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 62.770121 with ratio = 1.077332
Rejected refabs at time 62.865634 with ratio = 0.772579
Rejected refabs at time 62.870665 with ratio = 0.051471
Rejected refabs at time 62.872556 with ratio = 1.222596
Rejected refabs at time 63.732969 with ratio = 0.850046
Rejected refabs at time 64.132001 with ratio = 0.200000
Rejected refabs at time 65.151062 with ratio = 0.189703
Rejected refabs at time 65.183078 with ratio = 0.963353
Rejected refabs at time 66.064530 with ratio = 0.582481
Rejected refabs at time 66.065918 with ratio = 0.624087
Rejected refabs at time 66.066307 with ratio = 0.582476
Rejected refabs at time 67.773979 with ratio = 0.269697
Rejected refabs at time 69.235085 with ratio = 0.688813
There are 8 segments for position integration.
Optimization iteration 1 of 5
Segment 1 of 8
Time range: 57.07075 to 62.77012
Index range: 2 through 4105
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 4104 -0.630 0.055 0.001 -0.728 -0.506 -1.80 2.26 3939 833
2 4104 0.367 0.015 0.000 0.324 0.433 -2.87 4.34 26 3799
Segment 2 of 8
Time range: 63.68069 to 63.73298
Index range: 4110 through 4147
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 38 0.009 0.004 0.001 -0.001 0.017 -2.37 1.75 10 18
2 38 0.128 0.002 0.000 0.120 0.132 -3.08 1.72 37 22
Segment 3 of 8
Time range: 63.73485 to 64.13200
Index range: 4149 through 4434
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 286 -0.010 0.005 0.000 -0.023 0.004 -2.73 3.02 170 2
2 286 -0.079 0.003 0.000 -0.097 -0.060 -5.46 5.77 4 284
Segment 4 of 8
Time range: 64.68950 to 65.15107
Index range: 4436 through 4768
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 333 -203.054 0.008 0.000 -203.088 -203.034 -4.44 2.54 329 157
2 333 46.704 0.004 0.000 46.691 46.713 -3.50 2.48 157 158
Segment 5 of 8
Time range: 66.01868 to 66.06453
Index range: 4775 through 4807
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 32 -0.146 0.010 0.002 -0.166 -0.129 -1.92 1.58 18 6
2 32 0.189 0.006 0.001 0.178 0.200 -1.61 1.80 29 5
Segment 6 of 8
Time range: 67.66861 to 67.77399
Index range: 4811 through 4886
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 76 16.514 0.007 0.001 16.495 16.531 -2.88 2.57 3 72
2 76 -12.288 0.004 0.000 -12.297 -12.278 -2.39 2.49 59 48
Segment 7 of 8
Time range: 68.66956 to 69.23508
Index range: 4888 through 5295
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 407 -8.470 0.005 0.000 -8.495 -8.452 -4.94 3.61 398 0
2 407 1.396 0.004 0.000 1.386 1.407 -2.70 3.10 214 81
Segment 8 of 8
Time range: 69.66605 to 70.22410
Index range: 5297 through 5698
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 401 -95.615 0.004 0.000 -95.634 -95.600 -4.35 3.65 400 386
2 401 -54.996 0.003 0.000 -55.010 -54.988 -3.85 2.53 61 395
Optimization iteration 2 of 5
Segment 1 of 8
Time range: 57.07075 to 62.77012
Index range: 2 through 4105
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 4104 0.074 0.013 0.000 0.037 0.140 -2.86 5.16 3882 833
2 4104 -0.021 0.012 0.000 -0.073 0.037 -4.40 5.01 3027 1845
Segment 2 of 8
