diff --git a/gmtsar/csh/correct_insar_with_gnss.csh b/gmtsar/csh/correct_insar_with_gnss.csh
index 94f1f619..cf3c303e 100755
--- a/gmtsar/csh/correct_insar_with_gnss.csh
+++ b/gmtsar/csh/correct_insar_with_gnss.csh
@@ -98,7 +98,7 @@ errormessage:
 #  now blockmedian and surface the data at this resolution
 #
   gmt blockmedian ins-gps_diff.rad -Rtmp.grd > tmp.rad
-  gmt surface tmp.rad -Rtmp.grd -Gtmp1.grd 
+  gmt surface tmp.rad -Rtmp.grd -T0.1 -Gtmp1.grd 
 #
 # ----------------------
 # FILTER THE CORRECTION GRID
@@ -112,10 +112,13 @@ errormessage:
 #
   gmt grdfilter tmp1.grd -Dp -Fg17 -Gtmp2.grd
 #
-# upsample to the original size
+# upsample to the original size using gmt surface
+# gmt grd2xyz tmp2.grd | gmt surface -R$insar -T0.1 -Gcorrection.grd
 #
-  gmt grdsample tmp2.grd -Gtmp3.grd
-  gmt grd2xyz tmp3.grd | gmt surface -R$insar -T0.5 -Gcorrection.grd
+# upsample to original grid size using grdsample instead
+echo "...using grdsample to upsample the correction grid..."
+set incre = `  gmt grdinfo -Cn $insar | awk '{printf "%d+n/%d+n \n",$9,$10}' `
+gmt grdsample tmp2.grd -I$incre -Gcorrection.grd
 #
 # ----------------------
 # PERFORM THE CORRECTION
diff --git a/gmtsar/csh/dem2topo_ra.csh b/gmtsar/csh/dem2topo_ra.csh
index 22f201a1..acb8b9d9 100755
--- a/gmtsar/csh/dem2topo_ra.csh
+++ b/gmtsar/csh/dem2topo_ra.csh
@@ -138,7 +138,7 @@ endif
 # plotting
 # 
   gmt grd2cpt topo_ra.grd -Cgray $V -Z > topo_ra.cpt 
-  gmt grdimage topo_ra.grd $scale -P -Ctopo_ra.cpt -Bxaf+lRange -Byaf+lAzimuth -BWSen $V -K > topo_ra.ps
+  gmt grdimage topo_ra.grd $scale -P -Ctopo_ra.cpt -Bxaf+lRange -Byaf+l"Reversed Azimuth" -BWSen $V -K > topo_ra.ps
   gmt psscale -Rtopo_ra.grd -J -DJTC+w5i/0.2i+h -Ctopo_ra.cpt -Bxaf -By+lm -O >> topo_ra.ps
   gmt psconvert -Tf -P -A -Z topo_ra.ps
   echo "Topo range/azimuth map: topo_ra.pdf"
diff --git a/gmtsar/csh/extract_one_time_series.csh b/gmtsar/csh/extract_one_time_series.csh
index 5fc0fe3e..2f8954bd 100755
--- a/gmtsar/csh/extract_one_time_series.csh
+++ b/gmtsar/csh/extract_one_time_series.csh
@@ -61,7 +61,7 @@ set ii = 1
 
