ADCP Navigation: SMOOTHR reference_file: a_ex.nav refabs_output: a_ex.ref output: a_ex.sm filter_hwidth= 0.020800 min_filter_fraction= 0.500000 max_gap_ratio= 0.050000 max_gap_distance= 50.000000 max_gap_time= 30.000000 ensemble_time= 120.000000 max_speed= 5.000000 min_speed= 1.000000 iterations= 5 fix_to_dr_limit= 0.000500 Rejected refabs at time 319.693969 with ratio = 0.183449 Rejected refabs at time 319.791561 with ratio = 0.201005 Rejected refabs at time 319.792940 with ratio = 0.199005 Rejected refabs at time 319.806838 with ratio = 0.201005 Rejected refabs at time 319.808218 with ratio = 0.199005 Rejected refabs at time 319.884105 with ratio = 0.419511 Rejected refabs at time 320.715029 with ratio = 0.129145 Rejected refabs at time 320.960127 with ratio = 0.199382 There are 8 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 8 Time range: 319.56795 to 319.69397 Index range: 2 through 92 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 92 0.006 0.004 0.000 -0.006 0.014 -3.19 2.03 6 0 2 92 -0.006 0.003 0.000 -0.014 0.001 -2.60 2.50 60 86 Segment 2 of 8 Time range: 319.71101 to 319.79156 Index range: 94 through 151 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 58 0.022 0.003 0.000 0.017 0.028 -1.77 2.34 44 5 2 58 -0.004 0.003 0.000 -0.010 0.001 -1.99 1.87 22 46 Segment 3 of 8 Time range: 319.79434 to 319.80684 Index range: 154 through 162 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 0.022 0.003 0.001 0.017 0.025 -1.73 1.09 0 8 2 9 -0.006 0.000 0.000 -0.007 -0.006 -1.34 1.54 3 8 Segment 4 of 8 Time range: 319.80962 to 319.88411 Index range: 165 through 218 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 54 0.022 0.003 0.000 0.017 0.028 -1.86 2.02 40 23 2 54 -0.003 0.003 0.000 -0.010 0.002 -2.20 2.00 45 8 Segment 5 of 8 Time range: 320.41763 to 320.71502 Index range: 220 through 434 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 214 -6.804 0.004 0.000 -6.814 -6.798 -2.60 1.97 168 53 2 214 -57.375 0.003 0.000 -57.382 -57.368 -2.45 2.28 159 98 Segment 6 of 8 Time range: 320.71762 to 320.71900 Index range: 435 through 435 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 7 of 8 Time range: 320.71901 to 320.96013 Index range: 436 through 609 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 175 -6.787 0.003 0.000 -6.798 -6.780 -3.26 2.28 44 25 2 175 -57.422 0.003 0.000 -57.429 -57.411 -2.26 3.85 30 12 Segment 8 of 8 Time range: 321.41862 to 321.55057 Index range: 611 through 705 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 95 0.025 0.008 0.001 0.009 0.046 -1.98 2.46 2 28 2 95 0.066 0.010 0.001 0.050 0.096 -1.64 3.11 69 58 Optimization iteration 2 of 5 Segment 1 of 8 Time range: 319.56795 to 319.69397 Index range: 2 through 92 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 92 -0.000 0.004 0.000 -0.012 0.008 -3.19 2.03 6 0 2 92 0.000 0.003 0.000 -0.008 0.007 -2.60 2.50 60 86 Segment 2 of 8 Time range: 319.71101 to 319.79156 Index range: 94 through 151 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 58 -0.000 0.003 0.000 -0.005 0.006 -1.77 2.34 44 5 2 58 -0.000 0.003 0.000 -0.006 0.005 -1.99 1.87 22 46 Segment 3 of 8 Time range: 319.79434 to 319.80684 Index range: 154 through 162 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 -0.000 0.003 0.001 -0.005 0.003 -1.73 1.08 0 8 2 9 0.000 0.000 0.000 -0.001 0.001 -1.34 1.54 3 8 Segment 4 of 8 Time range: 319.80962 to 319.88411 Index range: 165 through 218 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 54 -0.000 0.003 0.000 -0.005 0.006 -1.86 2.02 40 23 2 54 -0.000 0.003 0.000 -0.006 0.006 -2.20 2.00 45 8 Segment 5 of 8 Time range: 320.41763 