Initial filter mean and covariance:
[0.0]
[0.0]
[0.0]
[1000000.0        0.0        0.0]
[      0.0  1000000.0        0.0]
[      0.0        0.0  1000000.0]
True State: [0.0  0.0  0.0]
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  2.26167289630494  1.1458366986281]
mu: [1.00925184416242  -0.0332530915839002  -0.0283366239342731]
Sig: [ 444444.468595655  -222222.232677859   222222.207842762]
[-222222.232677859   111111.118332737  -111111.103672155]
[ 222222.207842762  -111111.103672155   111111.130002608]
True State: [0.880119679000463  0.00461616224687663  0.0878335272925901]
A: [0.0  0.0  1.5707963267949]
mu: [1.00925184416242  -0.0332530915839002  1.54245970286062]
Sig: [ 444444.468695655  -222222.232677859   222222.207842762]
[-222222.232677859   111111.118432737  -111111.103672155]
[ 222222.207842762  -111111.103672155   111111.189707622]
O: [2.0  2.32999295365672  -0.698293941700133]
mu: [7.38036483486423  -3.21616149216948  -1.35331517485252]
Sig: [ 35.0533406054063  -17.2987998277647   17.3112215449465]
[-17.2987998273321   8.53837898715196  -8.54335494390868]
[ 17.3112215427098  -8.54335494303678   8.56365610745698]
True State: [0.885135251995908  0.00593647214147935  1.69283559736145]
A: [1.0  0.0  0.0]
mu: [7.59613563086074  -4.19260553234538  -1.35331517485252]
Sig: [ 77.0258351574168  -20.1039195487831   25.6731525131888]
[-20.1039195496845   5.26180575860187  -6.69556804896227]
[ 25.6731525109521  -6.69556804809036   8.57127154295165]
O: [1.0  3.00912741141047  0.839444910730742]
mu: [-0.744184135816713  -1.86342413840781  2.49031725042533]
Sig: [ 0.024177116112334   0.0015114149563641   0.0103376554989219]
[0.0015114149558359   0.0120251025445737  0.00469982168226132]
[0.0103376554919164  0.00469982167249901   0.0175869061271815]
True State: [0.766681163966916  1.004043449809  1.77699625878023]
A: [0.0  1.0  0.0]
mu: [-1.35038537685919  -2.6587354330331  2.49031725042533]
Sig: [ 0.0612152338887455   0.00279758710432541    0.0243247205793841]
[0.00279758711580807    0.0290191237792354  -0.00596138263813366]
[ 0.0243247205723786  -0.00596138264789597    0.0252023416218492]
O: [1.0  2.22989455787818  0.596890688567261]
mu: [-1.93067387396578  -0.599177409031006  1.51476601466525]
Sig: [ 0.0580075136555463  0.00752767739446953   0.0186955520301888]
[0.00752767739582666  0.00541222176247719  0.00174825472767445]
[ 0.0186955520267928  0.00174825472629858   0.0153028100370233]
True State: [-0.186603329441569  0.784782784848139  1.76367310364138]
A: [0.0  0.0  3.14159265358979]
mu: [-1.93067387396578  -0.599177409031006  -1.62682663892455]
Sig: [ 0.0581075136555464  0.00752767739446953   0.0186955520301888]
[0.00752767739582666  0.00551222176247719  0.00174825472767445]
[ 0.0186955520267928  0.00174825472629858    0.176445425104192]
O: [3.0  3.3136546198155  -0.228751125453657]
mu: [0.138276643090946  0.825368667129804  -2.74162030388642]
Sig: [   0.0348041060464443  -0.000110336932939675   -0.0231964843913497]
[-0.000110336932762599    0.00114242189111795  0.000104677458250703]
[  -0.0231964843914059   0.000104677458363444    0.0228560955941561]
True State: [-0.191138737652463  0.78825486244926  -1.85900270238784]
A: [1.0  0.0  0.0]
mu: [-0.78279511809252  0.435975792579707  -2.74162030388642]
Sig: [ 0.0304850897253574   0.0174024164455278  -0.0142964836269494]
[ 0.0174024164457127   0.0222596114313726  -0.0209474267644363]
[-0.0142964836270056  -0.0209474267643236   0.0304715310888238]