 while ($ii <= $N)
   #set name = `echo $ii | awk '{printf("disp_%.3d.grd",$1)}'`
-  set name = `awk 'NR=='$ii'{print $1}' scene.tab | awk '{printf("disp_%d.grd",$1)}'`
+  set name = `awk 'NR=='$ii'{print $1}' $5 | awk '{printf("disp_%d.grd",$1)}'`
   echo "Working on date $name"
   gmt grdcut $name -Gtmp_cut.grd -R$RR
   gmt grdinfo tmp_cut.grd -L2 -C | awk '{print $12,$13}' >> $output
diff --git a/gmtsar/csh/preproc_batch_tops.csh b/gmtsar/csh/preproc_batch_tops.csh
index 64abaa52..b54d21ca 100755
--- a/gmtsar/csh/preproc_batch_tops.csh
+++ b/gmtsar/csh/preproc_batch_tops.csh
@@ -24,7 +24,7 @@
     echo "    s1a-iw1-slc-vv-20150715...001:s1a-iw1-slc-vv-20150715...001:s1a-iw1-slc-vv-20150715...001:S1A_OPER_AUX_POEORB_V20150625_20150627.EOF"
     echo ""
     echo "  outputs:"
-    echo "    baseline.ps align_table.ra (contains info for precise geomatric alignment)"
+    echo "    baseline.ps (mode 1)"
     echo "    *.PRM *.LED *.SLC(mode 2)"
     echo ""
     echo "  Note:"
diff --git a/gmtsar/csh/preproc_batch_tops_esd.csh b/gmtsar/csh/preproc_batch_tops_esd.csh
index 890627be..155453a9 100755
--- a/gmtsar/csh/preproc_batch_tops_esd.csh
+++ b/gmtsar/csh/preproc_batch_tops_esd.csh
@@ -24,7 +24,7 @@
     echo "    s1a-iw1-slc-vv-20150715...001:s1a-iw1-slc-vv-20150715...001:s1a-iw1-slc-vv-20150715...001:S1A_OPER_AUX_POEORB_V20150625_20150627.EOF"
     echo ""
     echo "  outputs:"
-    echo "    baseline.ps align_table.ra (contains info for precise geomatric alignment)"
+    echo "    baseline.ps (mode 1)"
     echo "    *.PRM *.LED *.SLC(mode 2)"
     echo ""
     echo "  esd_mode:"
diff --git a/gmtsar/csh/proj_ra2ll.csh b/gmtsar/csh/proj_ra2ll.csh
index fb7b4068..e576f98d 100755
--- a/gmtsar/csh/proj_ra2ll.csh
+++ b/gmtsar/csh/proj_ra2ll.csh
@@ -24,12 +24,13 @@ endif
 #
 # check for number of arguments
 #
- if ($#argv < 3) then
+ if ($#argv != 3 && $#argv != 4) then
   echo " "
-  echo "Usage: proj_ra2ll.csh trans.dat phase.grd phase_ll.grd" 
+  echo "Usage: proj_ra2ll.csh trans.dat phase.grd phase_ll.grd [filter_wavelength]" 
   echo "        trans.dat    - file generated by llt_grid2rat  (r a topo lon lat)"
   echo "        phase_ra.grd - a GRD file of phase or anything" 
   echo "        phase_ll.grd - output file in lon/lat-coordinates" 
+  echo "        filter_wavelength - will sample every 1/4 wavelength (in meters) " 
   echo " "
   exit 1
  endif 
@@ -53,13 +54,19 @@ gmt grdtrack rap -nl -bi3f -bo5f -Graln.grd -Gralt.grd | gmt gmtconvert -bi5f -b
 #
 # set the output grid spaccing to be 1/4 the filter wavelength
 #
-set filt = `ls gauss_*`
-if ( $filt != "" ) then
-    set pix_m = `ls gauss_* | awk -F_ '{print $2/4}'` # Use 1/4 the filter width
-    echo "Sampling in geocoordinates with $pix_m meter pixels ..."
+if ($#argv == 4) then
+  set filt_wave = $4
+  set pix_m = `echo $filt_wave | awk '{print $1/4}'`
+  echo "Sampling in geocoordinates with $pix_m meter pixels ..."
 else
-    set pix_m = 60
-    echo "Sampling in geocoordinates with deault ($pix_m meter) pixel size ..."
+  set filt = `ls gauss_*`
+  if ( $filt != "" ) then
+      set pix_m = `ls gauss_* | awk -F_ '{print $2/4}'` # Use 1/4 the filter width
+      echo "Sampling in geocoordinates with $pix_m meter pixels ..."
+  else
+      set pix_m = 60
+      echo "Sampling in geocoordinates with deault ($pix_m meter) pixel size ..."
+  endif
 endif
 
 set incs = `m2s.csh $pix_m llp`			  # Get fine and crude grid interval for lookup grids
diff --git a/gmtsar/make_gaussian_filter.c b/gmtsar/make_gaussian_filter.c
index fd6563a8..477ec0af 100644
--- a/gmtsar/make_gaussian_filter.c
+++ b/gmtsar/make_gaussian_filter.c
@@ -37,7 +37,7 @@ int main(int argc, char **argv) {
 	double azi_px_size, rng_px_size, x, y;
 	double c_speed = 299792458.0;
 	double sig_azi, sig_rng, a, rng, cost, cosa;
-	double g[50][50];
+	double g[1024][1024];
 	char out_name[128] = "gauss_";
 
