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 270.938923 with ratio = 0.201005 Rejected refabs at time 270.940302 with ratio = 0.199005 Rejected refabs at time 271.061143 with ratio = 0.201005 Rejected refabs at time 271.062523 with ratio = 0.200000 Rejected refabs at time 271.063912 with ratio = 0.199005 Rejected refabs at time 271.113920 with ratio = 0.201005 Rejected refabs at time 271.115300 with ratio = 0.199005 Rejected refabs at time 271.170864 with ratio = 1.407100 Rejected refabs at time 271.898658 with ratio = 0.201005 Rejected refabs at time 271.900038 with ratio = 0.199005 Rejected refabs at time 271.916713 with ratio = 0.201005 Rejected refabs at time 271.918093 with ratio = 0.199005 Rejected refabs at time 271.981990 with ratio = 0.201005 Rejected refabs at time 271.983370 with ratio = 0.199005 There are 8 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 8 Time range: 270.66948 to 270.93892 Index range: 3 through 196 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 195 0.276 0.005 0.000 0.264 0.288 -2.57 2.51 130 149 2 195 -0.370 0.004 0.000 -0.381 -0.358 -2.43 2.94 86 23 Segment 2 of 8 Time range: 270.94170 to 271.06115 Index range: 199 through 284 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 86 0.275 0.004 0.000 0.265 0.281 -2.47 1.81 21 5 2 86 -0.372 0.004 0.000 -0.380 -0.362 -2.13 2.36 17 11 Segment 3 of 8 Time range: 271.06531 to 271.11392 Index range: 288 through 322 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 35 0.287 0.003 0.001 0.280 0.293 -2.01 1.70 17 25 2 35 -0.365 0.004 0.001 -0.371 -0.358 -1.96 1.96 34 17 Segment 4 of 8 Time range: 271.11670 to 271.17087 Index range: 325 through 363 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 39 0.386 0.004 0.001 0.378 0.394 -1.98 1.88 5 29 2 39 -0.384 0.003 0.000 -0.388 -0.378 -1.59 1.94 23 18 Segment 5 of 8 Time range: 271.65421 to 271.89866 Index range: 365 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 21.686 0.005 0.000 21.676 21.704 -2.12 3.90 92 7 2 176 -19.875 0.003 0.000 -19.883 -19.867 -2.34 2.27 10 118 Segment 6 of 8 Time range: 271.90144 to 271.91671 Index range: 543 through 553 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 21.687 0.001 0.000 21.685 21.689 -1.52 1.75 10 5 2 11 -19.876 0.002 0.000 -19.878 -19.872 -1.26 2.15 9 0 Segment 7 of 8 Time range: 271.91949 to 271.98199 Index range: 556 through 600 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 45 21.691 0.002 0.000 21.687 21.695 -2.19 2.05 28 0 2 45 -19.865 0.003 0.000 -19.870 -19.858 -1.43 2.13 14 34 Segment 8 of 8 Time range: 271.98477 to 272.12088 Index range: 603 through 700 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 97 21.695 0.004 0.000 21.684 21.703 -2.61 1.92 15 51 2 97 -19.858 0.004 0.000 -19.867 -19.851 -2.20 2.10 90 6 Optimization iteration 2 of 5 Segment 1 of 8 Time range: 270.66948 to 270.93892 Index range: 3 through 196 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 195 -0.000 0.005 0.000 -0.012 0.012 -2.57 2.51 130 149 2 195 0.000 0.004 0.000 -0.010 0.013 -2.43 2.94 86 23 Segment 2 of 8 Time range: 270.94170 to 271.06115 Index range: 199 through 284 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 86 -0.000 0.004 0.000 -0.009 0.007 -2.47 1.81 21 5 2 86 0.000 0.004 0.000 -0.009 0.010 -2.13 2.36 17 11 Segment 3 of 8 Time range: 271.06531 to 271.11392 Index range: 288 through 322 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 35 -0.000 0.003 0.001 -0.007 0.006 -2.01 1.70 17 25 2 35 0.000 0.004 0.001 -0.007 0.007 -1.96 1.97 34 17 Segment 4 of 8 Time range: 271.11670 to 271.17087 Index range: 325 through 363 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 39 -0.000 0.004 0.001 -0.009 0.008 -1.98 1.88 5 29 2 39 0.000 0.003 0.000 -0.005 0.006 -1.59 1.94 23 18 Segment 5 of 8 Time range: 271.65421 to 271.89866 Index range: 365 