ADCP Navigation: SMOOTHR reference_file: a_rr.nav refabs_output: a_rr.ref output: a_rr.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 155.084348 with ratio = 0.775230 Rejected refabs at time 155.087811 with ratio = 0.772135 Rejected refabs at time 155.091288 with ratio = 0.772135 Rejected refabs at time 155.094765 with ratio = 0.775230 Rejected refabs at time 155.098229 with ratio = 0.772135 Rejected refabs at time 155.101705 with ratio = 0.772135 Rejected refabs at time 155.105181 with ratio = 0.775230 Rejected refabs at time 155.108644 with ratio = 0.772135 Rejected refabs at time 155.112122 with ratio = 0.772135 Rejected refabs at time 155.167897 with ratio = 1.274793 Rejected refabs at time 155.198608 with ratio = 1.272824 Rejected refabs at time 155.202085 with ratio = 1.277926 Rejected refabs at time 165.046242 with ratio = 2.172049 There are 4 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 4 Time range: 154.40378 to 155.08435 Index range: 2 through 197 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 197 0.611 0.050 0.004 0.532 0.734 -1.58 2.46 34 154 2 197 -1.734 0.098 0.007 -1.881 -1.545 -1.50 1.93 193 7 Segment 2 of 4 Time range: 155.11559 to 155.16789 Index range: 207 through 222 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 16 4.885 0.006 0.002 4.864 4.894 -3.44 1.53 1 0 2 16 -7.277 0.008 0.002 -7.298 -7.262 -2.57 1.85 1 0 Segment 3 of 4 Time range: 155.20556 to 165.04624 Index range: 226 through 3060 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2834 1.163 0.037 0.001 1.057 1.267 -2.88 2.82 2515 1772 2 2834 -1.954 0.012 0.000 -2.001 -1.892 -4.12 5.38 2833 1975 Segment 4 of 4 Time range: 165.20623 to 166.59164 Index range: 3062 through 3460 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 398 -0.764 0.044 0.002 -0.866 -0.688 -2.30 1.72 309 151 2 398 2.283 0.046 0.002 2.210 2.395 -1.60 2.43 32 392 Optimization iteration 2 of 5 Segment 1 of 4 Time range: 154.40378 to 155.08435 Index range: 2 through 197 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 197 -0.068 0.028 0.002 -0.159 0.011 -3.28 2.87 166 52 2 197 0.179 0.018 0.001 0.125 0.230 -3.09 2.90 143 154 Segment 2 of 4 Time range: 155.11559 to 155.16789 Index range: 207 through 222 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 16 0.000 0.006 0.002 -0.021 0.009 -3.45 1.52 1 0 2 16 0.000 0.008 0.002 -0.021 0.015 -2.57 1.84 1 0 Segment 3 of 4 Time range: 155.20556 to 165.04624 Index range: 226 through 3060 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2834 -0.009 0.009 0.000 -0.044 0.094 -3.68 10.95 1476 14 2 2834 -0.029 0.008 0.000 -0.073 0.006 -5.69 4.49 1997 875 Segment 4 of 4 Time range: 165.20623 to 166.59164 Index range: 3062 through 3460 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 398 0.004 0.012 0.001 -0.058 0.057 -5.36 4.56 309 12 2 398 -0.061 0.009 0.000 -0.101 -0.022 -4.56 4.57 309 218 Optimization iteration 3 of 5 Segment 1 of 4 Time range: 154.40378 to 155.08435 Index range: 2 through 197 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 197 0.003 0.028 0.002 -0.084 0.083 -3.19 2.88 166 154 2 197 0.000 0.017 0.001 -0.054 0.051 -3.09 2.90 143 154 Segment 2 of 4 Time range: 155.11559 to 155.16789 Index range: 207 through 222 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 16 -0.000 0.006 0.002 -0.021 0.009 -3.45 1.52 1 0 2 16 0.000 0.008 0.002 -0.021 0.015 -2.57 1.84 1 0 Segment 3 of 4 Time range: 155.20556 to 165.04624 Index range: 226 through 3060 