 	if (argc < 4)
diff --git a/gmtsar/sbas.c b/gmtsar/sbas.c
index dc05266a..13da999e 100644
--- a/gmtsar/sbas.c
+++ b/gmtsar/sbas.c
@@ -93,8 +93,9 @@ char *USAGE = "USAGE: sbas intf.tab scene.tab N S xdim ydim [-atm ni] [-smooth s
               "the interferogram (m) default=866000 \n"
               "  -rms                 --  output velocity uncertainty grids (mm/yr): "
               "rms.grd\n"
-              "  -dem                 --  output DEM error (m): dem.grd \n"
-              "  -mmap                --  use mmap to allocate disk space for less use of memory \n\n"
+              "  -dem                 --  output DEM error (m): dem_err.grd \n"
+              "  -mmap                --  use mmap to allocate disk space for less use of memory \n"
+              "  -robust        --  only work with -atm turnned on, estimate velocity with records that has atm correction\n\n"
               " output: \n"
               "  disp_##.grd          --  cumulative displacement time series (mm) "
               "grids\n"
@@ -130,8 +131,9 @@ int main(int argc, char **argv) {
 	char **gfile = NULL, **cfile = NULL;
 	int64_t i, j, m, n, nrhs = 1, xdim, lwork, ydim, k1, k2;
 	int64_t N, S;
-	int64_t ldb, lda, *flag = NULL, *jpvt = NULL, *H = NULL, *L = NULL, *hit = NULL, *mark = NULL;
-	int64_t flag_rms = 0, flag_dem = 0, flag_mmap = 0;
+	//int64_t ldb, lda, *flag = NULL, *jpvt = NULL, *H = NULL, *L = NULL, *hit = NULL, *mark = NULL;
+	int64_t ldb, *flag = NULL, *jpvt = NULL, *H = NULL, *L = NULL, *hit = NULL, *mark = NULL;
+	int64_t flag_rms = 0, flag_dem = 0, flag_mmap = 0, flag_robust = 0;
 	float *phi = NULL, *tmp_phi = NULL, sf, *disp = NULL, *res = NULL, *dem = NULL, *bperp = NULL, *vel = NULL, *screen = NULL,
 	      *tmp_screen = NULL;
 	float *var = NULL;
@@ -178,14 +180,14 @@ int main(int argc, char **argv) {
 	fprintf(stderr, "\n");
 
 	/* read in the parameters from command line */
-	parse_command_ts(argc, argv, &sf, &wl, &theta, &rng, &flag_rms, &flag_dem, &n_atm, &flag_mmap);
+	parse_command_ts(argc, argv, &sf, &wl, &theta, &rng, &flag_rms, &flag_dem, &n_atm, &flag_mmap, &flag_robust);
 
 	/* setting up some parameters */
 	scale = 4.0 * M_PI / wl / rng / sin(theta / 180.0 * M_PI);
 	m = N + S - 2; // number of rows in the G matrix
 	n = S;         // number of columns in the G matrix
 	lwork = max(1, m * n + max(m * n, nrhs) * 16);
-	lda = max(1, m);
+	//lda = max(1, m);
 	ldb = max(1, max(m, n));
 
 	/* memory allocation */ // also malloc for atm(nx,ny,S), hit(N,S), sum_vec(N)
@@ -222,6 +224,7 @@ int main(int argc, char **argv) {
 	printf("%.6f %.6f %.6f %.6f\n", sf, scale, time[0], bperp[0]);
 
 	if (n_atm == 0) {
+        flag_robust = 0;
 		atm_rms = (double *)malloc(S * sizeof(double));
 		for (i = 0; i < S; i++)
 			atm_rms[i] = 0.0;
@@ -232,7 +235,7 @@ int main(int argc, char **argv) {
 		for (i = 0; i < xdim * ydim * S; i++)
 			disp[i] = 0.0;
 		lsqlin_sov_ts(xdim, ydim, disp, vel, flag, d, ds, time, G, Gs, A, var, phi, N, S, m, n, work, lwork, flag_dem, dem,
-		              flag_rms, res, jpvt, wl, atm_rms);
+		              flag_rms, res, jpvt, wl, atm_rms, flag_robust);
 	}
 	else {
 		fprintf(stderr, "\n\nApplying atmospheric correction by common point stacking...\n\n");
@@ -333,7 +336,7 @@ int main(int argc, char **argv) {
 