Time range: 63.68069 to 63.73298
Index range: 4110 through 4147
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 38 0.000 0.004 0.001 -0.010 0.008 -2.36 1.75 10 18
2 38 -0.001 0.002 0.000 -0.009 0.003 -3.12 1.72 37 22
Segment 3 of 8
Time range: 63.73485 to 64.13200
Index range: 4149 through 4434
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 286 0.000 0.005 0.000 -0.013 0.014 -2.74 3.01 170 2
2 286 -0.000 0.003 0.000 -0.018 0.007 -5.74 2.38 4 284
Segment 4 of 8
Time range: 64.68950 to 65.15107
Index range: 4436 through 4768
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 333 0.001 0.006 0.000 -0.024 0.020 -4.14 3.29 323 157
2 333 -0.000 0.004 0.000 -0.013 0.009 -3.50 2.48 157 158
Segment 5 of 8
Time range: 66.01868 to 66.06453
Index range: 4775 through 4807
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 32 0.001 0.010 0.002 -0.019 0.017 -1.97 1.52 18 6
2 32 -0.001 0.007 0.001 -0.013 0.011 -1.67 1.76 29 5
Segment 6 of 8
Time range: 67.66861 to 67.77399
Index range: 4811 through 4886
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 76 0.013 0.006 0.001 -0.004 0.028 -2.65 2.33 3 72
2 76 -0.007 0.004 0.000 -0.017 0.003 -2.41 2.41 59 48
Segment 7 of 8
Time range: 68.66956 to 69.23508
Index range: 4888 through 5295
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 407 0.018 0.005 0.000 -0.006 0.030 -4.96 2.39 398 12
2 407 0.002 0.004 0.000 -0.008 0.013 -2.70 3.12 214 81
Segment 8 of 8
Time range: 69.66605 to 70.22410
Index range: 5297 through 5698
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 401 -0.008 0.004 0.000 -0.019 0.004 -2.94 3.36 400 396
2 401 0.001 0.003 0.000 -0.013 0.009 -3.83 2.56 61 395
Optimization iteration 3 of 5
Segment 1 of 8
Time range: 57.07075 to 62.77012
Index range: 2 through 4105
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 4104 0.010 0.011 0.000 -0.025 0.069 -3.03 5.19 1063 833
2 4104 0.000 0.012 0.000 -0.051 0.059 -4.39 5.01 3027 1845
Segment 2 of 8
Time range: 63.68069 to 63.73298
Index range: 4110 through 4147
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 38 0.000 0.004 0.001 -0.010 0.008 -2.36 1.75 10 18
2 38 0.000 0.002 0.000 -0.008 0.004 -3.12 1.72 37 22
Segment 3 of 8
Time range: 63.73485 to 64.13200
Index range: 4149 through 4434
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 286 -0.000 0.005 0.000 -0.013 0.014 -2.74 3.01 170 2
2 286 -0.000 0.003 0.000 -0.018 0.007 -5.74 2.38 4 284
Segment 4 of 8
Time range: 64.68950 to 65.15107
Index range: 4436 through 4768
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 333 0.001 0.005 0.000 -0.016 0.020 -3.47 3.99 317 157
2 333 0.000 0.004 0.000 -0.013 0.009 -3.50 2.48 157 158
Segment 5 of 8
Time range: 66.01868 to 66.06453
Index range: 4775 through 4807
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 32 0.000 0.010 0.002 -0.020 0.015 -1.97 1.52 18 6
2 32 0.000 0.007 0.001 -0.012 0.013 -1.67 1.76 29 5
Segment 6 of 8
Time range: 67.66861 to 67.77399
Index range: 4811 through 4886
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 76 -0.003 0.006 0.001 -0.018 0.008 -2.54 2.00 60 72