O: [3.0  2.23062144288624  -0.531292349571902]
mu: [-0.975519648331078  -0.0146779035658808  -2.06563124725397]
Sig: [  0.0082748732872287  -0.00169318151700671   0.00106697886038764]
[-0.00169318151699452   0.00275521695977011  -0.00186017048527848]
[ 0.00106697886038396  -0.00186017048527131   0.00864946759985906]
True State: [-0.509894838978177  -0.335083100233152  -1.79573662902413]
A: [0.0  0.0  1.5707963267949]
mu: [-0.975519648331078  -0.0146779035658808  -0.494834920459071]
Sig: [  0.0083748732872287  -0.00169318151700671   0.00106697886038764]
[-0.00169318151699452   0.00285521695977011  -0.00186017048527848]
[ 0.00106697886038396  -0.00186017048527131    0.0683544818780539]
O: [4.0  2.97892117334502  -0.218622269380172]
mu: [-0.579156667793252  -0.164752933713169  -0.396631846522315]
Sig: [  0.00313407255927139   0.000294102506948777  -0.000512339009405934]
[ 0.000294102506952613    0.00209505622804621   -0.00063532982922482]
[-0.000512339009406467  -0.000635329829223442    0.00844665014472879]
True State: [-0.521328735454009  -0.333274778754117  -0.345888092206148]
A: [1.0  0.0  0.0]
mu: [0.343210720009746  -0.551066798229413  -0.396631846522315]
Sig: [  0.0143079289800848  -0.0016900403907199  0.00275071905022093]
[-0.00169004039071708  0.00999998759667979  0.00715558480045448]
[  0.0027507190502204  0.00715558480045586   0.0160620856393965]
O: [4.0  2.37511219434134  -0.410001244373471]
mu: [0.23028144775942  -0.450851379554679  -0.334514150536268]
Sig: [ 0.00411347132538461  0.00218743390080041  0.000870336596805789]
[ 0.00218743390080079   0.0040298402550273   0.00135906784309117]
[0.000870336596805753  0.00135906784309139   0.00628270458783649]
True State: [0.116355019647198  -0.57739900280712  -0.323826645536029]
A: [0.0  0.0  1.5707963267949]
mu: [0.23028144775942  -0.450851379554679  1.23628217625863]
Sig: [ 0.00421347132538461  0.00218743390080041  0.000870336596805789]
[ 0.00218743390080079   0.0041298402550273   0.00135906784309117]
[0.000870336596805753  0.00135906784309139    0.0659877188660314]
O: [2.0  3.20508554357227  -0.181322082984689]
mu: [0.147616325352774  -0.542541501630727  1.13637101105468]
Sig: [  0.0022745898112096    7.88939996887094e-5   0.000516186518085104]
[ 7.88939996888349e-5     0.0018124493101392  -0.000178666041496357]
[0.000516186518085056  -0.000178666041496354     0.0113588498594879]
True State: [0.10422018534313  -0.584401392061819  1.08776938667681]
A: [1.0  0.0  0.0]
mu: [0.568505493221214  0.3645705688275  1.13637101105468]
Sig: [  0.0129105398957512  0.000703008485389696  -0.00978756329597908]
[0.000703008485389804    0.0136484738396964   0.00460215082380604]
[-0.00978756329597912   0.00460215082380604    0.0189742853541556]
O: [2.0  2.18909396790027  -0.0447127367387445]
mu: [0.628311306773344  0.297029410646951  1.01138983397597]
Sig: [ 0.00436028091460882  -0.00234371185535587  -0.00156299460127378]
[-0.00234371185535586   0.00409400781690116   0.00110355681842581]
[-0.00156299460127379   0.00110355681842581   0.00618211238866523]
True State: [0.620845339741208  0.368523608406999  1.1461392404543]
A: [0.0  0.0  1.5707963267949]
mu: [0.628311306773344  0.297029410646951  2.58218616077086]
Sig: [ 0.00446028091460882  -0.00234371185535587  -0.00156299460127378]
[-0.00234371185535586   0.00419400781690116   0.00110355681842581]
[-0.00156299460127379   0.00110355681842581    0.0658871266668601]
O: [3.0  3.71239492225924  0.567734473751543]