 			fprintf(stderr, "Computing deformation time-series...\n");
 			lsqlin_sov_ts(xdim, ydim, disp, vel, flag, d, ds, time, G, Gs, A, var, tmp_phi, N, S, m, n, work, lwork, flag_dem,
-			              dem, flag_rms, res, jpvt, wl, atm_rms);
+			              dem, flag_rms, res, jpvt, wl, atm_rms, flag_robust);
 			// remove the very smooth deformation signal from the data
 			if (kk > 1)
 				for (i = 0; i < xdim * ydim * N; i++)
@@ -401,7 +404,7 @@ int main(int argc, char **argv) {
 		for (i = 0; i < xdim * ydim * S; i++)
 			disp[i] = 0.0;
 		lsqlin_sov_ts(xdim, ydim, disp, vel, flag, d, ds, time, G, Gs, A, var, tmp_phi, N, S, m, n, work, lwork, flag_dem, dem,
-		              flag_rms, res, jpvt, wl, atm_rms);
+		              flag_rms, res, jpvt, wl, atm_rms, flag_robust);
 	}
 
 	// write output
diff --git a/gmtsar/sbas.h b/gmtsar/sbas.h
index 4a4b6376..90e85287 100644
--- a/gmtsar/sbas.h
+++ b/gmtsar/sbas.h
@@ -5,7 +5,7 @@
 #include<stdio.h>
 #include"gmt.h"
 
-int parse_command_ts(int64_t, char **, float *, double *, double *, double *, int64_t *, int64_t *, int64_t *, int64_t *);
+int parse_command_ts(int64_t, char **, float *, double *, double *, double *, int64_t *, int64_t *, int64_t *, int64_t *, int64_t *);
 int allocate_memory_ts(int64_t **, double **, double **, double **, float **, char ***, char ***, int64_t **, double **,
                        int64_t **, double **, double **, double **, int64_t **, float **, float **, float **, float **, float **,
                        float **, int64_t, int64_t, int64_t, int64_t, int64_t, int64_t, int64_t, int64_t, int64_t **, int64_t, int64_t);
@@ -15,7 +15,7 @@ int read_table_data_ts(void *, FILE *, FILE *, char **, char **, int64_t *, floa
 int init_G_ts(double *, double *, int64_t, int64_t, int64_t, int64_t, int64_t *, int64_t *, double *, float, float *, double);
 int lsqlin_sov_ts(int64_t, int64_t, float *, float *, int64_t *, double *, double *, double *, double *, double *, double *,
                   float *, float *, int64_t, int64_t, int64_t, int64_t, double *, int64_t, int64_t, float *, int64_t, float *,
-                  int64_t *, double, double *);
+                  int64_t *, double, double *, int64_t);
 int write_output_ts(void *, struct GMT_GRID *, int64_t, char **, int64_t, int64_t, int64_t, int64_t, int64_t, float *, float *,
                     float *, float *, float *, double, int64_t, int64_t *);
 int free_memory_ts(int64_t, float *, float *, char **, char **, float *, double *, double *, double *, int64_t *, double *,
diff --git a/gmtsar/sbas_parallel.c b/gmtsar/sbas_parallel.c
index 261f6087..becc2c5e 100644
--- a/gmtsar/sbas_parallel.c
+++ b/gmtsar/sbas_parallel.c
@@ -96,8 +96,9 @@ char *USAGE = "USAGE: sbas_parallel intf.tab scene.tab N S xdim ydim [-atm ni] [
               "the interferogram (m) default=866000 \n"
               "  -rms                 --  output velocity uncertainty grids (mm/yr): "
               "rms.grd\n"
-              "  -dem                 --  output DEM error (m): dem.grd \n"
-              "  -mmap                --  use mmap to allocate disk space for less use of memory \n\n"
+              "  -dem                 --  output DEM error (m): dem_err.grd \n"
+              "  -mmap                --  use mmap to allocate disk space for less use of memory \n"
+              "  -robust        --  only work with -atm turnned on, estimate velocity with records that has atm correction\n\n"
               " output: \n"
               "  disp_##.grd          --  cumulative displacement time series (mm) "
               "grids\n"
@@ -132,7 +133,7 @@ void dgelsy_(const int64_t *m, const int64_t *n, const int64_t *nrhs, double *G,
              const int64_t *info);
 
