= [gb_dyn', ab_dyn'];
        A(gdx,:)  = reshape(kf.A,  1, n^2);
        Pi(gdx,:) = reshape(kf.Pi, 1, n^2);
        Pp(gdx,:) = reshape(kf.Pp, 1, n^2);

        if(zupt_flag == false)
            v(gdx,:)  = kf.v';
            z(gdx,:)  = kf.z';
            K(gdx,:)  = reshape(kf.K, 1, n*r);
            S(gdx,:)  = reshape(kf.S, 1, r^2);
        else
            zupt_flag = false;
            z(gdx,:)  = [ kf.z' 0 0 0 ]';
            v(gdx,:)  = [ kf.v' 0 0 0 ]';
            K(gdx,1:n*3) = reshape(kf.K, 1