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