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 48.822853 with ratio = 0.200000 Rejected refabs at time 48.824242 with ratio = 0.200000 Rejected refabs at time 48.825631 with ratio = 0.200000 Rejected refabs at time 48.831186 with ratio = 0.200000 Rejected refabs at time 48.832575 with ratio = 0.200000 Rejected refabs at time 48.833964 with ratio = 0.200000 Rejected refabs at time 48.835353 with ratio = 0.200000 Rejected refabs at time 48.836742 with ratio = 0.200000 Rejected refabs at time 48.838130 with ratio = 0.200000 Rejected refabs at time 48.839519 with ratio = 0.200000 Rejected refabs at time 48.840908 with ratio = 0.200000 Rejected refabs at time 48.842297 with ratio = 0.200000 Rejected refabs at time 48.843686 with ratio = 0.200000 Rejected refabs at time 48.845075 with ratio = 0.200000 Rejected refabs at time 48.846464 with ratio = 0.200000 Rejected refabs at time 48.847853 with ratio = 0.200000 Rejected refabs at time 48.849241 with ratio = 0.200000 Rejected refabs at time 48.850630 with ratio = 0.200000 Rejected refabs at time 48.852019 with ratio = 0.200000 Rejected refabs at time 48.853408 with ratio = 0.200000 Rejected refabs at time 48.854797 with ratio = 0.200000 Rejected refabs at time 48.856186 with ratio = 0.200000 Rejected refabs at time 48.857575 with ratio = 0.200000 Rejected refabs at time 48.858964 with ratio = 0.200000 Rejected refabs at time 48.860352 with ratio = 0.200000 Rejected refabs at time 48.861741 with ratio = 0.200000 Rejected refabs at time 48.863130 with ratio = 0.200000 Rejected refabs at time 48.864519 with ratio = 0.200000 Rejected refabs at time 48.865908 with ratio = 0.200000 Rejected refabs at time 48.867297 with ratio = 0.200000 Rejected refabs at time 48.868686 with ratio = 0.200000 Rejected refabs at time 48.870075 with ratio = 0.200000 Rejected refabs at time 48.871463 with ratio = 0.200000 Rejected refabs at time 48.872852 with ratio = 0.200000 Rejected refabs at time 48.874241 with ratio = 0.200000 Rejected refabs at time 48.875630 with ratio = 0.200000 Rejected refabs at time 48.877019 with ratio = 0.200000 Rejected refabs at time 48.878408 with ratio = 0.200000 Rejected refabs at time 48.879797 with ratio = 0.200000 Rejected refabs at time 48.881186 with ratio = 0.200000 Rejected refabs at time 48.882574 with ratio = 0.200000 Rejected refabs at time 48.883963 with ratio = 0.200000 Rejected refabs at time 48.885352 with ratio = 0.200000 Rejected refabs at time 48.886741 with ratio = 0.200000 Rejected refabs at time 48.888130 with ratio = 0.200000 Rejected refabs at time 48.889519 with ratio = 0.200000 Rejected refabs at time 48.890908 with ratio = 0.200000 Rejected refabs at time 48.892297 with ratio = 0.200000 Rejected refabs at time 48.893685 with ratio = 0.200000 Rejected refabs at time 48.895074 with ratio = 0.200000 Rejected refabs at time 48.896463 with ratio = 0.200000 Rejected refabs at time 48.897852 with ratio = 0.200000 Rejected refabs at time 48.899241 with ratio = 0.200000 Rejected refabs at time 48.900630 with ratio = 0.200000 Rejected refabs at time 48.902019 with ratio = 0.200000 Rejected refabs at time 48.903408 with ratio = 0.200000 Rejected refabs at time 48.906185 with ratio = 0.200000 Rejected refabs at time 48.908963 with ratio = 0.200000 Rejected refabs at time 48.910352 with ratio = 0.200000 Rejected refabs at time 48.911741 with ratio = 0.200000 Rejected refabs at time 48.913130 with ratio = 0.200000 Rejected refabs at time 48.914518 with ratio = 0.200000 Rejected refabs at time 48.915907 with ratio = 0.200000 Rejected refabs at time 48.917296 with ratio = 0.200000 Rejected refabs at time 48.918685 with ratio = 0.200000 Rejected refabs at time 48.920074 with ratio = 0.200000 Rejected refabs at time 48.921463 with ratio = 0.200000 Rejected refabs at time 48.922852 with ratio = 0.200000 Rejected refabs at time 48.924241 with ratio = 0.200000 Rejected refabs at time 48.925629 with ratio = 0.200000 Rejected refabs at time 48.927018 with ratio = 0.200000 Rejected refabs at time 48.933963 with ratio = 0.200000 Rejected refabs at time 48.935352 with ratio = 0.200000 Rejected refabs at time 48.936740 with ratio = 0.200000 Rejected refabs at time 48.938129 with ratio = 0.200000 Rejected refabs at time 48.939518 with ratio = 0.200000 Rejected refabs at time 48.940907 with ratio = 0.200000 Rejected refabs at time 48.942296 with ratio = 0.200000 Rejected refabs at time 48.943685 with ratio = 0.200000 Rejected