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 249.926841 with ratio = 0.201005 Rejected refabs at time 249.928220 with ratio = 0.199005 Rejected refabs at time 249.947674 with ratio = 0.201005 Rejected refabs at time 249.949053 with ratio = 0.199005 Rejected refabs at time 250.044765 with ratio = 0.240675 Rejected refabs at time 250.715339 with ratio = 0.201005 Rejected refabs at time 250.716719 with ratio = 0.199005 Rejected refabs at time 250.723672 with ratio = 0.201005 Rejected refabs at time 250.725052 with ratio = 0.199005 Rejected refabs at time 250.787561 with ratio = 0.201005 Rejected refabs at time 250.788940 with ratio = 0.199005 Rejected refabs at time 250.797283 with ratio = 0.201005 Rejected refabs at time 250.798662 with ratio = 0.199005 Rejected refabs at time 251.120380 with ratio = 0.326895 There are 9 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 9 Time range: 249.66851 to 249.92684 Index range: 2 through 187 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 186 -0.099 0.004 0.000 -0.110 -0.088 -2.47 2.63 3 178 2 186 -0.175 0.004 0.000 -0.186 -0.163 -2.86 3.15 25 33 Segment 2 of 9 Time range: 249.92962 to 249.94767 Index range: 190 through 202 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 14 -0.100 0.004 0.001 -0.106 -0.095 -1.67 1.40 12 6 2 14 -0.173 0.004 0.001 -0.178 -0.165 -1.36 1.96 7 1 Segment 3 of 9 Time range: 249.95045 to 250.04477 Index range: 205 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 69 -0.099 0.006 0.001 -0.116 -0.088 -2.87 1.89 56 60 2 69 -0.168 0.003 0.000 -0.176 -0.160 -2.45 2.76 43 56 Segment 4 of 9 Time range: 250.70145 to 250.71534 Index range: 274 through 283 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 10 13.294 0.004 0.001 13.287 13.299 -1.81 1.08 9 3 2 10 223.532 0.001 0.000 223.529 223.534 -2.20 1.54 1 5 Segment 5 of 9 Time range: 250.71811 to 250.72367 Index range: 286 through 289 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 13.291 0.002 0.001 13.289 13.293 -1.17 1.45 0 3 2 4 223.532 0.000 0.000 223.532 223.532 -1.00 1.13 3 1 Segment 6 of 9 Time range: 250.72645 to 250.78756 Index range: 292 through 335 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 44 13.299 0.005 0.001 13.285 13.307 -3.05 1.91 18 23 2 44 223.532 0.003 0.000 223.526 223.539 -1.74 2.15 29 18 Segment 7 of 9 Time range: 250.79034 to 250.79728 Index range: 338 through 342 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 13.273 0.002 0.001 13.271 13.275 -1.42 1.07 4 0 2 5 223.555 0.001 0.001 223.553 223.557 -1.12 1.88 0 4 Segment 8 of 9 Time range: 250.80006 to 251.12038 Index range: 345 through 575 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 232 13.207 0.006 0.000 13.198 13.229 -1.48 3.91 18 231 2 232 223.619 0.004 0.000 223.612 223.628 -2.15 2.40 153 219 Segment 9 of 9 Time range: 251.66807 to 252.11390 Index range: 577 through 897 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 321 -82.365 0.010 0.001 -82.389 -82.335 -2.52 2.93 0 320 2 321 291.501 0.004 0.000 291.488 291.515 -3.15 3.37 55 132 Optimization iteration 2 of 5 Segment 1 of 9 Time range: 249.66851 to 249.92684 Index range: 2 through 187 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 