“…Standard Kalman filter equations (Kalman and Bucy, 1961;Kalman, 1960) KF.KalmanFilter Perturbed-observation (stochastic) EnKF (Burgers et al, 1998;EnKF.EnKF Houtekamer and Mitchell, 1998) Deterministic EnKF (Sakov and Oke, 2008) EnKF.DEnKF Ensemble transform Kalman filter (ETKF) (Bishop et al, 2001) EnKF.ETKF Local least-squares EnKF (Anderson, 2003) EnKF.LLSEnKF Hybrid Monte Carlo (HMC) sampling filter hmc_filter.HMCFilter Family of cluster sampling filters multi_chain_mcmc_filter.MultiChainMCMC A vanilla implementation of the particle filter (Gordon et al, 1993) PF.PF the observation time, the assimilation time, the observation vector, and the forecast state or ensemble, are also passed to the constructor upon instantiation and can be updated during runtime. Table 3 summarizes the filters implemented in the initial version of the package, which is DATeS v1.0.…”