 0.0125284 -0.0819318 -0.000593502 0.996559 0.476452 -0.18995 2.65678 truth 0.0111088 -0.0637724 0.000349527 0.997903 0.476381 -0.156039 2.62832
ekf 0.0124534 -0.0820584 3.02027e-05 0.99655 0.481397 -0.20219 2.66193 truth 0.0113103 -0.0648103 0.000281985 0.997833 0.477951 -0.156113 2.63196
ekf 0.0126576 -0.084085 0.00142088 0.996377 0.484636 -0.189463 2.67237 truth 0.0114496 -0.0657719 0.000209338 0.997769 0.479434 -0.156197 2.63559