[0.0] [0.0] [0.0] [1000000.0 0.0 0.0] [ 0.0 1000000.0 0.0] [ 0.0 0.0 1000000.0] step: 0 A: [1.0 0.0 0.0] mu: [1.0 0.0 0.0] Sig: [1000000.0121 0.0 0.0] [ 0.0 2000000.0001 1000000.0] [ 0.0 1000000.0 1000000.00761544] O: [2.0 2.20548920717302 1.02685549688771] mu: [0.966224314925604 0.0510759471469014 0.0565677550147176] Sig: [ 444444.468595655 -222222.232677859 222222.207842762] [-222222.232677859 111111.118332737 -111111.103672155] [ 222222.207842762 -111111.103672155 111111.130002608] step: 1 A: [0.0 0.0 1.5707963267949] mu: [0.966224314925604 0.0510759471469014 1.62736408180962] Sig: [ 444444.468695655 -222222.232677859 222222.207842762] [-222222.232677859 111111.118432737 -111111.103672155] [ 222222.207842762 -111111.103672155 111111.189707622] O: [2.0 2.08776684562391 0.0367503387694498] mu: [5.56521212785308 -2.25154045794208 -2.81327741071494] Sig: [6.21073147670814 -3.20135767205136 3.15983176528783] [ -3.201357671846 1.65159975141438 -1.62905679255442] [ 3.159831766459 -1.62905679327709 1.62437991124174] step: 2 A: [1.0 0.0 0.0] mu: [4.6186251934081 -2.57398917562917 -2.81327741071494] Sig: [ 8.42824313827935 -7.20984026686392 3.68361098470441] [-7.20984026753415 6.19252315439635 -3.16667359311075] [ 3.68361098587557 -3.16667359383341 1.6319953467364] O: [2.0 1.30546553784744 0.0354396553196523] mu: [1.30867538928726 0.0639561047957282 2.35427143166093] Sig: [ 0.0160052042531767 0.0035207323802643 -0.00350794089473753] [ 0.00352073237992271 0.00678763377155474 -0.00437060946642285] [-0.00350794090229325 -0.00437060947135229 0.0148167444429691] step: 3 A: [0.0 1.0 0.0] mu: [0.600210108705179 -0.641789562006241 2.35427143166093] Sig: [ 0.0313326927727031 0.00826303628506798 0.00694891229200009] [ 0.0082630362935583 0.0332183116453285 -0.0148677584755239] [0.00694891228444437 -0.0148677584804534 0.0224321799376368] O: [2.0 1.82405607288538 -0.76987498391962] mu: [1.18505568314295 0.277249767436519 2.03335015794979] Sig: [ 0.0196379489758271 -0.00857747858271706 0.0108080739257064] [-0.0085774785821743 0.00715002096900016 -0.00628480736255088] [ 0.0108080739243408 -0.00628480736234491 0.0161224369528934] step: 4 A: [0.0 0.0 3.14159265358979] mu: [1.18505568314295 0.277249767436519 -1.10824249564001] Sig: [ 0.0197379489758271 -0.00857747858271706 0.0108080739257064] [-0.0085774785821743 0.00725002096900016 -0.00628480736255088] [ 0.0108080739243408 -0.00628480736234491 0.177265052020062] O: [4.0 3.71918454905722 0.35916207728466] mu: [0.0427794184200498 1.04029623621889 -1.28095087506445] Sig: [ 0.00648856141219543 9.0082939958871e-5 -0.0022779741897681] [ 9.00829400344796e-5 0.00153773561003328 -0.000271743792200168] [-0.00227797418980405 -0.000271743792176269 0.0101334419353158] step: 5 A: [1.0 0.0 0.0] mu: [0.328583545177695 0.0820081787287139 -1.28095087506445] Sig: [ 0.0125085603516752 -0.00133259824270777 0.00743278219811524] [-0.00133259824266534 0.0133299366887273 0.00262443573117208] [ 0.00743278219807929 0.00262443573119598 0.0177488774299836] O: [4.0 2.83717093252977 0.509587721653303] mu: [0.218400304314012 0.175543284932885 -1.35534013918806] Sig: [0.00567311757450888 0.00288494415088853 0.00136885801824754] [ 0.0028849441508963 0.00467276282262506 0.000830792807315782] [0.00136885801824265 0.000830792807317589 0.00730937894113886] step: 6 A: [0.0 0.0 1.5707963267949] mu: [0.218400304314012 0.175543284932885 0.215456187606841] Sig: [0.00577311757450888 0.00288494415088853 0.00136885801824754] [ 0.0028849441508963 0.00477276282262506 0.000830792807315782] [0.00136885801824265 0.000830792807317589 