t,true_x,true_y,true_xvel,true_yvel,obs_x,obs_y,est_x,est_y,est_xvel,est_yvel
0,0,0,10,-5,0.10728465738960727,-0.002180488450037574,0.10662267658904925,-0.0065260049026437325,10.000397188480335,-4.997392690128437
0.01,0.10345099293552258,-0.04587512872943372,10.712202096603207,-5.885228792250717,-0.008651262604167445,0.029720779610909326,0.10320772718305443,-0.015079737215473142,9.815360401993793,-4.923283817142378
0.02,0.21367778787204553,-0.10670861279409279,11.542091425561882,-6.105605195158502,0.2589627079031946,0.004981352915141887,0.22111128316318207,-0.040553564170533234,9.945757795753586,-4.766416947432091
0.03,0.3352450552191057,-0.16984040890138652,11.765810316842007,-6.080433116591483,0.321719512346369,-0.06733342700858821,0.3209100819425256,-0.08202457961655235,9.950429226686527,-4.681630529220549
0.04,0.46077270058772535,-0.2328569463606203,12.23671423863626,-6.654483046929762,0.42390233920718673,-0.28776361973926656,0.4214439606368174,-0.17575210417110482,9.970914846205408,-5.615020250933709
0.05,0.5804515361614196,-0.30061739050733216,11.983458997199465,-7.677554365291251,0.48881174078099204,-0.25028599605205776,0.5109813113835153,-0.2376842256058277,9.7346541803255,-5.749317063906406
0.060000000000000005,0.7025331672340346,-0.3874893043302927,12.763341466292141,-9.744118201963529,0.7908163726111284,-0.3372780642136685,0.6698832418653994,-0.30937841551241974,11.223395476032643,-6.092774302639458
0.07,0.839678786050894,-0.48173689277048265,14.639271410334008,-8.810757989085557,0.7151568329334006,-0.5546098858335219,0.7583901527408689,-0.4356131907072409,10.654490467882084,-7.6586456285562825
0.08,0.9753368768604534,-0.5742889284386165,13.908530376641833,-9.403117826044571,1.0718016043673093,-0.5135140795399394,0.94015940158398,-0.5126776233875637,12.415743426108458,-7.669836651204415
0.09,1.1198799347507038,-0.6737609512463604,15.03447077413394,-9.547688926018862,1.133990390035276,-0.6379258500868588,1.0898844969533241,-0.6071920233508683,13.000491071542829,-8.077299952892151
0.09999999999999999,1.2680349147516123,-0.7596683095279083,14.735518630751837,-8.929881470065645,1.2220048207080219,-0.6574039253010798,1.2206654958262382,-0.6767529780118061,13.017934233314216,-7.825300859060027
0.10999999999999999,1.4128483266898746,-0.8531610828039047,13.303139431372266,-9.264793465275707,1.4935454087950226,-0.8897311175479053,1.4029817745696391,-0.804229024419852,14.177420752677472,-8.919984450407476
0.11999999999999998,1.5464342758923446,-0.9402429347139377,14.08151202391731,-7.70084634209651,1.5047519742771402,-1.019926412141367,1.5302100471628775,-0.9394248861531452,13.855572587968421,-9.937707532271336
0.12999999999999998,1.6799708892587795,-1.02268332858694,13.49961627412242,-8.873760976454465,1.636825624990034,-0.9129017989623006,1.6571975436678772,-0.9932028629409471,13.600001813979528,-8.930310762350254
0.13999999999999999,1.8123994770124063,-1.1107236885165177,12.957854745784127,-8.796253323181801,1.9609195265405843,-1.1188152527330573,1.8537838092756673,-1.0956219816865207,14.938939873322232,-9.220170709318921
0.15,1.939660156222172,-1.2007363158939683,13.362824703107545,-8.68509213962911,1.9112545179393483,-1.2137532468259227,1.9700182198558742,-1.1971764568531529,14.205485191289013,-9.427072654262421
0.16,2.0617970026739236,-1.289814091609721,10.955118401416058,-9.496407388291681,2.212558001038379,-1.3510125119116543,2.1482947038907074,-1.312918596396783,15.007606017566038,-9.90255281704804