mu: [0.701611843032276  0.338877542390001  1.68027209235949]
Sig: [ 0.00387242450375013  -0.00266586754470276  -0.00139931267375089]
[-0.00266586754470276    0.0040174232024855   0.00121301354859219]
[ -0.0013993126737509   0.00121301354859219    0.0554639392727911]
True State: [0.627981449766241  0.373432751469361  -3.13439204407765]
A: [1.0  0.0  0.0]
mu: [0.592354623269794  1.33289105332925  1.68027209235949]
Sig: [ 0.0616994000529119  0.00100158644129942  -0.0565312176808193]
[0.00100158644129943   0.0163711973578818  -0.0048468222534281]
[-0.0565312176808193  -0.0048468222534281   0.0630793747674588]
O: [3.0  2.91063555304127  1.22164443236728]
mu: [-0.402716592252269  0.762056282175358  2.46271444750141]
Sig: [ 0.0227069742781267  -0.0122175363648074  -0.0172730882651687]
[-0.0122175363648074   0.0115827076034299  0.00817391513295286]
[-0.0172730882651687  0.00817391513295286   0.0232826608174465]
True State: [-0.354603249399899  0.368661120159653  -3.08817393623909]
A: [0.0  0.0  1.5707963267949]
mu: [-0.402716592252269  0.762056282175358  -2.24967453288328]
Sig: [ 0.0228069742781267  -0.0122175363648074  -0.0172730882651687]
[-0.0122175363648074   0.0116827076034299  0.00817391513295286]
[-0.0172730882651687  0.00817391513295286   0.0829876750956414]
O: [4.0  3.34501837207481  0.563360647027803]
mu: [-0.191879395341509  0.595179823219515  -1.84202019683964]
Sig: [  0.0046541822797085   0.000351528463707838   -0.00233850857381229]
[ 0.00035152846370784    0.00292835172541493  -0.000734760708158819]
[-0.00233850857381229  -0.000734760708158821     0.0308670406463969]
True State: [-0.380744073469034  0.370164581845735  -1.24681818913646]
A: [1.0  0.0  0.0]
mu: [-0.459790162303072  -0.368263906816686  -1.84202019683964]
Sig: [ 0.0297609759923011   -0.0045997634695714    0.0274001482017314]
[-0.0045997634695714    0.0167762564227807  -0.00900437324156878]
[ 0.0274001482017314  -0.00900437324156878    0.0384824761410647]
O: [4.0  2.57194105613712  0.714133001515616]
mu: [-0.121470155297725  -0.498611865948021  -1.46988418838287]
Sig: [0.00625158040666317  0.00551586379462869  0.00247273365878037]
[0.00551586379462869   0.0109250603069688  0.00040141244247131]
[0.00247273365878036  0.00040141244247131   0.0108888821012195]
True State: [-0.0960750288711479  -0.461031834129736  -1.32770555846742]
A: [0.0  0.0  1.5707963267949]
mu: [-0.121470155297725  -0.498611865948021  0.100912138412024]
Sig: [0.00635158040666317  0.00551586379462869  0.00247273365878037]
[0.00551586379462869   0.0110250603069688  0.00040141244247131]
[0.00247273365878036  0.00040141244247131   0.0705938963794144]
O: [2.0  3.29410943918776  0.471239780967913]
mu: [-0.126022111093903  -0.510420122561562  0.314215454583106]
Sig: [ 0.00246698905171414  -6.02431546455718e-5   0.000862991463495028]
[-6.02431546455712e-5   0.00299076058980775  -0.000680382151263611]
[0.000862991463495028  -0.00068038215126361     0.0197871610597778]
True State: [-0.0831367605830556  -0.452050246256062  0.303895499495915]
A: [1.0  0.0  0.0]
mu: [0.825017040274752  -0.20134968954671  0.314215454583106]
Sig: [  0.0147774036813288  -0.00131816166814538  -0.0052526349733851]
[-0.00131816166814538    0.0208399166018615   0.0181379827110223]
[ -0.0052526349733851    0.0181379827110223   0.0274025965544455]
O: [2.0  2.41647898869788  0.498943733794457]
mu: [0.79190139894473  -0.0975588531883618  0.450754260956308]
Sig: [ 0.00931101244459691  -0.00366323844095897  -0.0030024042927786]
