Problems performing the iteration in the unscented kalman filter

I'm trying to estimate my parameters using the kalman unscented filter, and in my code I'm facing the following situation, in which I can not determine a loop, I understand what should be done, but I can not program. What I would necessarily like to do is to create a loop from line 50 to line 84, to iterate at k, passing through all points measured in the data matrix (which are 38 measurements in all). So for each k I must calculate 2n + 1 sigma points and estimate my state, variances, gains etc. With this I must calculate the estimated state for a given k and then start all over again for the next k.

The codes and the data for the estimations are attached.

Any help is welcome for a few days now when I struggle to solve this!