0.17,2.174915560694751,-1.3822090381852337,11.277242862092487,-8.418184456255247,2.1241482299897845,-1.4563571198067913,2.2355784772615306,-1.4279512016639404,13.616004678063208,-10.257301322999009
0.18000000000000002,2.2862588870201908,-1.459424698726123,11.379656342789485,-7.00645410514929,2.322156594728799,-1.316377164123767,2.3538670567001265,-1.4533363749443302,13.219750261060582,-8.545856933260588
0.19000000000000003,2.402128312453206,-1.5300468752996679,11.965675667077774,-6.874942135767684,2.2814691822841926,-1.4613156126604745,2.4123086295052363,-1.5108639116840579,11.58402645441292,-7.926415824228318
0.20000000000000004,2.5185255486912523,-1.5945972715497068,10.808906214241818,-6.32193409715409,2.392053656744962,-1.390756480265923,2.479080433390091,-1.5182456352607694,10.495733469412215,-6.332130037793586
0.21000000000000005,2.6201756926202595,-1.6696481507285503,10.261187859581153,-8.451780230225555,2.6368411315196187,-1.663970948847425,2.60307751196807,-1.6112800297376304,10.918011999571128,-6.991130588384302
0.22000000000000006,2.726318252148703,-1.757075733422546,11.022697203004142,-9.036602694270648,2.806069122051407,-1.7036669506874638,2.7460856982646162,-1.6892959568772938,11.668245288678277,-7.170873545242935
0.23000000000000007,2.8381687567520353,-1.8470090640974162,10.605422570267313,-9.19050876802553,2.8749670864783905,-1.8449891971909436,2.8671671235356295,-1.7912897547294195,11.765800626094071,-7.84250073973314
0.24000000000000007,2.9410520539044347,-1.9422774945322128,10.341416412081779,-10.308740268631954,2.857650607864886,-1.9208258815398958,2.9389655852446546,-1.8881455973461239,10.74881484357635,-8.251224759153132
0.25000000000000006,3.047812952599275,-2.034369514286797,10.99665785788671,-7.884020058268938,3.014414426802499,-2.018426276393146,3.0349003393873626,-1.9878831714863525,10.492610931625448,-8.633207398580632
0.26000000000000006,3.151405101860203,-2.1176729864084867,9.69510811809821,-7.965493006302935,3.162100869758941,-2.140086787522489,3.1478585476610594,-2.0979683541573846,10.670726076010638,-9.159942490551314
0.2700000000000001,3.250262023404363,-2.198629192600484,9.956274490946434,-8.512441891256234,3.2107848415436946,-1.855969062467499,3.238778621827178,-2.0692738348668755,10.320639724671876,-6.492382456278222
0.2800000000000001,3.351950540365139,-2.2808500417392303,10.254471455295597,-8.417058513548534,3.395100952516237,-2.519281269284887,3.3611382488356685,-2.273056084370192,10.745369466142783,-9.571617846842221
0.2900000000000001,3.450201964032309,-2.3757894560565185,9.419165977803571,-10.518964452732094,3.5820585606698154,-2.445909239160322,3.5095070864035303,-2.3965872315775583,11.652679124540573,-10.188425903521592
0.3000000000000001,3.540769024188329,-2.4818549303042077,8.504429219008625,-10.322347086305317,3.6383688017345897,-2.3877695522151416,3.6304817457559757,-2.458553318618591,11.751312569919094,-9.303222758498706
0.3100000000000001,3.622923784657021,-2.586470467821009,7.768026786179561,-10.531804255063092,3.467821384970811,-2.7081124791055697,3.646966740448197,-2.608027801613868,9.510965711363362,-10.554856618670993
0.3200000000000001,3.706995634496305,-2.691778052233705,8.265075871568678,-9.784947754575908,3.782356919850452,-2.870856683116798,3.7566012067891403,-2.7702902941695164,9.83306055735715,-11.812516054580119