0.0670143932193339] O: [2.0 2.41183680434247 0.53917963642527] mu: [0.297130736126005 0.245904772465879 0.254791232482482] Sig: [ 0.0022964238220168 -0.000209240963610941 0.000649390150931913] [-0.000209240963609069 0.00201082785990495 -0.00045230619856063] [ 0.000649390150930445 -0.000452306198560148 0.016321512105382] step: 7 A: [1.0 0.0 0.0] mu: [1.26484667137471 0.497948158940774 0.254791232482482] Sig: [ 0.0143436026468924 -0.000520859446866513 -0.00346433903249956] [-0.00052085944686594 0.0172824043229258 0.0153422811531721] [-0.00346433903250103 0.0153422811531726 0.0239369476000497] O: [2.0 1.66711158360596 0.730797774257105] mu: [1.23468161671867 0.520827696255568 0.301109712311073] Sig: [ 0.00853126386314703 -0.00319240981949692 -0.00215786764271661] [-0.00319240981949683 0.00299865546791587 0.00189433289202438] [-0.00215786764271748 0.00189433289202475 0.00852673264313714] step: 8 A: [0.0 0.0 1.5707963267949] mu: [1.23468161671867 0.520827696255568 1.87190603910597] Sig: [ 0.00863126386314703 -0.00319240981949692 -0.00215786764271661] [-0.00319240981949683 0.00309865546791587 0.00189433289202438] [-0.00215786764271748 0.00189433289202475 0.0682317469213322] O: [1.0 3.65944512645249 0.552953138159899] mu: [1.30148058146752 0.491595818035254 2.06646481780849] Sig: [ 0.0025069005587943 -0.000392804777211198 3.61844681477456e-5] [-0.000392804777211172 0.00181721709341861 0.000612087398416846] [ 3.6184468147675e-5 0.000612087398416864 0.0206379230591015] step: 9 A: [1.0 0.0 0.0] mu: [0.825860785206729 1.37124677688476 2.06646481780849] Sig: [ 0.0212271434404548 0.00266549105811527 -0.0181179843394531] [0.00266549105811534 0.0152889960991988 -0.00920371736219881] [-0.0181179843394532 -0.00920371736219879 0.0282533585537692] O: [1.0 3.00581078503927 0.995072035841047] mu: [0.92965565553422 1.38277532799598 1.96902999499167] Sig: [ 0.00282471004179055 0.00180847169191755 -0.00213649802818296] [ 0.00180847169191756 0.0112270074778272 -0.00407686826539698] [-0.00213649802818297 -0.004076868265397 0.00959894324528406] step: 10 A: [0.0 0.0 1.5707963267949] mu: [0.92965565553422 1.38277532799598 -2.74335898539301] Sig: [ 0.00292471004179055 0.00180847169191755 -0.00213649802818296] [ 0.00180847169191756 0.0113270074778272 -0.00407686826539698] [-0.00213649802818297 -0.004076868265397 0.0693039575234791] O: [3.0 4.50728688290551 0.261805025687585] mu: [0.935341270384988 1.4002336165967 -2.58796122758266] Sig: [ 0.00217032189117729 -0.000430045693959754 -0.000571291186749187] [-0.000430045693959751 0.00468395144122861 0.000385438883396026] [-0.000571291186749187 0.000385438883396025 0.01418554530438] step: 11 A: [1.0 0.0 0.0] mu: [0.0847204653733211 0.874453961150326 -2.58796122758266] Sig: [ 0.0142737567484661 -0.000718898946528527 0.0068871799357066] [-0.000718898946528524 0.0177095906551085 -0.0116810810829452] [ 0.0068871799357066 -0.0116810810829452 0.0218009807990477] O: [3.0 3.60140886761014 0.327424469090921] mu: [0.127122577936236 0.8920142859466 -2.56044744851921] Sig: [ 0.00754591474216475 -0.00327103045372133 0.0022921549167216] [-0.00327103045372133 0.00527094891089965 -0.00218115705145578] [ 0.0022921549167216 -0.00218115705145578 0.00764265648654105] step: 12 A: [0.0 0.0 1.5707963267949] mu: [0.127122577936236 0.8920142859466 -0.989651121724306] Sig: [ 0.00764591474216475 -0.00327103045372133 0.0022921549167216] [-0.00327103045372133 0.00537094891089965 -0.00218115705145578] [ 0.0022921549167216 -0.00218115705145578 0.0673476707647361] O: [4.0 3.45773283042284 -0.3466393945184] mu: [0.127621923681754 0.897006703153196 -0.685947605554977] Sig: [ 0.00382134001066318 0.000187610878859931 -0.000798151354694874] [ 0.000187610878859932 0.0022246405310769 -0.000422127213471347] [-0.000798151354694874 -0.000422127213471346 0.0071545621961312] step: 13 A: [1.0 0.0 0.0] mu: [0.90144109870602 0.263600132012065 -0.685947605554977] Sig: [ 0.0129662229166453 -0.00307234539934939 0.00373359535397254] [-0.00307234539934939 0.0107699109314008 0.0051142102027987] [ 0.00373359535397254 0.0051142102027987 0.0147699976907989] O: [4.0 2.32291804386225 -0.273044948290182] mu: [0.970210202273367 0.11458538452172 -0.782369886965885] Sig: [0.00649798531396565 0.00161557971088686 0.00138829324791036] [0.00161557971088686 0.00265830892784731 0.00104557637938538] [0.00138829324791036 0.00104557637938539 0.00686090361123846] step: 14 A: [0.0 0.0 1.5707963267949] mu: [0.970210202273367 0.11458538452172 0.788426439829015] Sig: [0.00659798531396565 0.00161557971088686 0.00138829324791036] [0.00161557971088686 0.00275830892784731 0.00104557637938538] [0.00138829324791036 0.00104557637938539 0.0665659178894335] O: [2.0 2.31262603676486 0.50151016284571] mu: [0.868281501628455 0.0391474063317963 0.579407264119163] Sig: [ 0.00364926053417053 -0.000416043453064886 0.00138081786128267] [-0.000416043453064886 0.0013243378193574 -0.000330379361760887] [ 0.00138081786128267 -0.000330379361760887 0.0116468783121624] step: 15 A: [1.0 0.0 0.0] mu: [1.70506883803587 0.586675445456899 0.579407264119163] Sig: [ 0.0141313262671596 0.00108208724320698 -0.0049961745829043] [0.00108208724320698 0.0126241628743129 0.0094155809185348] [-0.0049961745829043 0.0094155809185348 0.0192623138068301] O: [2.0 1.69775480024422 1.12880497304794] mu: [1.69687494244945 0.353528329358028 0.364552724074575] Sig: [ 0.00852716565909757 -0.00113308861874784 -0.0016820022901842] [-0.00113308861874784 0.00154204557262375 0.000972243523184495] [ -0.0016820022901842 0.000972243523184494 0.00798210065376863] step: 16 A: [0.0 0.0 1.5707963267949] mu: [1.69687494244945 0.353528329358028 1.93534905086948] Sig: [ 0.00862716565909757 -0.00113308861874784 -0.0016820022901842] [-0.00113308861874784 0.00164204557262375 0.000972243523184495] [ -0.0016820022901842 0.000972243523184494 0.0676871149319637] O: [1.0 3.9788483645699 0.51451826623176] mu: [1.6498342953937 0.363810029375045 2.13015703463001] Sig: [ 0.00309876817347135 -2.51712861781355e-6 0.000103551969450242] [-2.51712861781358e-6 0.00141019665877774 0.000432262644942406] [0.000103551969450242 0.000432262644942406 0.019658440014951] step: 17 A: [1.0 0.0 0.0] mu: [1.11918984953649 1.21140455040552 2.13015703463001] Sig: [ 0.0205251774667597 0.0030206968568107 -0.0165588340792286] [ 0.0030206968568107 0.0152079316731641 -0.00999937936320857] [-0.0165588340792286 -0.00999937936320857 0.0272738755096187] O: [1.0 3.2440890929547 0.344587257456536] mu: [1.0929227050832 1.08678515742738 2.29409022583994] Sig: [ 0.00317385149673584 0.00197652302705677 -0.00219626388394791] [ 0.00197652302705677 0.0108378947369703 -0.00415741646035086] [-0.00219626388394791 -0.00415741646035086 0.00963279515981045] step: 18 A: [0.0 0.0 1.5707963267949] mu: [1.0929227050832 1.08678515742738 -2.41829875454474] Sig: [ 0.00327385149673584 0.00197652302705677 -0.00219626388394791] [ 0.00197652302705677 0.0109378947369703 -0.00415741646035086] [-0.00219626388394791 -0.00415741646035086 0.0693378094380055] O: [3.0 4.25406703780948 0.0938070227790705] mu: [1.06233679275337 1.01235708770833 -2.44929169751462] Sig: [ 0.00227033177277012 -0.000494660227148416 -0.000508592232050943] [-0.000494660227148417 