Sbar    = [3.049e-03,2.718e-01,0.3,log(.17)]';
P       = zeros(4);
Q       = zeros(4);
P(2,2)  = 9.422e-01;
Q(1,1)  = 5.380e-03;
Q(2,2)  = 7.989e-03;
P0      = (eye(4)-P)*Sbar;