to 320.71502 Index range: 220 through 434 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 214 0.000 0.003 0.000 -0.009 0.007 -2.67 2.05 168 72 2 214 -0.000 0.003 0.000 -0.007 0.007 -2.45 2.29 159 98 Segment 6 of 8 Time range: 320.71762 to 320.71900 Index range: 435 through 435 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 7 of 8 Time range: 320.71901 to 320.96013 Index range: 436 through 609 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 175 0.000 0.003 0.000 -0.010 0.007 -3.43 2.30 44 25 2 175 0.000 0.003 0.000 -0.007 0.012 -2.26 3.85 30 12 Segment 8 of 8 Time range: 321.41862 to 321.55057 Index range: 611 through 705 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 95 0.001 0.008 0.001 -0.017 0.021 -2.13 2.42 2 28 2 95 -0.000 0.010 0.001 -0.016 0.031 -1.64 3.10 69 58 Optimization iteration 3 of 5 Segment 1 of 8 Time range: 319.56795 to 319.69397 Index range: 2 through 92 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 92 0.000 0.004 0.000 -0.012 0.008 -3.19 2.03 6 0 2 92 0.000 0.003 0.000 -0.008 0.007 -2.60 2.50 60 86 Segment 2 of 8 Time range: 319.71101 to 319.79156 Index range: 94 through 151 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 58 0.000 0.003 0.000 -0.005 0.006 -1.77 2.34 44 5 2 58 -0.000 0.003 0.000 -0.006 0.005 -1.99 1.87 22 46 Segment 3 of 8 Time range: 319.79434 to 319.80684 Index range: 154 through 162 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 0.000 0.003 0.001 -0.005 0.003 -1.73 1.08 0 8 2 9 -0.000 0.000 0.000 -0.001 0.001 -1.34 1.54 3 8 Segment 4 of 8 Time range: 319.80962 to 319.88411 Index range: 165 through 218 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 54 0.000 0.003 0.000 -0.005 0.006 -1.86 2.02 40 23 2 54 -0.000 0.003 0.000 -0.006 0.006 -2.20 2.00 45 8 Segment 5 of 8 Time range: 320.41763 to 320.71502 Index range: 220 through 434 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 214 0.000 0.003 0.000 -0.008 0.007 -2.71 2.16 168 72 2 214 -0.000 0.003 0.000 -0.007 0.007 -2.45 2.29 159 98 Segment 6 of 8 Time range: 320.71762 to 320.71900 Index range: 435 through 435 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 7 of 8 Time range: 320.71901 to 320.96013 Index range: 436 through 609 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 175 0.000 0.003 0.000 -0.011 0.007 -3.48 2.22 44 25 2 175 0.000 0.003 0.000 -0.007 0.012 -2.26 3.86 30 12 Segment 8 of 8 Time range: 321.41862 to 321.55057 Index range: 611 through 705 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 95 0.000 0.008 0.001 -0.017 0.020 -2.13 2.42 2 28 2 95 0.000 0.010 0.001 -0.016 0.031 -1.64 3.10 69 58 Optimization iteration 4 of 5 Segment 1 of 8 Time range: 319.56795 to 319.69397 Index range: 2 through 92 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 92 -0.000 0.004 0.000 -0.012 0.008 -3.19 2.03 6 0 2 92 -0.000 0.003 0.000 -0.008 0.007 -2.60 2.50 60 86 Segment 2 of 8 Time range: 319.71101 to 319.79156 Index range: 94 through 151 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 58 -0.000 0.003 0.000 -0.005 0.006 -1.77 2.34 44 5 2 58 0.000 0.003 0.000 -0.006 0.005 -1.99 1.87 22 46 Segment 3 of 8 Time range: 319.79434 to 319.80684 Index range: 154 through 162 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 -0.000 0.003 0.001 -0.005 0.003 -1.73 1.08 0 8 2 9 0.000 0.000 0.000 -0.001 0.001 -1.34 1.54 3 8 Segment 4 of 8 Time range: 319.80962 to 319.88411 Index range: 165 through 218 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 54 0.000 0.003 0.000 -0.005 0.006 -1.86 2.02 40 23 2 54 0.000 0.003 0.000 -0.006 0.006 -2.20 2.00 45 8 Segment 5 of 8 Time range: 320.41763 to 320.71502 