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 49.849570 with ratio = 0.200000
 Rejected refabs at time 49.850958 with ratio = 0.200000
 Rejected refabs at time 49.856514 with ratio = 0.200000
 Rejected refabs at time 49.857903 with ratio = 0.200000
 Rejected refabs at time 49.859292 with ratio = 0.200000
 Rejected refabs at time 49.874903 with ratio = 1.079914
 Rejected refabs at time 51.069149 with ratio = 0.200000
 Rejected refabs at time 51.070538 with ratio = 0.200000
 Rejected refabs at time 51.071927 with ratio = 0.200000
 Rejected refabs at time 51.077482 with ratio = 0.200000
There are 6 segments for position integration.
Optimization iteration 1 of 5

Segment 1 of 6
   Time range:     49.73568 to    49.84957
   Index range: 3 through 84
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     82      0.019      0.005      0.001      0.007      0.030  -2.32   2.13   73   15
         2     82      0.015      0.003      0.000      0.008      0.023  -2.35   2.85   72   51


Segment 2 of 6
   Time range:     49.85235 to    49.85652
   Index range: 87 through 89
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.029      0.001      0.000      0.028      0.029  -1.24   1.21    0    2
         2      3      0.088      0.002      0.001      0.085      0.090  -1.20   1.25    2    0


Segment 3 of 6
   Time range:     49.86068 to    49.87457
   Index range: 93 through 102
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     10      0.071      0.002      0.001      0.067      0.075  -1.83   1.55    4    2
         2     10      0.195      0.005      0.001      0.188      0.203  -1.49   1.79    6    3


Segment 4 of 6
   Time range:     50.87888 to    51.06914
   Index range: 105 through 241
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    136      0.159      0.004      0.000      0.148      0.168  -2.81   2.42   15  115
         2    136     -0.149      0.004      0.000     -0.159     -0.142  -2.35   1.88   28   68


Segment 5 of 6
   Time range:     51.07331 to    51.07748
   Index range: 245 through 247
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.157      0.002      0.001      0.155      0.160  -0.80   1.41    1    0
         2      3     -0.151      0.003      0.002     -0.154     -0.147  -1.21   1.24    2    0


Segment 6 of 6
   Time range:     51.07887 to    51.23998
   Index range: 249 through 364
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    116      0.160      0.004      0.000      0.150      0.166  -2.64   1.70   31   96
         2    116     -0.151      0.004      0.000     -0.161     -0.143  -2.30   1.88    0    8

Optimization iteration 2 of 5

Segment 1 of 6
   Time range:     49.73568 to    49.84957
   Index range: 3 through 84
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     82      0.000      0.005      0.001     -0.012      0.011  -2.32   2.12   73   15
         2     82      0.000      0.003      0.000     -0.007      0.008  -2.35   2.84   72   51


Segment 2 of 6
   Time range:     49.85235 to    49.85652
   Index range: 87 through 89
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3     -0.000      0.001      0.000     -0.001      0.001  -1.24   1.21    0    2
         2      3     -0.000      0.002      0.001     -0.003      0.003  -1.20   1.25    2    0


Segment 3 of 6
   Time range:     49.86068 to    49.87457
   Index range: 93 through 102
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     10      0.000      0.002      0.001     -0.004      0.004  -1.83   1.54    4    2
         2     10     -0.000      0.005      0.001     -0.007      0.008  -1.49   1.79    6    3


Segment 4 of 6
   Time range:     50.87888 to    51.06914
   Index range: 105 through 241
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    136     -0.000      0.004      0.000     -0.010      0.009  -2.80   2.42   15  115
         2    136      0.000      0.004      0.000     -0.010      0.008  -2.35   1.88   28   68


Segment 5 of 6
   Time range:     51.07331 to    51.07748
   Index range: 245 through 247
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.002      0.001     -0.002      0.003  -0.80   1.41    1    0
         2      3     -0.000      0.003      0.002     -0.004      0.004  -1.21   1.24    2    0


Segment 6 of 6
   Time range:     51.07887 to    51.23998
   Index range: 249 through 364
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    116      0.000      0.004      0.000     -0.010      0.007  -2.65   1.71   31   96
         2    116     -0.000      0.004      0.000     -0.010      0.008  -2.29   1.89    0    8

Optimization iteration 3 of 5

Segment 1 of 6
   Time range:     49.73568 to    49.84957
   Index range: 3 through 84
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     82     -0.000      0.005      0.001     -0.012      0.011  -2.32   2.12   73   15
         2     82      0.000      0.003      0.000     -0.007      0.008  -2.35   2.84   72   51


Segment 2 of 6
   Time range:     49.85235 to    49.85652
   Index range: 87 through 89
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.001      0.000     -0.001      0.001  -1.24   1.21    0    2
         2      3     -0.000      0.002      0.001     -0.003      0.003  -1.20   1.25    2    0


Segment 3 of 6
   Time range:     49.86068 to    49.87457
   Index range: 93 through 102
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     10     -0.000      0.002      0.001     -0.004      0.004  -1.83   1.54    4    2
         2     10     -0.000      0.005      0.001     -0.007      0.008  -1.49   1.79    6    3


Segment 4 of 6
   Time range:     50.87888 to    51.06914
   Index range: 105 through 241
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    136     -0.000      0.004      0.000     -0.010      0.009  -2.80   2.42   15  115
         2    136     -0.000      0.004      0.000     -0.010      0.008  -2.35   1.88   28   68


Segment 5 of 6
   Time range:     51.07331 to    51.07748
   Index range: 245 through 247
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.002      0.001     -0.002      0.003  -0.80   1.41    1    0
         2      3      0.000      0.003      0.002     -0.004      0.004  -1.21   1.24    2    0


