R=6371000;         % Radius of the earth [meters]
g=9.8;             % Gravity [m/s^2]
Pt=100*eye(7,7);
Delta_t=1e6;
T=[0:Delta_t:1e9]';
PA=[];

figure;

ans = propagate_P(T,Pt,R,g);
Pt = ans(1:7,1:7);
PA = [PA; ans(:,8:max(size(ans)))'];

titles = {'North Postion Standard Deviation'; 
  'East Position Standard Deviation';
  'North Velocity Standard Deviation';
  'East Velocity Standard Deviation';
  'Platform Tilt X Standard Deviation';
  'Platform Tilt Y Standard Deviation';
  'Platform Azimuth Standard Deviation'};


for i=1:1:7
  subplot(4,2,i);
  plot(T,sqrt(PA(:,i)));
  title(titles(i));
  ylabel('\sigma');
  xlabel('Time [sec]');
end;