 Solution

Use the six-dimensional vector space of real symmetric $3\times 3$ matrices as the target, rather than all nine matrix entries independently. DefineIts derivative isThe given $J$ is symmetric with $J^2=I$. Every $A\in G$ is invertible, since taking determinants of $A^{T}JA=J$ gives $(\det A{)}^2=1$. For any symmetric target $S$, chooseThen $A^{T}JH=\frac{1}{2}JJS=S/2$, and its transpose is also $S/2$. Thus $D{F}_A(H)=S$ and the derivative is surjective at every point of $G$.

The regular level set theorem now givesIt also proves smooth embeddedness in the entire ambient vector space of matrices. The target symmetry is what gives the correct codimension.