0.3300000000000001,3.790296149787746,-2.7914746316028833,7.945429580941727,-9.285635285710912,3.8083539263215593,-2.6024983287569294,3.8381362234121674,-2.7853161745703283,9.460609879430617,-9.52623738362623
0.34000000000000014,3.8756192815749753,-2.887575935852085,8.434867803557566,-9.835206016816043,3.925505513572105,-2.881628345228435,3.930132789993582,-2.880957096294479,9.402742174868607,-9.534631875646939
0.35000000000000014,3.9591453572714204,-2.9839746773483316,8.557750763568054,-9.939290358037224,3.795956570286712,-2.785633442730303,3.9418718870791873,-2.9075494175873384,7.577956740858599,-8.009977028009171
0.36000000000000015,4.043900637810652,-3.0856483245506476,8.34094237749034,-11.207138842474373,4.020964410640437,-3.320634276787601,4.018846078885745,-3.1077208377940355,7.604448142117185,-10.672626697132356
0.37000000000000016,4.13686199852369,-3.1998569768596212,9.226583049415654,-12.616221207273666,4.039912320803941,-3.1871503308045903,4.075065864265654,-3.204604115037578,7.164825500463242,-10.454353431459415
0.38000000000000017,4.227026635788746,-3.322845658482053,8.777435071147593,-12.421655187211808,4.108354219766935,-3.5049667542273752,4.1328818584225,-3.379758390586703,6.858088153736464,-12.020182160040534
0.3900000000000002,4.313649421837562,-3.44379040242259,9.147005397246357,-12.334169837877228,4.308987993882949,-3.391312535486221,4.240235452082704,-3.4607827637473942,7.717892526993059,-11.151402555591384
0.4000000000000002,4.404395329299406,-3.5631239512025155,7.9346987787916365,-11.873726409847796,4.548002492684635,-3.63212652648354,4.400562532227928,-3.5938708944823516,9.56174460426638,-11.629819168796503
0.4100000000000002,4.48614006645861,-3.671952501218662,8.570459255175392,-9.713521721984758,4.389290172695743,-3.6597531919622437,4.457636404719816,-3.691989534658491,8.707021516136155,-11.226678489883058
0.4200000000000002,4.569280757178675,-3.7720301871873323,7.456824599223575,-9.45216469409876,4.534500459103739,-3.9283048050208094,4.541026363352667,-3.848987169720686,8.625409980473403,-12.218607542940207
0.4300000000000002,4.642502772727529,-3.8576403383344826,6.7665505076429415,-7.874081688271213,4.706431493354969,-3.809137970750442,4.655821664925167,-3.912744675760756,9.258325456835975,-10.922924686656392
0.4400000000000002,4.70166052935586,-3.929252457041867,6.02470002737306,-6.91735596265953,4.8556379840194,-3.9007498853418716,4.787072268681912,-3.9782615452886,10.115793338516763,-9.953580772822189
0.45000000000000023,4.769652109961926,-4.004384421893733,7.480583209822974,-7.793559183118511,4.824564720418879,-4.127626782927667,4.865272960105989,-4.095765430060008,9.606704970628892,-10.35203190347208
0.46000000000000024,4.835486926237846,-4.08803070214394,6.124448133343113,-8.953843583979909,4.819862360880944,-4.068057769102821,4.910324348966402,-4.151966033427091,8.475407073166298,-9.302693446305867
0.47000000000000025,4.901503412372086,-4.173048075387407,7.202538210384562,-8.72690879082899,4.968457784167779,-3.999163470259747,4.98547924043077,-4.1563489002359955,8.26254045237155,-7.3369667305510955
0.48000000000000026,4.975833733387042,-4.2610932937549695,7.756073886805046,-8.108578125332292,4.849696078839267,-4.164432134207968,4.989348336590825,-4.206176823886327,6.516079763847128,-6.81491674259025
0.49000000000000027,5.0565055867751445,-4.338710904078255,8.551768944083097,-7.965259912117067,5.017374332683891,-4.373389514468723,5.041118634330241,-4.310047472015587,6.219138704029808,-7.607058516105843