Index range: 220 through 434 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 214 0.000 0.003 0.000 -0.008 0.007 -2.71 2.16 168 72 2 214 -0.000 0.003 0.000 -0.007 0.007 -2.45 2.29 159 98 Segment 6 of 8 Time range: 320.71762 to 320.71900 Index range: 435 through 435 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 7 of 8 Time range: 320.71901 to 320.96013 Index range: 436 through 609 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 175 -0.000 0.003 0.000 -0.011 0.007 -3.48 2.22 44 25 2 175 -0.000 0.003 0.000 -0.007 0.012 -2.26 3.86 30 12 Segment 8 of 8 Time range: 321.41862 to 321.55057 Index range: 611 through 705 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 95 -0.000 0.008 0.001 -0.017 0.020 -2.13 2.42 2 28 2 95 -0.000 0.010 0.001 -0.016 0.031 -1.64 3.10 69 58 Optimization iteration 5 of 5 Segment 1 of 8 fix time dx dy (1.e-5 degrees) Segment 1 of 8 Time range: 319.56795 to 319.69397 Index range: 2 through 92 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 92 0.000 0.004 0.000 -0.012 0.008 -3.19 2.03 6 0 2 92 -0.000 0.003 0.000 -0.008 0.007 -2.60 2.50 60 86 Segment 2 of 8 fix time dx dy (1.e-5 degrees) Segment 2 of 8 Time range: 319.71101 to 319.79156 Index range: 94 through 151 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 58 -0.000 0.003 0.000 -0.005 0.006 -1.77 2.34 44 5 2 58 0.000 0.003 0.000 -0.006 0.005 -1.99 1.87 22 46 Segment 3 of 8 fix time dx dy (1.e-5 degrees) Segment 3 of 8 Time range: 319.79434 to 319.80684 Index range: 154 through 162 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 -0.000 0.003 0.001 -0.005 0.003 -1.73 1.08 0 8 2 9 0.000 0.000 0.000 -0.001 0.001 -1.34 1.54 3 8 Segment 4 of 8 fix time dx dy (1.e-5 degrees) Segment 4 of 8 Time range: 319.80962 to 319.88411 Index range: 165 through 218 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 54 -0.000 0.003 0.000 -0.005 0.006 -1.86 2.02 40 23 2 54 -0.000 0.003 0.000 -0.006 0.006 -2.20 2.00 45 8 Segment 5 of 8 fix time dx dy (1.e-5 degrees) Segment 5 of 8 Time range: 320.41763 to 320.71502 Index range: 220 through 434 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 214 0.000 0.003 0.000 -0.008 0.007 -2.71 2.16 168 72 2 214 0.000 0.003 0.000 -0.007 0.007 -2.45 2.29 159 98 Segment 6 of 8 Time range: 320.71762 to 320.71900 Index range: 435 through 435 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 7 of 8 fix time dx dy (1.e-5 degrees) Segment 7 of 8 Time range: 320.71901 to 320.96013 Index range: 436 through 609 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 175 -0.000 0.003 0.000 -0.011 0.007 -3.48 2.22 44 25 2 175 0.000 0.003 0.000 -0.007 0.012 -2.26 3.86 30 12 Segment 8 of 8 fix time dx dy (1.e-5 degrees) Segment 8 of 8 Time range: 321.41862 to 321.55057 Index range: 611 through 705 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 95 0.000 0.008 0.001 -0.017 0.020 -2.13 2.42 2 28 2 95 0.000 0.010 0.001 -0.016 0.031 -1.64 3.10 69 58 seg i0 i1 n nfix 1 2 93 91 92 2 94 152 58 58 3 154 163 9 9 4 165 219 54 54 5 220 435 215 214 6 435 436 1 0 7 436 610 174 175 8 611 706 95 95 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 319.56795 319.69397 -67.8359 -67.8332 18.5181 18.5180 4 3 92 2 319.71101 319.79156 -67.8330 -67.8309 18.5180 18.5181 3 3 58 3 319.79434 319.80684 -67.8309 -67.8306 18.5181 18.5181 3 1 9 4 319.80962 319.88411 -67.8306 -67.8210 18.5181 18.5206 3 3 54 5 320.41763 320.71502 -67.8893 -67.8860 17.9468 17.9446 3 3 214 6 320.71762 320.71900 -67.8859 -67.8857 17.9441 17.9438 0 0 0 7 320.71901 320.96013 -67.8857 -67.8668 17.9438 17.9439 3 3 175 8 321.41862 321.55057 -67.3304 -67.5624 18.3625 18.3812 9 11 95