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2834 0.003 0.009 0.000 -0.031 0.103 -3.70 10.83 2515 14 2 2834 -0.000 0.008 0.000 -0.045 0.035 -5.69 4.49 1997 875 Segment 4 of 4 Time range: 165.20623 to 166.59164 Index range: 3062 through 3460 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 398 0.001 0.011 0.001 -0.057 0.053 -5.34 4.77 309 12 2 398 0.000 0.009 0.000 -0.039 0.040 -4.55 4.57 309 218 Optimization iteration 4 of 5 Segment 1 of 4 Time range: 154.40378 to 155.08435 Index range: 2 through 197 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 197 -0.000 0.028 0.002 -0.089 0.079 -3.20 2.87 166 154 2 197 -0.000 0.017 0.001 -0.054 0.051 -3.09 2.90 143 154 Segment 2 of 4 Time range: 155.11559 to 155.16789 Index range: 207 through 222 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 16 0.000 0.006 0.002 -0.021 0.009 -3.45 1.52 1 0 2 16 -0.000 0.008 0.002 -0.021 0.015 -2.57 1.84 1 0 Segment 3 of 4 Time range: 155.20556 to 165.04624 Index range: 226 through 3060 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2834 0.000 0.009 0.000 -0.034 0.100 -3.71 10.83 2515 14 2 2834 -0.000 0.008 0.000 -0.045 0.035 -5.69 4.49 1997 875 Segment 4 of 4 Time range: 165.20623 to 166.59164 Index range: 3062 through 3460 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 398 -0.000 0.011 0.001 -0.058 0.052 -5.35 4.77 309 12 2 398 -0.000 0.009 0.000 -0.039 0.039 -4.55 4.57 309 218 Optimization iteration 5 of 5 Segment 1 of 4 fix time dx dy (1.e-5 degrees) 154.58088 64 -17 154.58434 78 -26 154.58782 64 -23 154.59130 52 -11 154.69546 -53 -16 154.69892 -63 -13 154.70240 -51 -16 154.73365 -48 -38 154.73712 -36 -39 154.89684 -5 -53 154.90031 -24 -54 154.92809 54 34 154.93157 52 46 154.93504 62 47 154.93851 79 51 154.94198 66 25 154.94546 74 18 154.94892 72 3 154.97670 -72 1 154.98018 -88 -11 154.98365 -82 -8 154.98712 -67 10 Segment 1 of 4 Time range: 154.40378 to 155.08435 Index range: 2 through 197 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 197 -0.000 0.028 0.002 -0.088 0.079 -3.20 2.87 166 154 2 197 -0.000 0.017 0.001 -0.054 0.051 -3.09 2.90 143 154 Segment 2 of 4 fix time dx dy (1.e-5 degrees) Segment 2 of 4 Time range: 155.11559 to 155.16789 Index range: 207 through 222 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 16 0.000 0.006 0.002 -0.021 0.009 -3.45 1.52 1 0 2 16 -0.000 0.008 0.002 -0.021 0.015 -2.57 1.84 1 0 Segment 3 of 4 fix time dx dy (1.e-5 degrees) 155.20902 47 24 155.25417 73 12 155.25763 100 -2 155.26111 79 -20 155.26459 50 -27 Segment 3 of 4 Time range: 155.20556 to 165.04624 Index range: 226 through 3060 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2834 0.000 0.009 0.000 -0.034 0.100 -3.71 10.83 2515 14 2 2834 -0.000 0.008 0.000 -0.045 0.035 -5.69 4.49 1997 875 Segment 4 of 4 fix time dx dy (1.e-5 degrees) 165.24789 45 27 165.25137 52 27 166.28261 -58 -39 Segment 4 of 4 Time range: 165.20623 to 166.59164 Index range: 3062 through 3460 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 398 0.000 0.011 0.001 -0.058 0.052 -5.35 4.77 309 12 2 398 0.000 0.009 0.000 -0.039 0.039 -4.55 4.57 309 218 seg i0 i1 n nfix 1 2 198 196 197 2 207 223 16 16 3 226 3061 2835 2834 4 3062 3461 399 398 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 154.40378 155.08435 120.6144 122.0755 21.1857 18.4399 28 19 197 2 155.11559 155.16789 122.1174 122.1168 18.3858 18.3845 6 9 16 3 155.20556 165.04624 122.0795 122.0771 18.4375 18.4696 10 9 2834 4 165.20623 166.59164 122.0585 120.7539 18.5118 21.2673 11 9 398