Sbar    = [2.198e-03,3.046e-01,0.3,log(.17)]';
P       = zeros(4);
Q       = zeros(4);
P(2,2)  = 9.591e-01;
Q(1,1)  = 5.616e-03;
Q(2,2)  = 8.027e-03;
P0      = (eye(4)-P)*Sbar;