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 0.003 0.004 0.000 -0.007 0.020 -2.15 3.87 92 7 2 176 -0.000 0.003 0.000 -0.008 0.008 -2.34 2.27 10 118 Segment 6 of 8 Time range: 271.90144 to 271.91671 Index range: 543 through 553 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 -0.000 0.001 0.000 -0.002 0.002 -1.52 1.75 10 5 2 11 -0.000 0.002 0.000 -0.002 0.003 -1.26 2.15 9 0 Segment 7 of 8 Time range: 271.91949 to 271.98199 Index range: 556 through 600 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 45 0.000 0.002 0.000 -0.004 0.004 -2.19 2.05 28 0 2 45 -0.000 0.003 0.000 -0.005 0.007 -1.43 2.13 14 34 Segment 8 of 8 Time range: 271.98477 to 272.12088 Index range: 603 through 700 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 97 0.000 0.004 0.000 -0.011 0.008 -2.60 1.89 15 51 2 97 0.000 0.004 0.000 -0.008 0.008 -2.20 2.10 90 6 Optimization iteration 3 of 5 Segment 1 of 8 Time range: 270.66948 to 270.93892 Index range: 3 through 196 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 195 0.000 0.005 0.000 -0.012 0.012 -2.57 2.51 130 149 2 195 0.000 0.004 0.000 -0.010 0.013 -2.43 2.94 86 23 Segment 2 of 8 Time range: 270.94170 to 271.06115 Index range: 199 through 284 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 86 0.000 0.004 0.000 -0.009 0.007 -2.47 1.81 21 5 2 86 0.000 0.004 0.000 -0.009 0.010 -2.13 2.36 17 11 Segment 3 of 8 Time range: 271.06531 to 271.11392 Index range: 288 through 322 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 35 0.000 0.003 0.001 -0.007 0.006 -2.01 1.70 17 25 2 35 0.000 0.004 0.001 -0.007 0.007 -1.96 1.97 34 17 Segment 4 of 8 Time range: 271.11670 to 271.17087 Index range: 325 through 363 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 39 0.000 0.004 0.001 -0.009 0.008 -1.98 1.88 5 29 2 39 0.000 0.003 0.000 -0.005 0.006 -1.59 1.94 23 18 Segment 5 of 8 Time range: 271.65421 to 271.89866 Index range: 365 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 0.003 0.004 0.000 -0.006 0.020 -2.18 3.81 92 7 2 176 -0.000 0.003 0.000 -0.008 0.008 -2.34 2.27 10 118 Segment 6 of 8 Time range: 271.90144 to 271.91671 Index range: 543 through 553 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 -0.000 0.001 0.000 -0.002 0.002 -1.52 1.75 10 5 2 11 -0.000 0.002 0.000 -0.002 0.003 -1.26 2.15 9 0 Segment 7 of 8 Time range: 271.91949 to 271.98199 Index range: 556 through 600 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 45 0.000 0.002 0.000 -0.004 0.004 -2.19 2.05 28 0 2 45 -0.000 0.003 0.000 -0.005 0.007 -1.43 2.13 14 34 Segment 8 of 8 Time range: 271.98477 to 272.12088 Index range: 603 through 700 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 97 0.000 0.004 0.000 -0.011 0.008 -2.59 1.86 15 51 2 97 0.000 0.004 0.000 -0.008 0.008 -2.20 2.10 90 6 Optimization iteration 4 of 5 Segment 1 of 8 Time range: 270.66948 to 270.93892 Index range: 3 through 196 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 195 -0.000 0.005 0.000 -0.012 0.012 -2.57 2.51 130 149 2 195 -0.000 0.004 0.000 -0.010 0.013 -2.43 2.94 86 23 Segment 2 of 8 Time range: 270.94170 to 271.06115 Index range: 199 through 284 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 86 -0.000 0.004 0.000 -0.009 0.007 -2.47 1.81 21 5 2 86 -0.000 0.004 0.000 -0.009 0.010 -2.13 2.36 17 11 Segment 3 of 8 Time range: 271.06531 to 271.11392 Index range: 288 through 322 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 35 -0.000 0.003 0.001 -0.007 0.006 -2.01 1.70 17 25 2 35 -0.000 0.004 0.001 -0.007 0.007 -1.96 1.97 34 17 Segment 4 of 8 Time range: 271.11670 to 271.17087 Index range: 325 through 363 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 39 -0.000 0.004 0.001 -0.009 0.008 -1.98 1.88 5 29 2 39 -0.000 0.003 0.000 -0.005 0.006 -1.59 1.94 23 18 Segment 5 of 8 Time range: 271.65421 to 271.89866 Index range: 365 