refabs at time 48.945074 with ratio = 0.200000 Rejected refabs at time 48.946463 with ratio = 0.200000 Rejected refabs at time 48.947851 with ratio = 0.200000 Rejected refabs at time 48.949240 with ratio = 0.200000 Rejected refabs at time 48.953407 with ratio = 0.200000 Rejected refabs at time 48.956185 with ratio = 0.200000 Rejected refabs at time 48.957574 with ratio = 0.200000 Rejected refabs at time 48.958962 with ratio = 0.200000 Rejected refabs at time 48.960351 with ratio = 0.200000 Rejected refabs at time 49.003406 with ratio = 0.200000 There are 3 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 3 Time range: 48.72841 to 48.82285 Index range: 1 through 68 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 67 0.002 0.005 0.001 -0.008 0.011 -2.23 2.01 58 31 2 67 0.001 0.003 0.000 -0.005 0.008 -2.10 2.24 33 22 Segment 2 of 3 Time range: 48.96174 to 49.00340 Index range: 169 through 198 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 30 -0.021 0.002 0.000 -0.025 -0.017 -2.09 1.53 9 1 2 30 0.010 0.003 0.001 0.005 0.016 -1.92 1.75 29 6 Segment 3 of 3 Time range: 49.00479 to 49.15201 Index range: 200 through 305 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 -0.022 0.000 0.000 -0.022 -0.022 0.00 0.00 0 0 2 1 0.004 0.000 0.000 0.004 0.004 0.00 0.00 0 0 Optimization iteration 2 of 5 Segment 1 of 3 Time range: 48.72841 to 48.82285 Index range: 1 through 68 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 67 -0.000 0.005 0.001 -0.010 0.009 -2.23 2.01 58 31 2 67 0.000 0.003 0.000 -0.006 0.007 -2.09 2.24 33 22 Segment 2 of 3 Time range: 48.96174 to 49.00340 Index range: 169 through 198 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 30 0.000 0.002 0.000 -0.004 0.003 -2.09 1.53 9 1 2 30 -0.000 0.003 0.001 -0.006 0.005 -1.92 1.75 29 6 Segment 3 of 3 Time range: 49.00479 to 49.15201 Index range: 200 through 305 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 2 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 Optimization iteration 3 of 5 Segment 1 of 3 Time range: 48.72841 to 48.82285 Index range: 1 through 68 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 67 0.000 0.005 0.001 -0.010 0.009 -2.23 2.01 58 31 2 67 0.000 0.003 0.000 -0.006 0.007 -2.09 2.24 33 22 Segment 2 of 3 Time range: 48.96174 to 49.00340 Index range: 169 through 198 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 30 -0.000 0.002 0.000 -0.004 0.003 -2.09 1.53 9 1 2 30 -0.000 0.003 0.001 -0.006 0.005 -1.92 1.75 29 6 Segment 3 of 3 Time range: 49.00479 to 49.15201 Index range: 200 through 305 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 2 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 Optimization iteration 4 of 5 Segment 1 of 3 Time range: 48.72841 to 48.82285 Index range: 1 through 68 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 67 -0.000 0.005 0.001 -0.010 0.009 -2.23 2.01 58 31 2 67 0.000 0.003 0.000 -0.006 0.007 -2.09 2.24 33 22 Segment 2 of 3 Time range: 48.96174 to 49.00340 Index range: 169 through 198 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 30 0.000 0.002 0.000 -0.004 0.003 -2.09 1.53 9 1 2 30 -0.000 0.003 0.001 -0.006 0.005 -1.92 1.75 29 6 Segment 3 of 3 Time range: 49.00479 to 49.15201 Index range: 200 through 305 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 2 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 Optimization iteration 5 of 5 Segment 1 of 3 fix time dx dy (1.e-5 degrees) Segment 1 of 3 Time range: 48.72841 to 48.82285 Index range: 1 through 68 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 67 -0.000 0.005 0.001 -0.010 0.009 -2.23 2.01 58 31 2 67 0.000 0.003 0.000 -0.006 0.007 -2.09 2.24 33 22 Segment 2 of 3 fix time dx dy (1.e-5 degrees) Segment 2 of 3 Time range: 48.96174 to 49.00340 Index range: 169 through 198 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 30 -0.000 0.002 0.000 -0.004 0.003 -2.09 1.53 9 1 2 30 -0.000 0.003 0.001 -0.006 0.005 -1.92 1.75 29 6 Segment 3 of 3 fix time dx dy (1.e-5 degrees) Segment 3 of 3 Time range: 49.00479 to 49.15201 Index range: 200 through 305 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 2 1 0.000 0.000 0.000 0.000 0.000 0.00 0.00 0 0 seg i0 i1 n nfix 1 1 69 68 67 2 169 199 30 30 3 200 306 106 1 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 48.72841 48.82285 -168.0800 -168.0803 -14.5352 -14.5390 5 3 67 2 48.96174 49.00340 -168.0801 -168.0811 -14.5370 -14.5363 2 3 30 3 49.00479 49.15201 -168.0811 nan -14.5364 nan nan 0 1