 int parse_command_ts(int64_t agc, char **agv, float *sf, double *wl, double *theta, double *rng, int64_t *flag_rms,
-                     int64_t *flag_dem, int64_t *atm, int64_t *flag_mmap) {
+                     int64_t *flag_dem, int64_t *atm, int64_t *flag_mmap, int64_t *flag_robust) {
 
 	int64_t i;
 
@@ -173,6 +174,10 @@ int parse_command_ts(int64_t agc, char **agv, float *sf, double *wl, double *the
             *flag_mmap = 1;
             fprintf(stderr, "mmap disk space for less use of memory\n");
         }  
+        else if (!strcmp(agv[i], "-robust")) {
+            *flag_robust = 1;
+            fprintf(stderr, "using robust velocity estimate (require -atm)\n");
+        } 
 		else if (!strcmp(agv[i], "-atm")) {
 			i++;
 			if (i == agc)
@@ -418,7 +423,7 @@ int init_G_ts(double *G, double *Gs, int64_t N, int64_t S, int64_t m, int64_t n,
 int64_t lsqlin_sov_ts(int64_t xdim, int64_t ydim, float *disp, float *vel, int64_t *flag, double *d, double *ds, double *time,
                       double *G, double *Gs, double *A, float *var, float *phi, int64_t N, int64_t S, int64_t m, int64_t n,
                       double *work, int64_t lwork, int64_t flag_dem, float *dem, int64_t flag_rms, float *res, int64_t *jpvt,
-                      double wl, double *atm_rms) {
+                      double wl, double *atm_rms, int64_t flag_robust) {
 
     // float new,old;
     int64_t lda, ldb, zz;
@@ -548,7 +553,7 @@ int64_t lsqlin_sov_ts(int64_t xdim, int64_t ydim, float *disp, float *vel, int64
 				sumx = 0;
 				sumy = 0;
 				sumyy = 0;
-				if (count > 2) {
+				if (count > 2 && flag_robust == 1) {
 					for (i = 2; i < S - 2; i++) {
 						if (atm_rms[i] != 0.0) {
 							sumxy = sumxy + time[i] * disp[i * xdim * ydim + j * ydim + k];
@@ -675,7 +680,7 @@ int write_output_ts(void *API, struct GMT_GRID *Out, int64_t agc, char **agv, in
 
 	if (flag_dem == 1) {
 		Out->data = dem;
-		sprintf(outfile, "dem.grd");
+		sprintf(outfile, "dem_err.grd");
 		strcpy(Out->header->title, "");
 		strcpy(Out->header->remark, "");
 		if (GMT_Set_Comment(API, GMT_IS_GRID, GMT_COMMENT_IS_REMARK, "DEM error estimated from SBAS (m)", Out))
@@ -1005,7 +1010,7 @@ int main(int argc, char **argv) {
 	int64_t i, j, m, n, nrhs = 1, xdim, lwork, ydim, k1, k2;
 	int64_t N, S;
 	int64_t ldb, lda, *flag = NULL, *jpvt = NULL, *H = NULL, *L = NULL, *hit = NULL, *mark = NULL;
-	int64_t flag_rms = 0, flag_dem = 0, flag_mmap = 0;
+	int64_t flag_rms = 0, flag_dem = 0, flag_mmap = 0, flag_robust = 0;
 	float *phi = NULL, *tmp_phi = NULL, sf, *disp = NULL, *res = NULL, *dem = NULL, *bperp = NULL, *vel = NULL, *screen = NULL,
 	      *tmp_screen = NULL;
 	float *var = NULL;
@@ -1071,7 +1076,7 @@ int main(int argc, char **argv) {
 	fprintf(stderr, "\n");
 
