Index: /trunk/BNC/src/PPP/pppFilter.cpp
===================================================================
--- /trunk/BNC/src/PPP/pppFilter.cpp	(revision 5841)
+++ /trunk/BNC/src/PPP/pppFilter.cpp	(revision 5842)
@@ -246,5 +246,4 @@
     // Kalman update step
     // ------------------
-    //// beg test
     DiagonalMatrix PP(iObs+1); PP = 0.0;
     for (int ii = 1; ii <= iObs+1; ii++) {
@@ -252,7 +251,7 @@
     }
     ColumnVector dx;
-    kalman(AA, ll, PP, _QFlt, dx);
+    ColumnVector l1 = ll - AA * _xFlt;
+    kalman(AA, l1, PP, _QFlt, dx);
     _xFlt += dx;
-    //// end test
 
     // Check Residuals