2 76 -0.000 0.004 0.000 -0.010 0.010 -2.41 2.41 59 48
Segment 7 of 8
Time range: 68.66956 to 69.23508
Index range: 4888 through 5295
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 407 0.000 0.005 0.000 -0.024 0.012 -4.95 2.39 398 12
2 407 -0.000 0.004 0.000 -0.009 0.011 -2.70 3.12 214 81
Segment 8 of 8
Time range: 69.66605 to 70.22410
Index range: 5297 through 5698
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 401 -0.006 0.004 0.000 -0.013 0.013 -1.88 5.28 304 396
2 401 -0.000 0.003 0.000 -0.013 0.009 -3.82 2.57 61 395
Optimization iteration 4 of 5
Segment 1 of 8
Time range: 57.07075 to 62.77012
Index range: 2 through 4105
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 4104 -0.001 0.011 0.000 -0.035 0.059 -3.00 5.22 1063 833
2 4104 -0.000 0.012 0.000 -0.051 0.059 -4.40 5.01 3027 1845
Segment 2 of 8
Time range: 63.68069 to 63.73298
Index range: 4110 through 4147
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 38 -0.000 0.004 0.001 -0.010 0.008 -2.36 1.75 10 18
2 38 -0.000 0.002 0.000 -0.008 0.004 -3.12 1.72 37 22
Segment 3 of 8
Time range: 63.73485 to 64.13200
Index range: 4149 through 4434
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 286 -0.000 0.005 0.000 -0.013 0.014 -2.74 3.01 170 2
2 286 -0.000 0.003 0.000 -0.018 0.007 -5.74 2.38 4 284
Segment 4 of 8
Time range: 64.68950 to 65.15107
Index range: 4436 through 4768
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 333 -0.000 0.005 0.000 -0.016 0.019 -3.47 3.99 317 157
2 333 -0.000 0.004 0.000 -0.013 0.009 -3.50 2.48 157 158
Segment 5 of 8
Time range: 66.01868 to 66.06453
Index range: 4775 through 4807
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 32 -0.000 0.010 0.002 -0.020 0.015 -1.97 1.52 18 6
2 32 -0.000 0.007 0.001 -0.012 0.013 -1.67 1.76 29 5
Segment 6 of 8
Time range: 67.66861 to 67.77399
Index range: 4811 through 4886
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 76 -0.000 0.006 0.001 -0.014 0.011 -2.54 2.00 60 72
2 76 -0.000 0.004 0.000 -0.010 0.010 -2.41 2.41 59 48
Segment 7 of 8
Time range: 68.66956 to 69.23508
Index range: 4888 through 5295
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 407 0.000 0.005 0.000 -0.024 0.012 -4.95 2.39 398 12
2 407 -0.000 0.004 0.000 -0.009 0.011 -2.70 3.12 214 81
Segment 8 of 8
Time range: 69.66605 to 70.22410
Index range: 5297 through 5698
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 401 0.000 0.004 0.000 -0.007 0.019 -1.88 5.28 304 396
2 401 0.000 0.003 0.000 -0.013 0.009 -3.82 2.57 61 395
Optimization iteration 5 of 5
Segment 1 of 8
fix time dx dy (1.e-5 degrees)
57.16103 35 41
57.16242 34 40
57.16381 30 42
58.20965 39 36
58.21104 40 37
58.21242 39 32
58.22354 48 23
58.22492 55 28
58.22631 59 31
58.22770 60 26
58.22909 53 18
59.28464 -22 48
59.28603 -17 52
59.28742 -12 51
59.63048 14 52
59.63187 18 55
59.63326 15 59
59.63464 16 57
59.63603 14 52
60.10825 -28 46
60.10964 -22 53
61.11103 53 13
61.11242 57 14
61.11381 53 12
61.27214 44 -38
61.27353 53 -47
61.27492 52 -51
61.27631 47 -49
61.27770 40 -47
61.27909 34 -44
61.28048 27 -42
62.28742 47 26
62.28881 47 29
62.29020 47 30