[-0.00366323844095897   0.00401058530369203  0.00262169101910806]
[ -0.0030024042927786   0.00262169101910806  0.00930892033431322]
True State: [1.03764788489071  -0.0992193719538114  0.31696117531497]
A: [0.0  0.0  1.5707963267949]
mu: [0.79190139894473  -0.0975588531883618  2.0215505877512]
Sig: [ 0.00941101244459691  -0.00366323844095897  -0.0030024042927786]
[-0.00366323844095897   0.00411058530369203  0.00262169101910806]
[ -0.0030024042927786   0.00262169101910806   0.0690139346125081]
O: [2.0  2.34812508534451  -0.107848614489727]
mu: [0.874617154448745  -0.107631241952368  1.46327805095286]
Sig: [  0.0084210435634321   -0.00391814589979337    0.00151741990720177]
[-0.00391814589979337    0.00327624371399121  -0.000640457800345714]
[ 0.00151741990720177  -0.000640457800345714     0.0228948590009697]
True State: [1.04131497018187  -0.0942230265205246  1.48875374072135]
A: [1.0  0.0  0.0]
mu: [0.98192839489812  0.886594234322112  1.46327805095286]
Sig: [  0.0282731255513622  -0.00428093982811773  -0.0212452321872744]
[-0.00428093982811773    0.0153642490251175   0.0018164179189619]
[ -0.0212452321872744    0.0018164179189619   0.0305102944956374]
O: [2.0  1.43049616791971  -0.696059845783215]
mu: [1.00689407635047  0.956826177495453  1.46447485348017]
Sig: [  0.00762814737765311  -0.00573251180954555  -0.00079176259297031]
[ -0.00573251180954555   0.00674566586938729   2.94653609675726e-5]
[-0.000791762592970307   2.94653609675738e-5   0.00902528280787285]
True State: [1.12450898125445  0.80080298478357  1.38208784921137]
A: [0.0  0.0  1.5707963267949]
mu: [1.00689407635047  0.956826177495453  3.03527118027506]
Sig: [  0.00772814737765311  -0.00573251180954555  -0.00079176259297031]
[ -0.00573251180954555   0.00684566586938729   2.94653609675726e-5]
[-0.000791762592970307   2.94653609675738e-5    0.0687302970860677]
O: [1.0  3.35421059838415  -0.150997197910813]
mu: [1.11638755604067  0.866819898634365  2.95563390154677]
Sig: [  0.00188017477154588  -0.00085720399351155  -9.79723336967015e-5]
[-0.000857203993511551   0.00275990687853509  0.000565825960195507]
[ -9.79723336967012e-5  0.000565825960195507    0.0104083261445002]
True State: [1.12967275995309  0.819032094246081  2.86238339396387]
A: [1.0  0.0  0.0]
mu: [0.133628116258403  1.05170873961416  2.95563390154677]
Sig: [    0.01396199316032  -0.00115474479886884  -0.00202235569109301]
[-0.00115474479886884    0.0122105010093997  -0.00966305481064462]
[-0.00202235569109301  -0.00966305481064462    0.0180237616391679]
O: [1.0  2.21648042624485  -0.395776731228467]
mu: [0.0157251589392114  1.03432221712149  3.03785402046682]
Sig: [  0.00279288102709968   0.00166835787907861  -0.000575820209846578]
[  0.00166835787907861   0.00556330478866286   -0.00160999529682327]
[-0.000575820209846577  -0.00160999529682327    0.00589191253133974]
True State: [0.0827388771047917  1.13120353047159  3.04317705524032]
A: [0.0  0.0  1.5707963267949]
mu: [0.0157251589392114  1.03432221712149  -1.67453495991787]
Sig: [  0.00289288102709968   0.00166835787907861  -0.000575820209846578]
[  0.00166835787907861   0.00566330478866286   -0.00160999529682327]
[-0.000575820209846577  -0.00160999529682327     0.0655969268095346]
O: [3.0  3.81589807833184  -0.457750987595478]
mu: [0.0668602888345289  1.13063626964203  -1.69788411677505]
Sig: [  0.00200812672535532   7.43098043830575e-6  -0.000376406125812687]
[  7.43098043830548e-6   0.00250797566636393   0.000145799351844077]
