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= 300.000000 max_speed= 5.000000 min_speed= 1.000000 iterations= 5 fix_to_dr_limit= 0.000500 Rejected refabs at time 333.723320 with ratio = 0.083624 Rejected refabs at time 333.799992 with ratio = 0.200000 Rejected refabs at time 333.803533 with ratio = 0.199566 Rejected refabs at time 333.838267 with ratio = 0.200000 Rejected refabs at time 333.884306 with ratio = 0.958634 There are 6 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 6 Time range: 332.76000 to 333.72332 Index range: 1 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 272 -1.682 1.088 0.066 -3.592 0.306 -1.76 1.83 262 0 2 272 -2.069 1.624 0.098 -5.022 -0.373 -1.82 1.04 261 93 Segment 2 of 6 Time range: 333.72583 to 333.72931 Index range: 273 through 273 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 -3.559 0.000 0.000 -3.559 -3.559 0.00 0.00 0 0 2 1 -4.989 0.000 0.000 -4.989 -4.989 -4.66 -4.66 0 0 Segment 3 of 6 Time range: 333.72937 to 333.79999 Index range: 274 through 293 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 19 -3.557 0.004 0.001 -3.563 -3.545 -1.52 2.65 0 16 2 19 -4.985 0.005 0.001 -4.996 -4.975 -2.29 1.88 7 2 Segment 4 of 6 Time range: 333.81000 to 333.83826 Index range: 296 through 303 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 7 -3.560 0.005 0.002 -3.570 -3.553 -1.82 1.32 6 2 2 7 -4.987 0.004 0.002 -4.994 -4.981 -1.53 1.37 5 6 Segment 5 of 6 Time range: 333.84187 to 333.88431 Index range: 305 through 316 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 -3.557 0.007 0.002 -3.566 -3.545 -1.35 1.85 8 2 2 11 -5.008 0.008 0.002 -5.023 -4.998 -2.02 1.35 1 5 Segment 6 of 6 Time range: 333.88792 to 334.67759 Index range: 318 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 222 -1.295 1.079 0.072 -3.285 0.227 -1.84 1.41 0 221 2 222 -2.285 1.289 0.086 -4.663 -0.445 -1.85 1.43 1 219 Optimization iteration 2 of 5 Segment 1 of 6 Time range: 332.76000 to 333.72332 Index range: 1 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 272 1.821 0.020 0.001 1.656 1.995 -8.21 8.65 2 0 2 272 1.422 0.018 0.001 1.185 1.446 -13.11 1.31 2 93 Segment 2 of 6 Time range: 333.72583 to 333.72931 Index range: 273 through 273 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 3 of 6 Time range: 333.72937 to 333.79999 Index range: 274 through 293 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 19 -0.000 0.004 0.001 -0.007 0.012 -1.52 2.64 0 16 2 19 0.000 0.005 0.001 -0.011 0.010 -2.26 1.90 7 2 Segment 4 of 6 Time range: 333.81000 to 333.83826 Index range: 296 through 303 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 7 -0.000 0.006 0.002 -0.011 0.007 -1.86 1.32 6 2 2 7 0.000 0.004 0.002 -0.006 0.006 -1.50 1.45 5 6 Segment 5 of 6 Time range: 333.84187 to 333.88431 Index range: 305 through 316 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 11 0.002 0.006 0.002 -0.005 0.013 -1.27 1.88 8 2 2 11 -0.002 0.007 0.002 -0.016 0.009 -1.90 1.43 1 5 Segment 6 of 6 Time range: 333.88792 to 334.67759 Index range: 318 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 222 -2.027 0.010 0.001 -2.052 -1.994 -2.47 3.28 216 1 2 222 -2.402 0.006 0.000 -2.425 -2.383 -3.69 3.16 24 219 Optimization iteration 3 of 5 Segment 1 of 6 Time range: 332.76000 to 333.72332 Index range: 1 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 272 -0.004 0.021 0.001 -0.165 0.174 -7.83 8.68 2 0 2 272 0.000 0.018 0.001 -0.237 0.024 -13.11 1.31 2 93 Segment 2 of 6 Time range: 333.72583 to 333.72931 Index range: 273 through 273 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 3 of 6 Time range: 333.72937 to 333.79999 Index range: 274 through 293 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 19 -0.000 0.004 0.001 -0.007 0.012 -1.52 2.64 0 16 2 19 -0.000 0.005 0.001 -0.011 0.010 -2.26 1.90 7 2 Segment 4 of 6 Time range: 333.81000 to 333.83826 Index range: 296 through 303 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 7 0.000 0.006 0.002 -0.010 0.007 -1.86 1.32 6 2 2 7 0.000 0.004 0.002 -0.007 0.006 -1.50 1.45 5 6 Segment 5 of 6 Time