 	/* read in the parameters from command line */
-	parse_command_ts(argc, argv, &sf, &wl, &theta, &rng, &flag_rms, &flag_dem, &n_atm, &flag_mmap);
+	parse_command_ts(argc, argv, &sf, &wl, &theta, &rng, &flag_rms, &flag_dem, &n_atm, &flag_mmap, &flag_robust);
 
 	/* setting up some parameters */
 	scale = 4.0 * M_PI / wl / rng / sin(theta / 180.0 * M_PI);
@@ -1126,6 +1131,7 @@ int main(int argc, char **argv) {
 	printf("%.6f %.6f %.6f %.6f\n", sf, scale, time[0], bperp[0]);
 
 	if (n_atm == 0) {
+        flag_robust = 0;
 		atm_rms = (double *)malloc(S * sizeof(double));
 		for (i = 0; i < S; i++)
 			atm_rms[i] = 0.0;
@@ -1136,7 +1142,7 @@ int main(int argc, char **argv) {
 		for (i = 0; i < xdim * ydim * S; i++)
 			disp[i] = 0.0;
 		lsqlin_sov_ts(xdim, ydim, disp, vel, flag, d, ds, time, G, Gs, A, var, phi, N, S, m, n, work, lwork, flag_dem, dem,
-		              flag_rms, res, jpvt, wl, atm_rms);
+		              flag_rms, res, jpvt, wl, atm_rms, flag_robust);
 	}
 	else {
 		fprintf(stderr, "\n\nApplying atmospheric correction by common point stacking...\n\n");
@@ -1238,7 +1244,7 @@ int main(int argc, char **argv) {
 			fprintf(stderr, "Computing deformation time-series...\n");
 			// progam below is paralleled
 			lsqlin_sov_ts(xdim, ydim, disp, vel, flag, d, ds, time, G, Gs, A, var, tmp_phi, N, S, m, n, work, lwork, flag_dem,
-			              dem, flag_rms, res, jpvt, wl, atm_rms);
+			              dem, flag_rms, res, jpvt, wl, atm_rms, flag_robust);
 			// remove the very smooth deformation signal from the data
 			if (kk > 1)
 				for (i = 0; i < xdim * ydim * N; i++)
@@ -1307,7 +1313,7 @@ int main(int argc, char **argv) {
 		for (i = 0; i < xdim * ydim * S; i++)
 			disp[i] = 0.0;
 		lsqlin_sov_ts(xdim, ydim, disp, vel, flag, d, ds, time, G, Gs, A, var, tmp_phi, N, S, m, n, work, lwork, flag_dem, dem,
-		              flag_rms, res, jpvt, wl, atm_rms);
+		              flag_rms, res, jpvt, wl, atm_rms, flag_robust);
 	}
 
 	// write output
diff --git a/gmtsar/sbas_utils.c b/gmtsar/sbas_utils.c
index 22286384..4a172f57 100644
--- a/gmtsar/sbas_utils.c
+++ b/gmtsar/sbas_utils.c
@@ -75,7 +75,8 @@ char *sbas_USAGE = " \n\nUSAGE: sbas intf.tab scene.tab N S xdim ydim [-atm ni]
                    "-range rng         --  range distance from the radar to the center of the "
                    "interferogram (m) default=866000 \n"
                    "-rms           --  output RMS of the data misfit grids (mm): rms.grd\n"
-                   "-dem           --  output DEM error (m): dem.grd \n\n"
+                   "-dem           --  output DEM error (m): dem_err.grd \n"
+                   "-robust        --  only work with -atm turnned on, estimate velocity with records that has atm correction\n\n"
                    " output: \n"
                    "disp_##.grd        --  cumulative displacement time series (mm) grids\n"
                    "vel.grd        --  mean velocity (mm/yr) grids \n\n"
@@ -87,7 +88,7 @@ void dgelsy_(const int64_t *m, const int64_t *n, const int64_t *nrhs, double *G,
              const int64_t *info);
 
 int parse_command_ts(int64_t agc, char **agv, float *sf, double *wl, double *theta, double *rng, int64_t *flag_rms,
-                     int64_t *flag_dem, int64_t *atm, int64_t *flag_mmap) {
+                     int64_t *flag_dem, int64_t *atm, int64_t *flag_mmap, int64_t *flag_robust) {
 
 	int64_t i;
 
