ADCP Navigation: SMOOTHR reference_file: a_km.nav refabs_output: a_km.ref output: a_km.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 46.790436 with ratio = 0.200000 Rejected refabs at time 46.794602 with ratio = 0.200000 Rejected refabs at time 46.797389 with ratio = 0.200000 Rejected refabs at time 46.800167 with ratio = 0.200000 Rejected refabs at time 46.801556 with ratio = 0.200000 Rejected refabs at time 46.804343 with ratio = 0.200000 Rejected refabs at time 46.807121 with ratio = 0.255515 Rejected refabs at time 46.808509 with ratio = 0.255515 Rejected refabs at time 46.812685 with ratio = 0.360999 Rejected refabs at time 46.814074 with ratio = 0.360999 Rejected refabs at time 48.916637 with ratio = 0.099256 Rejected refabs at time 49.197547 with ratio = 0.200000 Rejected refabs at time 49.374153 with ratio = 0.200000 Rejected refabs at time 49.666175 with ratio = 0.441634 Rejected refabs at time 50.286382 with ratio = 0.200000 Rejected refabs at time 50.453258 with ratio = 0.200000 Rejected refabs at time 50.454647 with ratio = 0.200000 There are 9 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 9 Time range: 46.80991 to 46.81269 Index range: 17 through 18 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 1.352 0.000 0.000 1.352 1.352 0.00 0.00 0 0 2 1 -2.316 0.000 0.000 -2.316 -2.316 0.00 0.00 0 0 Segment 2 of 9 Time range: 46.81546 to 48.91663 Index range: 21 through 1531 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1510 0.939 0.015 0.000 0.854 0.974 -5.71 2.34 243 419 2 1510 -2.839 0.072 0.002 -3.070 -2.771 -3.23 0.94 0 786 Segment 3 of 9 Time range: 48.91804 to 48.91943 Index range: 1532 through 1532 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 0.945 0.000 0.000 0.945 0.945 -1.38 -1.38 0 0 2 1 -2.794 0.000 0.000 -2.794 -2.794 0.00 0.00 0 0 Segment 4 of 9 Time range: 48.91943 to 49.19755 Index range: 1533 through 1732 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 199 0.945 0.003 0.000 0.937 0.952 -2.42 1.91 23 120 2 199 -2.800 0.005 0.000 -2.815 -2.783 -2.70 3.23 191 113 Segment 5 of 9 Time range: 49.19895 to 49.37416 Index range: 1734 through 1859 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 126 0.388 0.005 0.000 0.375 0.404 -2.79 3.35 3 114 2 126 -3.233 0.006 0.000 -3.252 -3.222 -3.54 1.94 13 118 Segment 6 of 9 Time range: 49.37554 to 49.66617 Index range: 1861 through 2069 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 208 0.332 0.008 0.001 0.307 0.347 -2.98 1.73 202 83 2 208 -3.258 0.009 0.001 -3.272 -3.230 -1.54 3.33 201 152 Segment 7 of 9 Time range: 49.66757 to 50.28638 Index range: 2071 through 2515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 445 0.304 0.013 0.001 0.265 0.322 -2.99 1.44 443 291 2 445 -3.257 0.037 0.002 -3.355 -3.220 -2.64 1.01 444 15 Segment 8 of 9 Time range: 50.28777 to 50.45326 Index range: 2517 through 2635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 120 0.221 0.006 0.001 0.208 0.239 -2.13 2.92 119 91 2 120 -3.427 0.015 0.001 -3.518 -3.412 -6.06 1.01 119 78 Segment 9 of 9 Time range: 50.45604 to 50.70216 Index range: 2638 through 2814 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 0.477 0.021 0.002 0.423 0.510 -2.56 1.58 2 160 2 176 -4.756 0.020 0.002 -4.784 -4.682 -1.36 3.69 88 6 Optimization iteration 2 of 5 Segment 1 of 9 Time range: 46.80991 to 46.81269 Index range: 17 through 18 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 Segment 2 of 9 Time range: 46.81546 to 48.91663 Index range: 21 through 1531 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1510 0.023 0.008 0.000 -0.028 0.059 -6.38 4.41 243 51 2 1510 -0.154 0.008 0.000 -0.231 -0.120 -10.08 4.34 0 29 Segment 3 of 9 Time range: 48.91804 to 48.91943 Index range: 1532 through 1532 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 Segment 4 of 9 Time range: 48.91943 to 49.19755 Index range: 1533 through 1732 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 199 -0.003 0.003 0.000 -0.009 0.005 -2.43 2.73 127 118 2 199 0.001 0.004 0.000 -0.009 0.013 -2.64 2.88 24 127 Segment 5 of 9 Time range: 49.19895 to 49.37416 Index range: 1734 through 1859 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 