186 -0.000 0.004 0.000 -0.010 0.011 -2.46 2.63 3 178 2 186 0.000 0.004 0.000 -0.011 0.012 -2.87 3.16 25 33 Segment 2 of 9 Time range: 249.92962 to 249.94767 Index range: 190 through 202 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 14 -0.000 0.004 0.001 -0.006 0.005 -1.67 1.40 12 6 2 14 -0.000 0.004 0.001 -0.005 0.008 -1.36 1.96 7 1 Segment 3 of 9 Time range: 249.95045 to 250.04477 Index range: 205 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 69 -0.000 0.006 0.001 -0.016 0.011 -2.87 1.89 56 60 2 69 -0.000 0.003 0.000 -0.008 0.008 -2.46 2.75 43 56 Segment 4 of 9 Time range: 250.70145 to 250.71534 Index range: 274 through 283 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 0.004 0.001 -0.007 0.005 -1.81 1.10 9 3 2 10 0.000 0.001 0.000 -0.003 0.002 -2.20 1.55 1 5 Segment 5 of 9 Time range: 250.71811 to 250.72367 Index range: 286 through 289 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 0.000 0.002 0.001 -0.002 0.003 -1.17 1.45 0 3 2 4 -0.000 0.000 0.000 -0.000 0.000 -1.04 1.13 3 1 Segment 6 of 9 Time range: 250.72645 to 250.78756 Index range: 292 through 335 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 44 -0.001 0.004 0.001 -0.015 0.007 -3.22 1.97 18 23 2 44 0.000 0.003 0.000 -0.006 0.007 -1.74 2.15 29 18 Segment 7 of 9 Time range: 250.79034 to 250.79728 Index range: 338 through 342 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 0.001 0.001 0.001 -0.001 0.002 -1.33 0.94 4 2 2 5 0.000 0.001 0.001 -0.002 0.003 -1.12 1.88 0 4 Segment 8 of 9 Time range: 250.80006 to 251.12038 Index range: 345 through 575 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 232 -0.003 0.004 0.000 -0.010 0.009 -1.82 3.29 160 226 2 232 -0.000 0.003 0.000 -0.008 0.008 -2.15 2.39 153 219 Segment 9 of 9 Time range: 251.66807 to 252.11390 Index range: 577 through 897 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 321 -0.012 0.007 0.000 -0.027 0.005 -2.23 2.59 49 315 2 321 -0.000 0.004 0.000 -0.013 0.014 -3.15 3.37 55 132 Optimization iteration 3 of 5 Segment 1 of 9 Time range: 249.66851 to 249.92684 Index range: 2 through 187 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 186 0.000 0.004 0.000 -0.010 0.011 -2.46 2.63 3 178 2 186 -0.000 0.004 0.000 -0.011 0.012 -2.87 3.16 25 33 Segment 2 of 9 Time range: 249.92962 to 249.94767 Index range: 190 through 202 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 14 0.000 0.004 0.001 -0.006 0.005 -1.67 1.40 12 6 2 14 -0.000 0.004 0.001 -0.005 0.008 -1.36 1.96 7 1 Segment 3 of 9 Time range: 249.95045 to 250.04477 Index range: 205 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 69 0.000 0.006 0.001 -0.016 0.011 -2.87 1.89 56 60 2 69 -0.000 0.003 0.000 -0.008 0.008 -2.46 2.75 43 56 Segment 4 of 9 Time range: 250.70145 to 250.71534 Index range: 274 through 283 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 0.004 0.001 -0.007 0.005 -1.81 1.12 9 3 2 10 0.000 0.001 0.000 -0.003 0.002 -2.20 1.55 1 5 Segment 5 of 9 Time range: 250.71811 to 250.72367 Index range: 286 through 289 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 0.000 0.002 0.001 -0.002 0.003 -1.17 1.46 0 3 2 4 -0.000 0.000 0.000 -0.000 0.000 -1.04 1.13 3 1 Segment 6 of 9 Time range: 250.72645 