@@ -127,6 +128,10 @@ int parse_command_ts(int64_t agc, char **agv, float *sf, double *wl, double *the
         else if (!strcmp(agv[i], "-mmap")) {
             *flag_mmap = 1;
             fprintf(stderr, "mmap disk space for less use of memory\n");
+        }  
+        else if (!strcmp(agv[i], "-robust")) {
+            *flag_robust = 1;
+            fprintf(stderr, "using robust velocity estimate (require -atm)\n");
         }  
 		else if (!strcmp(agv[i], "-atm")) {
 			i++;
@@ -377,7 +382,7 @@ int init_G_ts(double *G, double *Gs, int64_t N, int64_t S, int64_t m, int64_t n,
 int64_t lsqlin_sov_ts(int64_t xdim, int64_t ydim, float *disp, float *vel, int64_t *flag, double *d, double *ds, double *time,
                       double *G, double *Gs, double *A, float *var, float *phi, int64_t N, int64_t S, int64_t m, int64_t n,
                       double *work, int64_t lwork, int64_t flag_dem, float *dem, int64_t flag_rms, float *res, int64_t *jpvt,
-                      double wl, double *atm_rms) {
+                      double wl, double *atm_rms, int64_t flag_robust) {
 
 	int64_t i, j, k, p, info = 0, indx;
 	int64_t rank = 0, nrhs = 1, lda, ldb;
@@ -481,7 +486,7 @@ int64_t lsqlin_sov_ts(int64_t xdim, int64_t ydim, float *disp, float *vel, int64
 				sumx = 0;
 				sumy = 0;
 				sumyy = 0;
-				if (count > 2) {
+				if (count > 2 && flag_robust == 1) {
 					for (i = 2; i < S - 2; i++) {
 						if (atm_rms[i] != 0.0) {
 							sumxy = sumxy + time[i] * disp[i * xdim * ydim + j * ydim + k];
@@ -602,7 +607,7 @@ int write_output_ts(void *API, struct GMT_GRID *Out, int64_t agc, char **agv, in
 
 	if (flag_dem == 1) {
 		Out->data = dem;
-		sprintf(outfile, "dem.grd");
+		sprintf(outfile, "dem_err.grd");
 		strcpy(Out->header->title, "");
 		strcpy(Out->header->remark, "");
 		if (GMT_Set_Comment(API, GMT_IS_GRID, GMT_COMMENT_IS_REMARK, "DEM error estimated from SBAS (m)", Out))
diff --git a/preproc/GF3_preproc/src/make_slc_gf3.c b/preproc/GF3_preproc/src/make_slc_gf3.c
index 42ea6181..f17283d2 100644
--- a/preproc/GF3_preproc/src/make_slc_gf3.c
+++ b/preproc/GF3_preproc/src/make_slc_gf3.c
@@ -119,8 +119,8 @@ int write_slc(TIFF *tif, FILE *slc, char *orbdir) {
 	// printf("%d %d \n",width,height);
 
 	buf = (uint16 *)_TIFFmalloc(TIFFScanlineSize(tif));
-	tmp = (short *)malloc(width * 2 * sizeof(short));
 	width = widthi - widthi % 4;
+	tmp = (short *)malloc(width * 2 * sizeof(short));
 	printf("Writing SLC..Image Size: %d X %d...\n", width, height);
 
     for (i = 0; i < height; i++) {
diff --git a/preproc/S1A_preproc/src_assembly/assemble_tops.c b/preproc/S1A_preproc/src_assembly/assemble_tops.c
index a2382a69..5ceff1a5 100644
--- a/preproc/S1A_preproc/src_assembly/assemble_tops.c
+++ b/preproc/S1A_preproc/src_assembly/assemble_tops.c
@@ -104,7 +104,7 @@ int main(int argc, char **argv) {
 	}
 
 	// modify xml_tree[0] to get parameters from other xml_trees
-	edit_tree(nfiles, nlmx, xml_tree, azi_1, azi_2, &nb_start, &nb_end);
+	edit_tree(nfiles, nlmx, xml_tree, (int)azi_1, (int)azi_2, &nb_start, &nb_end);
 	printf("Output burst from #%d to #%d ...\n", nb_start, nb_end);
 
 	strcpy(tmp_str, argv[argc - 1]);