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 0.000 0.004 0.000 -0.010 0.017 -2.18 3.81 92 7 2 176 -0.000 0.003 0.000 -0.008 0.008 -2.34 2.27 10 118 Segment 6 of 8 Time range: 271.90144 to 271.91671 Index range: 543 through 553 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 -0.000 0.001 0.000 -0.002 0.002 -1.52 1.75 10 5 2 11 0.000 0.002 0.000 -0.002 0.003 -1.26 2.15 9 0 Segment 7 of 8 Time range: 271.91949 to 271.98199 Index range: 556 through 600 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 45 -0.000 0.002 0.000 -0.004 0.004 -2.19 2.05 28 0 2 45 0.000 0.003 0.000 -0.005 0.007 -1.43 2.13 14 34 Segment 8 of 8 Time range: 271.98477 to 272.12088 Index range: 603 through 700 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 97 -0.000 0.004 0.000 -0.011 0.008 -2.59 1.86 15 51 2 97 0.000 0.004 0.000 -0.008 0.008 -2.20 2.10 90 6 Optimization iteration 5 of 5 Segment 1 of 8 fix time dx dy (1.e-5 degrees) Segment 1 of 8 Time range: 270.66948 to 270.93892 Index range: 3 through 196 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 195 -0.000 0.005 0.000 -0.012 0.012 -2.57 2.51 130 149 2 195 0.000 0.004 0.000 -0.010 0.013 -2.43 2.94 86 23 Segment 2 of 8 fix time dx dy (1.e-5 degrees) Segment 2 of 8 Time range: 270.94170 to 271.06115 Index range: 199 through 284 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 86 0.000 0.004 0.000 -0.009 0.007 -2.47 1.81 21 5 2 86 -0.000 0.004 0.000 -0.009 0.010 -2.13 2.36 17 11 Segment 3 of 8 fix time dx dy (1.e-5 degrees) Segment 3 of 8 Time range: 271.06531 to 271.11392 Index range: 288 through 322 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 35 0.000 0.003 0.001 -0.007 0.006 -2.01 1.70 17 25 2 35 -0.000 0.004 0.001 -0.007 0.007 -1.96 1.97 34 17 Segment 4 of 8 fix time dx dy (1.e-5 degrees) Segment 4 of 8 Time range: 271.11670 to 271.17087 Index range: 325 through 363 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 39 -0.000 0.004 0.001 -0.009 0.008 -1.98 1.88 5 29 2 39 -0.000 0.003 0.000 -0.005 0.006 -1.59 1.94 23 18 Segment 5 of 8 fix time dx dy (1.e-5 degrees) Segment 5 of 8 Time range: 271.65421 to 271.89866 Index range: 365 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 0.000 0.004 0.000 -0.010 0.017 -2.18 3.81 92 7 2 176 -0.000 0.003 0.000 -0.008 0.008 -2.34 2.27 10 118 Segment 6 of 8 fix time dx dy (1.e-5 degrees) Segment 6 of 8 Time range: 271.90144 to 271.91671 Index range: 543 through 553 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 -0.000 0.001 0.000 -0.002 0.002 -1.52 1.75 10 5 2 11 0.000 0.002 0.000 -0.002 0.003 -1.26 2.15 9 0 Segment 7 of 8 fix time dx dy (1.e-5 degrees) Segment 7 of 8 Time range: 271.91949 to 271.98199 Index range: 556 through 600 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 45 0.000 0.002 0.000 -0.004 0.004 -2.19 2.05 28 0 2 45 0.000 0.003 0.000 -0.005 0.007 -1.43 2.13 14 34 Segment 8 of 8 fix time dx dy (1.e-5 degrees) Segment 8 of 8 Time range: 271.98477 to 272.12088 Index range: 603 through 700 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 97 0.000 0.004 0.000 -0.011 0.008 -2.59 1.86 15 51 2 97 0.000 0.004 0.000 -0.008 0.008 -2.20 2.10 90 6 seg i0 i1 n nfix 1 3 197 194 195 2 199 285 86 86 3 288 323 35 35 4 325 364 39 39 5 365 541 176 176 6 543 554 11 11 7 556 601 45 45 8 603 701 98 97 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 270.66948 270.93892 -158.1418 -158.1247 21.2231 21.2179 5 5 195 2 270.94170 271.06115 -158.1248 -158.1229 21.2179 21.2165 4 4 86 3 271.06531 271.11392 -158.1228 -158.1145 21.2166 21.2158 3 4 35 4 271.11670 271.17087 -158.1135 -158.1047 21.2156 21.1921 4 3 39 5 271.65421 271.89866 -157.8917 -157.8362 20.9972 21.0178 5 4 176 6 271.90144 271.91671 -157.8362 -157.8361 21.0178 21.0179 1 2 11 7 271.91949 271.98199 -157.8361 -157.8357 21.0180 21.0182 2 4 45 8 271.98477 272.12088 -157.8357 -157.8270 21.0183 21.0186 5 4 97