0.00484573060364914 0.000631497174021301] [-0.000508592232050943 0.000631497174021301 0.00788700992439711] step: 19 A: [1.0 0.0 0.0] mu: [0.292557462201478 0.374046988888734 -2.44929169751462] Sig: [ 0.0120452568761505 0.00232088483512438 0.00452576585218212] [0.00232088483512438 0.0135363093651402 -0.00543976004563723] [0.00452576585218212 -0.00543976004563723 0.0155024454190648] O: [3.0 3.18983369547146 -0.0598486595876433] mu: [0.271637921149921 0.267288673648678 -2.34924585370947] Sig: [ 0.00489672535400652 -0.00213321952827208 0.00077432496610007] [-0.00213321952827208 0.00487102225446972 -0.000799950371275745] [0.000774324966100071 -0.000799950371275746 0.00526856922686981] step: 20 A: [0.0 0.0 1.5707963267949] mu: [0.271637921149921 0.267288673648678 -0.778449526914574] Sig: [ 0.00499672535400653 -0.00213321952827208 0.00077432496610007] [-0.00213321952827208 0.00497102225446972 -0.000799950371275745] [0.000774324966100071 -0.000799950371275746 0.0649735835050649] O: [4.0 2.82621355340813 -0.159641599679326] mu: [0.28365970043664 0.2542602072408 -0.762498139706288] Sig: [ 0.00272533449809972 0.000365922852395691 -0.000689743566752411] [ 0.000365922852395691 0.00218906449430556 -0.00051923657706723] [-0.000689743566752411 -0.000519236577067231 0.00912872576968808] step: 21 A: [1.0 0.0 0.0] mu: [1.00677242920947 -0.436469827929749 -0.762498139706288] Sig: [ 0.0125025734495377 -0.0019256234497614 0.00561574150520653] [-0.0019256234497614 0.0120367649600691 0.0060818612244708] [0.00561574150520653 0.0060818612244708 0.0167441612643558] O: [4.0 1.98292343384783 -0.431050161440965] mu: [0.987898937394828 -0.311324517353371 -0.655047290348088] Sig: [ 0.00482305431955517 0.00181816324352534 0.000808639212599217] [ 0.00181816324352535 0.00270256395401012 0.000701188420363272] [0.000808639212599217 0.000701188420363273 0.00578972739633581] step: 22 A: [0.0 0.0 1.5707963267949] mu: [0.987898937394828 -0.311324517353371 0.915749036446812] Sig: [ 0.00492305431955517 0.00181816324352534 0.000808639212599217] [ 0.00181816324352535 0.00280256395401012 0.000701188420363272] [0.000808639212599217 0.000701188420363273 0.0654947416745309] O: [2.0 2.51873742796164 0.0726714585794996] mu: [0.98853332337138 -0.30833709301425 1.05814765324119] Sig: [ 0.0030231353854997 0.000108690220756586 0.000956427111046133] [0.000108690220756587 0.00124869650648384 -9.42340193133494e-5] [0.000956427111046133 -9.42340193133496e-5 0.0107590093856462] step: 23 A: [1.0 0.0 0.0] mu: [1.47902047045218 0.56311133262466 1.05814765324119] Sig: [ 0.0125137455658915 0.00119036740875044 -0.00841949467950952] [ 0.00119036740875044 0.0129577007608373 0.00518292179966785] [-0.00841949467950952 0.00518292179966785 0.0183744448803139] O: [2.0 1.45111653833545 0.265576764059834] mu: [1.54422450164509 0.612579705593656 1.01142289222818] Sig: [ 0.0048750968383155 -0.00110047790359656 -0.000529926883838482] [ -0.00110047790359656 0.00179781159437363 0.000329474881871848] [-0.000529926883838484 0.000329474881871848 0.00524887032597525] step: 24 A: [0.0 0.0 1.5707963267949] mu: [1.54422450164509 0.612579705593656 2.58221921902308] Sig: [ 0.0049750968383155 -0.00110047790359656 -0.000529926883838482] [ -0.00110047790359656 0.00189781159437363 0.000329474881871848] [-0.000529926883838484 0.000329474881871848 0.0649538846041703] O: [1.0 3.78177672728935 0.551264586737432] mu: [1.5328266026206 0.617818652985391 2.27139334019044] Sig: [ 0.00224557412806482 -0.000171085660116361 0.000118587751562823] [-0.000171085660116361 0.00158032236869229 0.000347537007491626] [ 