126 -0.002 0.004 0.000 -0.013 0.010 -2.49 2.98 3 114 2 126 -0.007 0.005 0.000 -0.021 0.002 -3.07 2.04 13 118 Segment 6 of 9 Time range: 49.37554 to 49.66617 Index range: 1861 through 2069 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 208 0.006 0.004 0.000 -0.011 0.015 -4.05 2.28 202 83 2 208 -0.001 0.008 0.001 -0.021 0.024 -2.52 3.18 201 152 Segment 7 of 9 Time range: 49.66757 to 50.28638 Index range: 2071 through 2515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 445 -0.012 0.005 0.000 -0.026 0.008 -2.78 3.81 386 405 2 445 0.030 0.006 0.000 0.008 0.054 -3.41 3.82 391 432 Segment 8 of 9 Time range: 50.28777 to 50.45326 Index range: 2517 through 2635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 120 -0.001 0.006 0.001 -0.018 0.017 -2.87 2.98 119 91 2 120 0.007 0.007 0.001 -0.050 0.024 -7.65 2.26 119 114 Segment 9 of 9 Time range: 50.45604 to 50.70216 Index range: 2638 through 2814 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 -0.028 0.009 0.001 -0.053 -0.009 -2.91 2.12 2 92 2 176 0.033 0.011 0.001 -0.010 0.075 -3.84 3.73 0 6 Optimization iteration 3 of 5 Segment 1 of 9 Time range: 46.80991 to 46.81269 Index range: 17 through 18 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 Segment 2 of 9 Time range: 46.81546 to 48.91663 Index range: 21 through 1531 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1510 -0.002 0.008 0.000 -0.056 0.032 -6.83 4.35 243 51 2 1510 -0.000 0.008 0.000 -0.078 0.033 -10.07 4.37 0 29 Segment 3 of 9 Time range: 48.91804 to 48.91943 Index range: 1532 through 1532 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 Segment 4 of 9 Time range: 48.91943 to 49.19755 Index range: 1533 through 1732 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 199 0.000 0.003 0.000 -0.006 0.008 -2.37 2.81 127 118 2 199 -0.000 0.004 0.000 -0.011 0.012 -2.64 2.88 24 127 Segment 5 of 9 Time range: 49.19895 to 49.37416 Index range: 1734 through 1859 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 126 0.001 0.004 0.000 -0.011 0.014 -2.69 3.04 3 114 2 126 -0.000 0.005 0.000 -0.014 0.009 -3.07 2.04 13 118 Segment 6 of 9 Time range: 49.37554 to 49.66617 Index range: 1861 through 2069 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 208 -0.001 0.004 0.000 -0.018 0.009 -4.24 2.39 202 83 2 208 -0.000 0.008 0.001 -0.020 0.025 -2.52 3.18 201 152 Segment 7 of 9 Time range: 49.66757 to 50.28638 Index range: 2071 through 2515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 445 0.001 0.005 0.000 -0.015 0.018 -3.33 3.44 386 405 2 445 0.000 0.006 0.000 -0.022 0.025 -3.40 3.85 391 432 Segment 8 of 9 Time range: 50.28777 to 50.45326 Index range: 2517 through 2635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 120 0.000 0.006 0.001 -0.017 0.018 -2.81 2.98 119 91 2 120 0.000 0.007 0.001 -0.057 0.017 -7.65 2.26 119 114 Segment 9 of 9 Time range: 50.45604 to 50.70216 Index range: 2638 through 2814 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 176 0.004 0.009 0.001 -0.026 0.023 -3.16 2.05 2 92 2 176 0.000 0.011 0.001 -0.043 0.042 -3.85 3.73 0 6 Optimization iteration 4 of 5 Segment 1 of 9 Time range: 46.80991 to 46.81269 Index range: 17 through 18 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 Segment 2 of 9 Time range: 46.81546 to 48.91663 Index range: 21 through 1531 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1510 -0.000 0.008 0.000 -0.054 0.034 -6.85 4.35 243 51 2 1510 -0.000 0.008 0.000 -0.078 0.034 -10.07 4.37 0 29 Segment 3 of 9 Time range: 48.91804 to 48.91943 Index range: 1532 through 1532 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 Segment 4 of 9 Time range: 48.91943 to 49.19755 Index range: 1533 through 1732 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 199 -0.000 0.003 0.000 -0.006 0.008 -2.37 2.81 127 118 2 199 0.000 0.004 0.000 -0.011 0.012 -2.64 2.88 24 127 Segment 5 of 9 Time range: 49.19895 to 49.37416 Index range: 1734 through 1859 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 126 0.000 0.004 0.000 -0.011 0.013 -2.69 3.04 3 114 2 126 -0.000 0.005 0.000 -0.014 0.009 -3.07 2.04 13 118 Segment 6 of 9 Time range: 49.37554 to 49.66617 Index range: 1861 through 2069 