to 250.78756 Index range: 292 through 335 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 44 -0.001 0.004 0.001 -0.015 0.007 -3.29 1.97 18 23 2 44 0.000 0.003 0.000 -0.006 0.007 -1.74 2.15 29 18 Segment 7 of 9 Time range: 250.79034 to 250.79728 Index range: 338 through 342 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 0.001 0.001 0.000 -0.000 0.002 -1.23 1.36 3 2 2 5 0.000 0.001 0.001 -0.002 0.003 -1.12 1.88 0 4 Segment 8 of 9 Time range: 250.80006 to 251.12038 Index range: 345 through 575 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 232 -0.003 0.003 0.000 -0.011 0.004 -2.98 2.57 219 94 2 232 -0.000 0.003 0.000 -0.008 0.008 -2.15 2.38 153 219 Segment 9 of 9 Time range: 251.66807 to 252.11390 Index range: 577 through 897 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 321 -0.013 0.004 0.000 -0.023 -0.001 -2.26 2.78 220 193 2 321 -0.000 0.004 0.000 -0.013 0.014 -3.14 3.37 55 132 Optimization iteration 4 of 5 Segment 1 of 9 Time range: 249.66851 to 249.92684 Index range: 2 through 187 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 186 -0.000 0.004 0.000 -0.010 0.011 -2.46 2.63 3 178 2 186 -0.000 0.004 0.000 -0.011 0.012 -2.87 3.16 25 33 Segment 2 of 9 Time range: 249.92962 to 249.94767 Index range: 190 through 202 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 14 0.000 0.004 0.001 -0.006 0.005 -1.67 1.40 12 6 2 14 -0.000 0.004 0.001 -0.005 0.008 -1.36 1.96 7 1 Segment 3 of 9 Time range: 249.95045 to 250.04477 Index range: 205 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 69 0.000 0.006 0.001 -0.016 0.011 -2.87 1.89 56 60 2 69 -0.000 0.003 0.000 -0.008 0.008 -2.46 2.75 43 56 Segment 4 of 9 Time range: 250.70145 to 250.71534 Index range: 274 through 283 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 0.004 0.001 -0.007 0.004 -1.81 1.12 9 3 2 10 0.000 0.001 0.000 -0.003 0.002 -2.20 1.55 1 5 Segment 5 of 9 Time range: 250.71811 to 250.72367 Index range: 286 through 289 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 -0.000 0.002 0.001 -0.002 0.003 -1.17 1.46 0 3 2 4 -0.000 0.000 0.000 -0.000 0.000 -1.04 1.13 3 1 Segment 6 of 9 Time range: 250.72645 to 250.78756 Index range: 292 through 335 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 44 -0.000 0.004 0.001 -0.013 0.008 -3.29 1.97 18 23 2 44 -0.000 0.003 0.000 -0.006 0.007 -1.74 2.15 29 18 Segment 7 of 9 Time range: 250.79034 to 250.79728 Index range: 338 through 342 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 0.000 0.001 0.000 -0.001 0.001 -1.23 1.36 3 2 2 5 0.000 0.001 0.001 -0.002 0.003 -1.12 1.88 0 4 Segment 8 of 9 Time range: 250.80006 to 251.12038 Index range: 345 through 575 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 232 0.000 0.003 0.000 -0.008 0.007 -2.98 2.57 219 94 2 232 0.000 0.003 0.000 -0.008 0.008 -2.15 2.38 153 219 Segment 9 of 9 Time range: 251.66807 to 252.11390 Index range: 577 through 897 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 321 0.000 0.004 0.000 -0.010 0.012 -2.26 2.78 220 193 2 321 0.000 0.004 0.000 -0.013 0.014 -3.14 3.37 55 132 Optimization iteration 5 of 5 Segment 1 of 9 fix time dx dy (1.e-5 degrees) Segment 1 of 9 Time range: 249.66851 to 249.92684 Index range: 2 through 