Index: trunk/BNC/src/PPP/filter.cpp
===================================================================
--- trunk/BNC/src/PPP/filter.cpp	(revision 5799)
+++ trunk/BNC/src/PPP/filter.cpp	(revision 5800)
@@ -207,9 +207,11 @@
     // ------------------
     //// beg test
-    DiagonalMatrix PP(iObs+1);
-    for (int ii = 1; ii < iObs+1; ii++) {
-      PP(ii,ii) = Sl(ii,ii) * Sl(ii,ii);
-    }
-    bncModel::kalman(AA, ll, PP, _QFlt, _xFlt);
+    DiagonalMatrix PP(iObs+1); PP = 0.0;
+    for (int ii = 1; ii <= iObs+1; ii++) {
+      PP(ii,ii) = 1.0 / (Sl(ii,ii) * Sl(ii,ii));
+    }
+    ColumnVector dx;
+    bncModel::kalman(AA, ll, PP, _QFlt, dx);
+    _xFlt += dx;
     //// end test