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 208 -0.000 0.004 0.000 -0.017 0.010 -4.24 2.39 202 83 2 208 -0.000 0.008 0.001 -0.020 0.025 -2.52 3.18 201 152 Segment 7 of 9 Time range: 49.66757 to 50.28638 Index range: 2071 through 2515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 445 -0.000 0.005 0.000 -0.016 0.017 -3.33 3.44 386 405 2 445 -0.000 0.006 0.000 -0.022 0.025 -3.40 3.85 391 432 Segment 8 of 9 Time range: 50.28777 to 50.45326 Index range: 2517 through 2635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 120 -0.000 0.006 0.001 -0.017 0.018 -2.81 2.98 119 91 2 120 -0.000 0.007 0.001 -0.057 0.017 -7.65 2.26 119 114 Segment 9 of 9 Time range: 50.45604 to 50.70216 Index range: 2638 through 2814 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 0.009 0.001 -0.030 0.019 -3.16 2.05 2 92 2 176 -0.000 0.011 0.001 -0.043 0.042 -3.85 3.73 0 6 Optimization iteration 5 of 5 Segment 1 of 9 fix time dx dy (1.e-5 degrees) Segment 1 of 9 Time range: 46.80991 to 46.81269 Index range: 17 through 18 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 Segment 2 of 9 fix time dx dy (1.e-5 degrees) 46.81685 -46 -78 46.81824 -35 -45 46.85996 -39 33 47.15477 -54 -7 47.15616 -53 3 Segment 2 of 9 Time range: 46.81546 to 48.91663 Index range: 21 through 1531 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1510 -0.000 0.008 0.000 -0.054 0.034 -6.85 4.35 243 51 2 1510 -0.000 0.008 0.000 -0.078 0.034 -10.07 4.37 0 29 Segment 3 of 9 fix time dx dy (1.e-5 degrees) Segment 3 of 9 Time range: 48.91804 to 48.91943 Index range: 1532 through 1532 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 Segment 4 of 9 fix time dx dy (1.e-5 degrees) Segment 4 of 9 Time range: 48.91943 to 49.19755 Index range: 1533 through 1732 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 199 0.000 0.003 0.000 -0.006 0.008 -2.37 2.81 127 118 2 199 -0.000 0.004 0.000 -0.011 0.012 -2.64 2.88 24 127 Segment 5 of 9 fix time dx dy (1.e-5 degrees) Segment 5 of 9 Time range: 49.19895 to 49.37416 Index range: 1734 through 1859 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 126 0.000 0.004 0.000 -0.011 0.013 -2.69 3.04 3 114 2 126 -0.000 0.005 0.000 -0.014 0.009 -3.07 2.04 13 118 Segment 6 of 9 fix time dx dy (1.e-5 degrees) Segment 6 of 9 Time range: 49.37554 to 49.66617 Index range: 1861 through 2069 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 208 -0.000 0.004 0.000 -0.017 0.010 -4.24 2.39 202 83 2 208 -0.000 0.008 0.001 -0.020 0.025 -2.52 3.18 201 152 Segment 7 of 9 fix time dx dy (1.e-5 degrees) Segment 7 of 9 Time range: 49.66757 to 50.28638 Index range: 2071 through 2515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 445 -0.000 0.005 0.000 -0.016 0.017 -3.33 3.44 386 405 2 445 -0.000 0.006 0.000 -0.022 0.025 -3.40 3.85 391 432 Segment 8 of 9 fix time dx dy (1.e-5 degrees) 50.45326 -17 -57 Segment 8 of 9 Time range: 50.28777 to 50.45326 Index range: 2517 through 2635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 120 -0.000 0.006 0.001 -0.017 0.018 -2.81 2.98 119 91 2 120 -0.000 0.007 0.001 -0.057 0.017 -7.65 2.26 119 114 Segment 9 of 9 fix time dx dy (1.e-5 degrees) Segment 9 of 9 Time range: 50.45604 to 50.70216 Index range: 2638 through 2814 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 0.009 0.001 -0.029 0.019 -3.16 2.05 2 92 2 176 -0.000 0.011 0.001 -0.043 0.042 -3.85 3.73 0 6 seg i0 i1 n nfix 1 17 19 2 1 2 21 1532 1511 1510 3 1532 1533 1 1 4 1533 1733 200 199 5 1734 1860 126 126 6 1861 2070 209 208 7 2071 2516 445 445 8 2517 2636 119 120 9 2638 2815 177 176 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 46.80991 46.81269 -157.8716 -157.8739 21.2952 21.2901 0 0 1 2 46.81546 48.91663 -157.8778 -158.0729 21.2833 22.7633 8 8 1510 3 48.91804 48.91943 -158.0729 -158.0729 22.7633 22.7633 0 0 1 4 48.91943 49.19755 -158.0729 -158.0563 22.7633 22.7018 3 5 199 5 49.19895 49.37416 -158.0618 -157.9983 22.6975 22.7521 4 5 126 6 49.37554 49.66617 -157.9988 -158.1292 22.7518 22.8389 4 9 208 7 49.66757 50.28638 -158.1295 -158.3630 22.8391 21.8487 5 7 445 8 50.28777 50.45326 -158.3635 -158.3324 21.8480 21.5822 6 8 120 9 50.45604 50.70216 -158.3301 -157.8911 21.5696 21.2576 10 12 176