[-0.000376406125812687  0.000145799351844076     0.0144069483377667]
True State: [0.0869101587088297  1.12845845287476  -1.77460863279462]
A: [1.0  0.0  0.0]
mu: [-0.0598856716735789  0.138701059310789  -1.69788411677505]
Sig: [  0.0157296675697142  -0.00010284819855107    0.0139143532038412]
[-0.00010284819855107     0.014609683222834  -0.00168022315321685]
[  0.0139143532038412  -0.00168022315321685    0.0220223838324344]
O: [3.0  2.82358174054921  -0.31439902007248]
mu: [-0.167163308300048  0.153960434737348  -1.84514117843792]
Sig: [0.00613847633889159   -0.0037500599318183   0.00332661656596257]
[-0.0037500599318183   0.00612024868154105  -0.00205296186218397]
[0.00332661656596257  -0.00205296186218397   0.00845529304773093]
True State: [-0.130636362783041  0.118136428165658  -1.88778069570965]
A: [0.0  0.0  1.5707963267949]
mu: [-0.167163308300048  0.153960434737348  -0.274344851643019]
Sig: [0.00623847633889159   -0.0037500599318183   0.00332661656596257]
[-0.0037500599318183   0.00622024868154105  -0.00205296186218397]
[0.00332661656596257  -0.00205296186218397    0.0681603073259258]
O: [4.0  2.94320772660643  -0.55091185629041]
mu: [-0.106193743247175  0.0934778447142195  -0.233700952931615]
Sig: [  0.00237580576658326    4.88009034123559e-5  -0.000156450338668174]
[  4.88009034123561e-5    0.00241812927887455  -0.000446366196833576]
[-0.000156450338668174  -0.000446366196833576     0.0149013005821213]
True State: [-0.129453338961342  0.120549122030618  -0.352830720951087]
A: [1.0  0.0  0.0]
mu: [0.866622251427937  -0.138101602785494  -0.233700952931615]
Sig: [  0.0145589383670371  0.000446851427569489  0.00329438461716665]
[0.000446851427569489    0.0163953715430382   0.0140498573509156]
[ 0.00329438461716665    0.0140498573509156   0.0225167360767891]
O: [4.0  2.14509862921457  -0.423255171579665]
mu: [0.797679098821552  -0.225192008636066  -0.382600519415012]
Sig: [0.00840461054196443  0.00370034888650783  0.00245896245824258]
[0.00370034888650783    0.003977374721586  0.00240761164106303]
[0.00245896245824258  0.00240761164106303  0.00875404353362789]
True State: [0.858786367783121  -0.230504898970654  -0.488819654563761]
A: [0.0  0.0  1.5707963267949]
mu: [0.797679098821552  -0.225192008636066  1.18819580737988]
Sig: [0.00850461054196443  0.00370034888650783  0.00245896245824258]
[0.00370034888650783    0.004077374721586  0.00240761164106303]
[0.00245896245824258  0.00240761164106303   0.0684590578118228]
O: [2.0  2.46846189511551  0.209127137819349]
mu: [0.843391394314763  -0.199145109279957  0.918733390289385]
Sig: [0.00351471796581286     6.7508525930752e-5    0.00108508732100544]
[6.75085259307524e-5    0.00139355135791803  -0.000112187245403472]
[0.00108508732100544  -0.000112187245403471    0.00882977930117882]
True State: [0.851278336739219  -0.215838230387792  1.07840541395454]
A: [1.0  0.0  0.0]
mu: [1.45021878146788  0.595688535076474  0.918733390289385]
Sig: [   0.011886969862034  0.00234422190674026  -0.00593311833981351]
[ 0.00234422190674025   0.0121899943572761   0.00524596465706951]
[-0.00593311833981351  0.00524596465706951    0.0164452147958465]
O: [2.0  1.50014712216346  0.152256417203975]
mu: [1.41520864335219  0.617567251461008  0.980511295447228]
Sig: [  0.00502969054708987  -0.00118005724516938  -0.000655467928906536]
[ -0.00118005724516938   0.00181107756170488   0.000473639423395356]
[-0.000655467928906535  0.000473639423395355    0.00584455585221186]