range: 333.84187 to 333.88431 Index range: 305 through 316 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 0.006 0.002 -0.007 0.011 -1.27 1.88 8 2 2 11 -0.000 0.007 0.002 -0.014 0.011 -1.90 1.43 1 5 Segment 6 of 6 Time range: 333.88792 to 334.67759 Index range: 318 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 222 0.010 0.007 0.000 -0.010 0.034 -2.92 3.43 216 14 2 222 -0.000 0.006 0.000 -0.023 0.019 -3.67 3.15 24 219 Optimization iteration 4 of 5 Segment 1 of 6 Time range: 332.76000 to 333.72332 Index range: 1 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 272 0.004 0.020 0.001 -0.161 0.178 -8.16 8.62 2 0 2 272 -0.000 0.018 0.001 -0.237 0.024 -13.11 1.31 2 93 Segment 2 of 6 Time range: 333.72583 to 333.72931 Index range: 273 through 273 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 3 of 6 Time range: 333.72937 to 333.79999 Index range: 274 through 293 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 19 0.000 0.004 0.001 -0.007 0.012 -1.52 2.64 0 16 2 19 0.000 0.005 0.001 -0.011 0.010 -2.26 1.90 7 2 Segment 4 of 6 Time range: 333.81000 to 333.83826 Index range: 296 through 303 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 7 -0.000 0.006 0.002 -0.010 0.007 -1.86 1.32 6 2 2 7 -0.000 0.004 0.002 -0.007 0.006 -1.50 1.45 5 6 Segment 5 of 6 Time range: 333.84187 to 333.88431 Index range: 305 through 316 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 0.006 0.002 -0.007 0.011 -1.27 1.88 8 2 2 11 -0.000 0.007 0.002 -0.014 0.011 -1.90 1.43 1 5 Segment 6 of 6 Time range: 333.88792 to 334.67759 Index range: 318 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 222 0.008 0.006 0.000 -0.007 0.025 -2.60 2.95 12 14 2 222 -0.000 0.006 0.000 -0.023 0.019 -3.66 3.14 24 219 Optimization iteration 5 of 5 Segment 1 of 6 fix time dx dy (1.e-5 degrees) 332.76347 174 -5 332.76701 94 -8 332.77066 -165 -237 332.77410 -93 -112 332.79889 56 17 332.80253 66 12 332.80962 -67 -2 332.81305 -50 9 333.68790 -29 -47 333.69499 -37 -34 Segment 1 of 6 Time range: 332.76000 to 333.72332 Index range: 1 through 272 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 272 0.000 0.020 0.001 -0.165 0.174 -8.16 8.62 2 0 2 272 -0.000 0.018 0.001 -0.237 0.024 -13.11 1.31 2 93 Segment 2 of 6 fix time dx dy (1.e-5 degrees) Segment 2 of 6 Time range: 333.72583 to 333.72931 Index range: 273 through 273 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 3 of 6 fix time dx dy (1.e-5 degrees) Segment 3 of 6 Time range: 333.72937 to 333.79999 Index range: 274 through 293 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 19 0.000 0.004 0.001 -0.007 0.012 -1.52 2.64 0 16 2 19 -0.000 0.005 0.001 -0.011 0.010 -2.26 1.90 7 2 Segment 4 of 6 fix time dx dy (1.e-5 degrees) Segment 4 of 6 Time range: 333.81000 to 333.83826 Index range: 296 through 303 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 7 0.000 0.006 0.002 -0.010 0.007 -1.86 1.32 6 2 2 7 0.000 0.004 0.002 -0.007 0.006 -1.50 1.45 5 6 Segment 5 of 6 fix time dx dy (1.e-5 degrees) Segment 5 of 6 Time range: 333.84187 to 333.88431 Index range: 305 through 316 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 0.006 0.002 -0.007 0.011 -1.27 1.88 8 2 2 11 0.000 0.007 0.002 -0.014 0.011 -1.90 1.43 1 5 Segment 6 of 6 fix time dx dy (1.e-5 degrees) Segment 6 of 6 Time range: 333.88792 to 334.67759 Index range: 318 through 540 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 222 0.000 0.006 0.000 -0.015 0.017 -2.60 2.95 12 14 2 222 -0.000 0.006 0.000 -0.023 0.019 -3.66 3.14 24 219 seg i0 i1 n nfix 1 1 273 272 272 2 273 274 1 1 3 274 294 20 19 4 296 304 8 7 5 305 317 12 11 6 318 541 223 222 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 332.76000 333.72332 -157.8702 -159.7158 21.3073 19.1006 21 20 272 2 333.72583 333.72931 -159.7159 -159.7160 19.1005 19.1005 0 0 1 3 333.72937 333.79999 -159.7159 -159.7160 19.1005 19.1005 5 6 19 4 333.81000 333.83826 -159.7160 -159.7157 19.1005 19.1003 6 5 7 5 333.84187 333.88431 -159.7157 -159.7178 19.1000 19.1019 6 8 11 6 333.88792 334.67759 -159.7153 -157.8916 19.1051 21.2737 6 7 222