Make error covariance matrix full size
Make error covariance matrix full size

This is the start of a move to allowing the user to pass in observation error
covariance matrices other than block diagonal

briadam/queso,roystgnr/queso,briadam/queso,briadam/queso,briadam/queso,roystgnr/queso,roystgnr/queso,roystgnr/queso,briadam/queso,roystgnr/queso,roystgnr/queso