0.000118587751562823 0.000347537007491626 0.00964785458065873] step: 25 A: [1.0 0.0 0.0] mu: [0.888152409186386 1.38227609739937 2.27139334019044] Sig: [ 0.0127896810931845 -0.00167241176221776 -0.00725678650524523] [-0.00167241176221776 0.0122546631252479 -0.0058721858626651] [-0.00725678650524523 -0.0058721858626651 0.0172632900753264] O: [1.0 3.20064348175051 0.666554502934465] mu: [1.07607889362149 1.30077498162643 2.21222073629435] Sig: [ 0.00247158645854506 0.000775010717444369 -0.00132880778863871] [0.000775010717444369 0.00841279284049147 -0.00296855679159475] [-0.00132880778863871 -0.00296855679159475 0.00816241567801929] step: 26 A: [0.0 0.0 1.5707963267949] mu: [1.07607889362149 1.30077498162643 -2.50016824409033] Sig: [ 0.00257158645854506 0.000775010717444369 -0.00132880778863871] [0.000775010717444369 0.00851279284049147 -0.00296855679159475] [-0.00132880778863871 -0.00296855679159475 0.0678674299562143] O: [3.0 4.59798059311442 0.432195624557356] mu: [1.09431912293405 1.35713906878071 -2.71586078816139] Sig: [ 0.00210010189764828 -0.000601841883294915 -0.00047012893488529] [-0.000601841883294915 0.00447569999350226 0.000501385726557077] [ -0.00047012893488529 0.000501385726557076 0.00961998683232956] step: 27 A: [1.0 0.0 0.0] mu: [0.183582397267108 0.944151639769289 -2.71586078816139] Sig: [ 0.0134058554642232 0.000928565067156884 0.0035028046941222] [0.000928565067156884 0.0136883577892111 -0.00825988958207782] [ 0.0035028046941222 -0.00825988958207782 0.0172354223269973] O: [3.0 3.91324060574617 0.690209291192057] mu: [0.27633423126836 1.12317068083445 -2.83271241212348] Sig: [ 0.00746563888929668 -0.00303140963639869 0.001858176368542] [-0.00303140963639869 0.00502304633332693 -0.00202769719572044] [ 0.001858176368542 -0.00202769719572044 0.00786657133434707] step: 28 A: [0.0 0.0 1.5707963267949] mu: [0.27633423126836 1.12317068083445 -1.26191608532858] Sig: [ 0.00756563888929668 -0.00303140963639869 0.001858176368542] [-0.00303140963639869 0.00512304633332693 -0.00202769719572044] [ 0.001858176368542 -0.00202769719572044 0.0675715856125421] O: [4.0 3.56766555160478 0.0283580034084693] mu: [0.279294879117699 1.1225840323177 -1.11973335258586] Sig: [ 0.00420252001565294 0.000120237289094659 -0.000830432682933338] [ 0.000120237289094659 0.00215599447589149 -0.00037596475996011] [-0.000830432682933339 -0.00037596475996011 0.00996340616050686] step: 29 A: [1.0 0.0 0.0] mu: [0.715217319358246 0.222599795736459 -1.11973335258586] Sig: [ 0.0131581841434204 -0.00137913257592575 0.0081364758041793] [-0.00137913257592575 0.0135412009090546 0.00396730756663573] [ 0.0081364758041793 0.00396730756663574 0.0175788416551746] O: [4.0 2.46984461916474 0.111901144142095] mu: [0.744528913085114 0.144031505780437 -1.14210853795265] Sig: [ 0.00561830743649269 0.00195584387164183 0.000741538865326475] [ 0.00195584387164183 0.00329773184804585 0.000405176188713961] [0.000741538865326477 0.000405176188713961 0.00500125096396392] step: 30 A: [0.0 0.0 1.5707963267949] mu: [0.744528913085114 0.144031505780437 0.428687788842247] Sig: [ 0.00571830743649269 0.00195584387164183 0.000741538865326475] [ 0.00195584387164183 0.00339773184804585 0.000405176188713961] [0.000741538865326477 0.000405176188713961 0.064706265242159] O: [2.0 2.3482923463627 0.735683511210234] mu: [0.683050309510989 0.0914290593134453 0.275557166456788] Sig: [ 0.00286812531863928 -0.000341960562718625 0.00094417020326151] [-0.000341960562718624 0.00152702575225903 -0.000376169367907389] [ 0.00094417020326151 -0.000376169367907389 0.0157254237925643]