True State: [1.35821434296406  0.688391798944108  0.974919749532904]
A: [0.0  0.0  1.5707963267949]
mu: [1.41520864335219  0.617567251461008  2.55130762224212]
Sig: [  0.00512969054708987  -0.00118005724516938  -0.000655467928906536]
[ -0.00118005724516938   0.00191107756170488   0.000473639423395356]
[-0.000655467928906535  0.000473639423395355     0.0655495701304067]
O: [1.0  3.49304398652411  0.696707609776556]
mu: [1.31116956624756  0.655094384633664  2.13581430827499]
Sig: [  0.00222954069078807  -0.000170639639947155  0.000123497439875396]
[-0.000170639639947155    0.00155925528546772  0.000366785903787245]
[ 0.000123497439875396   0.000366785903787245   0.00997096418649654]
True State: [1.3435670643464  0.709520085454278  2.10704682150893]
A: [1.0  0.0  0.0]
mu: [0.775738563369827  1.49967335735164  2.13581430827499]
Sig: [  0.0126735950848127  -0.00146410158718826  -0.00829776924976355]
[-0.00146410158718826    0.0126847813075206  -0.00497197745024654]
[-0.00829776924976355  -0.00497197745024654    0.0175863996811643]
O: [1.0  2.97193571847123  1.02338153618913]
mu: [0.904584582490847  1.49359721173757  2.02250480001666]
Sig: [ 0.00234791670207371  0.000773736119680955   -0.0014338865520664]
[0.000773736119680955   0.00945323425329656  -0.00298231504680893]
[ -0.0014338865520664  -0.00298231504680893   0.00862138496731042]
True State: [0.898002869661055  1.48453363097853  2.19947476229208]
A: [0.0  0.0  1.5707963267949]
mu: [0.904584582490847  1.49359721173757  -2.68988418036803]
Sig: [ 0.00244791670207371  0.000773736119680955   -0.0014338865520664]
[0.000773736119680955   0.00955323425329656  -0.00298231504680893]
[ -0.0014338865520664  -0.00298231504680893    0.0683263992455053]
O: [3.0  4.52200606316402  0.216977915019827]
mu: [0.899813248816142  1.47604008154952  -2.52326431358849]
Sig: [   0.0020685086798608  -0.000604040586054805  -0.000522683023084013]
[-0.000604040586054805    0.00454988019302927   0.000404685500432666]
[-0.000522683023084013   0.000404685500432666     0.0136037178603038]
True State: [0.900269111350242  1.49833511490547  -2.59207946706705]
A: [1.0  0.0  0.0]
mu: [0.0849646365401737  0.896366260274199  -2.52326431358849]
Sig: [   0.0141014214136471  -0.000701057831689399   0.0073630360925496]
[-0.000701057831689399     0.0170551991520616  -0.0106802851198297]
[   0.0073630360925496    -0.0106802851198297   0.0212191533549716]
O: [3.0  3.51502604915647  0.363130669329613]
mu: [0.0490446127196447  0.870110246305657  -2.53763298800221]
Sig: [ 0.00726751667887741  -0.00306528212206416   0.00213004452318564]
[-0.00306528212206415   0.00512749500518176  -0.00193726776432622]
[ 0.00213004452318563  -0.00193726776432622   0.00718717326536399]
True State: [-0.017820006911295  0.947790213563406  -2.58606354458019]
A: [0.0  0.0  1.5707963267949]
mu: [0.0490446127196447  0.870110246305657  -0.966836661207315]
Sig: [ 0.00736751667887741  -0.00306528212206416   0.00213004452318564]
[-0.00306528212206415   0.00522749500518176  -0.00193726776432622]
[ 0.00213004452318563  -0.00193726776432622    0.0668921875435589]
O: [4.0  3.61010310353849  0.0732432522002209]
mu: [-0.02752900058286  0.938757705885762  -1.03558865777247]
Sig: [  0.00371670489740148   0.000214999878773279  -0.000760342324153009]
[ 0.000214999878773278    0.00225937322868968  -0.000432472844256861]
[-0.000760342324153009  -0.000432472844256861    0.00714809892520424]
aoList:  [[matrix(
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