62.34714 2 51
62.34853 1 50
62.41659 49 14
Segment 1 of 8
Time range: 57.07075 to 62.77012
Index range: 2 through 4105
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 4104 0.000 0.011 0.000 -0.034 0.060 -3.00 5.22 1063 833
2 4104 0.000 0.012 0.000 -0.051 0.059 -4.40 5.01 3027 1845
Segment 2 of 8
fix time dx dy (1.e-5 degrees)
Segment 2 of 8
Time range: 63.68069 to 63.73298
Index range: 4110 through 4147
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 38 0.000 0.004 0.001 -0.010 0.008 -2.36 1.75 10 18
2 38 -0.000 0.002 0.000 -0.008 0.004 -3.12 1.72 37 22
Segment 3 of 8
fix time dx dy (1.e-5 degrees)
Segment 3 of 8
Time range: 63.73485 to 64.13200
Index range: 4149 through 4434
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 286 -0.000 0.005 0.000 -0.013 0.014 -2.74 3.01 170 2
2 286 0.000 0.003 0.000 -0.018 0.007 -5.74 2.38 4 284
Segment 4 of 8
fix time dx dy (1.e-5 degrees)
Segment 4 of 8
Time range: 64.68950 to 65.15107
Index range: 4436 through 4768
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 333 0.000 0.005 0.000 -0.016 0.019 -3.47 3.99 317 157
2 333 0.000 0.004 0.000 -0.013 0.009 -3.50 2.48 157 158
Segment 5 of 8
fix time dx dy (1.e-5 degrees)
Segment 5 of 8
Time range: 66.01868 to 66.06453
Index range: 4775 through 4807
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 32 0.000 0.010 0.002 -0.020 0.015 -1.97 1.52 18 6
2 32 0.000 0.007 0.001 -0.012 0.013 -1.67 1.76 29 5
Segment 6 of 8
fix time dx dy (1.e-5 degrees)
Segment 6 of 8
Time range: 67.66861 to 67.77399
Index range: 4811 through 4886
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 76 -0.000 0.006 0.001 -0.014 0.011 -2.54 2.00 60 72
2 76 -0.000 0.004 0.000 -0.010 0.010 -2.41 2.41 59 48
Segment 7 of 8
fix time dx dy (1.e-5 degrees)
Segment 7 of 8
Time range: 68.66956 to 69.23508
Index range: 4888 through 5295
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 407 -0.000 0.005 0.000 -0.024 0.012 -4.95 2.39 398 12
2 407 -0.000 0.004 0.000 -0.009 0.011 -2.70 3.12 214 81
Segment 8 of 8
fix time dx dy (1.e-5 degrees)
Segment 8 of 8
Time range: 69.66605 to 70.22410
Index range: 5297 through 5698
Statistics for fix (scaled by 0.010000)
x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax
1 401 -0.000 0.004 0.000 -0.007 0.019 -1.88 5.28 304 396
2 401 -0.000 0.003 0.000 -0.013 0.009 -3.82 2.57 61 395
seg i0 i1 n nfix
1 2 4106 4104 4104
2 4110 4148 38 38
3 4149 4435 286 286
4 4436 4769 333 333
5 4775 4808 33 32
6 4811 4887 76 76
7 4888 5296 408 407
8 5297 5699 402 401
seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix
1 57.07075 62.77012 -162.1777 -175.4007 22.4135 26.6385 11 13 4104
2 63.68069 63.73298 -173.3627 -173.3600 26.1424 26.1482 4 3 38
3 63.73485 64.13200 -173.3602 -173.3654 26.1461 26.1741 5 3 286
4 64.68950 65.15107 -175.3958 -175.4912 26.6419 26.6536 5 4 333
5 66.01868 66.06453 -176.5412 -176.5872 26.8879 26.9411 10 8 32
6 67.66861 67.77399 -176.4205 -176.5570 26.8163 26.8631 6 5 76
7 68.66956 69.23508 -176.8067 -176.9002 26.9999 26.9894 5 4 407
8 69.66605 70.22410 -177.7718 -177.7658 26.4255 26.4565 4 4 401