ADCP Navigation: SMOOTHR reference_file: a_kn.nav refabs_output: a_kn.ref output: a_kn.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 142.333196 with ratio = 0.099502 There are 3 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 3 Time range: 140.98528 to 142.33319 Index range: 1 through 386 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 385 3.900 1.209 0.062 1.856 5.967 -1.69 1.71 0 384 2 385 0.948 0.275 0.014 0.459 1.403 -1.78 1.66 0 384 Segment 2 of 3 Time range: 142.33670 to 142.34017 Index range: 387 through 387 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 3 of 3 Time range: 142.34020 to 143.75109 Index range: 388 through 791 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 403 9.774 1.069 0.053 7.817 11.243 -1.83 1.37 0 354 2 403 2.174 0.180 0.009 1.800 2.422 -2.07 1.38 3 283 Optimization iteration 2 of 5 Segment 1 of 3 Time range: 140.98528 to 142.33319 Index range: 1 through 386 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 385 -2.052 0.008 0.000 -2.070 -2.027 -2.38 3.26 35 373 2 385 -0.489 0.005 0.000 -0.506 -0.469 -3.35 3.78 22 156 Segment 2 of 3 Time range: 142.33670 to 142.34017 Index range: 387 through 387 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 3 of 3 Time range: 142.34020 to 143.75109 Index range: 388 through 791 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 403 -1.925 0.021 0.001 -1.965 -1.859 -1.93 3.17 158 354 2 403 -0.378 0.009 0.000 -0.412 -0.344 -3.93 3.78 354 328 Optimization iteration 3 of 5 Segment 1 of 3 Time range: 140.98528 to 142.33319 Index range: 1 through 386 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 385 -0.015 0.007 0.000 -0.032 0.004 -2.52 2.86 272 20 2 385 0.000 0.005 0.000 -0.018 0.020 -3.36 3.77 22 156 Segment 2 of 3 Time range: 142.33670 to 142.34017 Index range: 387 through 387 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 3 of 3 Time range: 142.34020 to 143.75109 Index range: 388 through 791 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 403 -0.040 0.010 0.000 -0.082 -0.005 -4.48 3.68 345 354 2 403 0.000 0.009 0.000 -0.035 0.033 -3.93 3.79 354 328 Optimization iteration 4 of 5 Segment 1 of 3 Time range: 140.98528 to 142.33319 Index range: 1 through 386 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 385 0.009 0.005 0.000 -0.003 0.026 -2.71 3.60 272 209 2 385 -0.000 0.005 0.000 -0.018 0.020 -3.35 3.77 22 156 Segment 2 of 3 Time range: 142.33670 to 142.34017 Index range: 387 through 387 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 3 of 3 Time range: 142.34020 to 143.75109 Index range: 388 through 791 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 403 0.007 0.009 0.000 -0.031 0.048 -4.32 4.62 345 354 2 403 -0.000 0.009 0.000 -0.035 0.033 -3.93 3.79 354 328 Optimization iteration 5 of 5 Segment 1 of 3 fix time dx dy (1.e-5 degrees) Segment 1 of 3 Time range: 140.98528 to 142.33319 Index range: 1 through 386 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 385 -0.000 0.005 0.000 -0.013 0.017 -2.71 3.60 272 209 2 385 0.000 0.005 0.000 -0.018 0.020 -3.35 3.77 22 156 Segment 2 of 3 Time range: 142.33670 to 142.34017 Index range: 387 through 387 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax Segment 3 of 3 fix time dx dy (1.e-5 degrees) 143.57996 40 -35 Segment 3 of 3 Time range: 142.34020 to 143.75109 Index range: 388 through 791 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 403 -0.000 0.009 0.000 -0.038 0.040 -4.32 4.62 345 354 2 403 0.000 0.009 0.000 -0.035 0.033 -3.93 3.79 354 328 seg i0 i1 n nfix 1 1 387 386 385 2 387 388 1 0 3 388 792 404 403 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 140.98528 142.33319 -132.7132 -125.6760 31.6482 33.3024 4 6 385 2 142.33670 142.34017 -125.6577 -125.6398 33.3063 33.3101 0 0 0 3 142.34020 143.75109 -125.6397 -120.0424 33.3101 34.2742 8 10 403