Segment 6 of 6
   Time range:     51.07887 to    51.23998
   Index range: 249 through 364
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    116      0.000      0.004      0.000     -0.010      0.007  -2.65   1.71   31   96
         2    116      0.000      0.004      0.000     -0.010      0.008  -2.29   1.89    0    8

Optimization iteration 4 of 5

Segment 1 of 6
   Time range:     49.73568 to    49.84957
   Index range: 3 through 84
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     82     -0.000      0.005      0.001     -0.012      0.011  -2.32   2.12   73   15
         2     82      0.000      0.003      0.000     -0.007      0.008  -2.35   2.84   72   51


Segment 2 of 6
   Time range:     49.85235 to    49.85652
   Index range: 87 through 89
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.001      0.000     -0.001      0.001  -1.24   1.21    0    2
         2      3      0.000      0.002      0.001     -0.003      0.003  -1.20   1.25    2    0


Segment 3 of 6
   Time range:     49.86068 to    49.87457
   Index range: 93 through 102
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     10      0.000      0.002      0.001     -0.004      0.004  -1.83   1.54    4    2
         2     10      0.000      0.005      0.001     -0.007      0.008  -1.49   1.79    6    3


Segment 4 of 6
   Time range:     50.87888 to    51.06914
   Index range: 105 through 241
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    136     -0.000      0.004      0.000     -0.010      0.009  -2.80   2.42   15  115
         2    136     -0.000      0.004      0.000     -0.010      0.008  -2.35   1.88   28   68


Segment 5 of 6
   Time range:     51.07331 to    51.07748
   Index range: 245 through 247
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.002      0.001     -0.002      0.003  -0.80   1.41    1    0
         2      3      0.000      0.003      0.002     -0.004      0.004  -1.21   1.24    2    0


Segment 6 of 6
   Time range:     51.07887 to    51.23998
   Index range: 249 through 364
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    116      0.000      0.004      0.000     -0.010      0.007  -2.65   1.71   31   96
         2    116      0.000      0.004      0.000     -0.010      0.008  -2.29   1.89    0    8

Optimization iteration 5 of 5

   Segment 1 of 6
   fix time          dx          dy   (1.e-5 degrees)

Segment 1 of 6
   Time range:     49.73568 to    49.84957
   Index range: 3 through 84
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     82      0.000      0.005      0.001     -0.012      0.011  -2.32   2.12   73   15
         2     82     -0.000      0.003      0.000     -0.007      0.008  -2.35   2.84   72   51


   Segment 2 of 6
   fix time          dx          dy   (1.e-5 degrees)

Segment 2 of 6
   Time range:     49.85235 to    49.85652
   Index range: 87 through 89
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.001      0.000     -0.001      0.001  -1.24   1.21    0    2
         2      3      0.000      0.002      0.001     -0.003      0.003  -1.20   1.25    2    0


   Segment 3 of 6
   fix time          dx          dy   (1.e-5 degrees)

Segment 3 of 6
   Time range:     49.86068 to    49.87457
   Index range: 93 through 102
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1     10     -0.000      0.002      0.001     -0.004      0.004  -1.83   1.54    4    2
         2     10      0.000      0.005      0.001     -0.007      0.008  -1.49   1.79    6    3


   Segment 4 of 6
   fix time          dx          dy   (1.e-5 degrees)

Segment 4 of 6
   Time range:     50.87888 to    51.06914
   Index range: 105 through 241
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    136     -0.000      0.004      0.000     -0.010      0.009  -2.80   2.42   15  115
         2    136     -0.000      0.004      0.000     -0.010      0.008  -2.35   1.88   28   68


   Segment 5 of 6
   fix time          dx          dy   (1.e-5 degrees)

Segment 5 of 6
   Time range:     51.07331 to    51.07748
   Index range: 245 through 247
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1      3      0.000      0.002      0.001     -0.002      0.003  -0.80   1.41    1    0
         2      3      0.000      0.003      0.002     -0.004      0.004  -1.21   1.24    2    0


   Segment 6 of 6
   fix time          dx          dy   (1.e-5 degrees)

Segment 6 of 6
   Time range:     51.07887 to    51.23998
   Index range: 249 through 364
Statistics for fix (scaled by 0.010000)
        x, y    N       MEAN    STD DEV        SEM    minimum    maximum min/sd max/sd imin imax
         1    116     -0.000      0.004      0.000     -0.010      0.007  -2.65   1.71   31   96
         2    116     -0.000      0.004      0.000     -0.010      0.008  -2.29   1.89    0    8


seg     i0    i1      n   nfix
  1      3    85     82     82
  2     87    90      3      3
  3     93   103     10     10
  4    105   242    137    136
  5    245   248      3      3
  6    249   365    116    116

seg          t0         t1         x0        x1         y0        y1  stdx  stdy n_fix
  1    49.73568   49.84957  -167.2297 -167.2337   -15.7980  -15.7962     5    3  82
  2    49.85235   49.85652  -167.2336 -167.2332   -15.7955  -15.7945     1    2   3
  3    49.86068   49.87457  -167.2328 -167.2371   -15.7934  -15.7828     3    5  10
  4    50.87888   51.06914  -167.2766 -167.2724   -12.6499  -12.6492     4    5 136
  5    51.07331   51.07748  -167.2724 -167.2724   -12.6492  -12.6491     3    3   3
  6    51.07887   51.23998  -167.2724 -167.2870   -12.6491  -12.6398     4    5 116