187 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 186 -0.000 0.004 0.000 -0.010 0.011 -2.46 2.63 3 178 2 186 0.000 0.004 0.000 -0.011 0.012 -2.87 3.16 25 33 Segment 2 of 9 fix time dx dy (1.e-5 degrees) Segment 2 of 9 Time range: 249.92962 to 249.94767 Index range: 190 through 202 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 14 0.000 0.004 0.001 -0.006 0.005 -1.67 1.40 12 6 2 14 -0.000 0.004 0.001 -0.005 0.008 -1.36 1.96 7 1 Segment 3 of 9 fix time dx dy (1.e-5 degrees) Segment 3 of 9 Time range: 249.95045 to 250.04477 Index range: 205 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 69 0.000 0.006 0.001 -0.016 0.011 -2.87 1.89 56 60 2 69 0.000 0.003 0.000 -0.008 0.008 -2.46 2.75 43 56 Segment 4 of 9 fix time dx dy (1.e-5 degrees) Segment 4 of 9 Time range: 250.70145 to 250.71534 Index range: 274 through 283 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 0.004 0.001 -0.007 0.004 -1.81 1.12 9 3 2 10 0.000 0.001 0.000 -0.003 0.002 -2.20 1.55 1 5 Segment 5 of 9 fix time dx dy (1.e-5 degrees) Segment 5 of 9 Time range: 250.71811 to 250.72367 Index range: 286 through 289 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 -0.000 0.002 0.001 -0.002 0.003 -1.17 1.46 0 3 2 4 -0.000 0.000 0.000 -0.000 0.000 -1.04 1.13 3 1 Segment 6 of 9 fix time dx dy (1.e-5 degrees) Segment 6 of 9 Time range: 250.72645 to 250.78756 Index range: 292 through 335 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 44 -0.000 0.004 0.001 -0.013 0.008 -3.29 1.97 18 23 2 44 -0.000 0.003 0.000 -0.006 0.007 -1.74 2.15 29 18 Segment 7 of 9 fix time dx dy (1.e-5 degrees) Segment 7 of 9 Time range: 250.79034 to 250.79728 Index range: 338 through 342 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 0.000 0.001 0.000 -0.001 0.001 -1.23 1.36 3 2 2 5 0.000 0.001 0.001 -0.002 0.003 -1.12 1.88 0 4 Segment 8 of 9 fix time dx dy (1.e-5 degrees) Segment 8 of 9 Time range: 250.80006 to 251.12038 Index range: 345 through 575 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 232 0.000 0.003 0.000 -0.008 0.007 -2.98 2.57 219 94 2 232 0.000 0.003 0.000 -0.008 0.008 -2.15 2.38 153 219 Segment 9 of 9 fix time dx dy (1.e-5 degrees) Segment 9 of 9 Time range: 251.66807 to 252.11390 Index range: 577 through 897 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 321 0.000 0.004 0.000 -0.010 0.012 -2.26 2.78 220 193 2 321 0.000 0.004 0.000 -0.013 0.014 -3.14 3.37 55 132 seg i0 i1 n nfix 1 2 188 186 186 2 190 203 13 14 3 205 273 68 69 4 274 284 10 10 5 286 290 4 4 6 292 336 44 44 7 338 343 5 5 8 345 576 231 232 9 577 898 321 321 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 249.66851 249.92684 -158.3609 -158.3574 23.3063 23.3080 4 4 186 2 249.92962 249.94767 -158.3574 -158.3573 23.3080 23.3085 4 4 14 3 249.95045 250.04477 -158.3573 -158.3496 23.3085 23.3170 6 3 69 4 250.70145 250.71534 -158.2157 -158.2173 25.5540 25.5537 4 2 10 5 250.71811 250.72367 -158.2174 -158.2174 25.5537 25.5536 2 0 4 6 250.72645 250.78756 -158.2174 -158.2140 25.5536 25.5530 4 4 44 7 250.79034 250.79728 -158.2143 -158.2161 25.5532 25.5548 1 2 5 8 250.80006 251.12038 -158.2168 -158.2017 25.5554 25.5460 3 4 232 9 251.66807 252.11390 -159.1578 -159.1315 26.2248 26.2133 4 5 321