ADCP Navigation: SMOOTHR reference_file: a_sr.nav refabs_output: a_sr.ref output: a_sr.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 114.065824 with ratio = 0.194838 Rejected refabs at time 122.059606 with ratio = 0.200000 Rejected refabs at time 122.060995 with ratio = 0.200000 Rejected refabs at time 122.062384 with ratio = 0.200000 Rejected refabs at time 122.063773 with ratio = 0.200000 Rejected refabs at time 122.065162 with ratio = 0.200000 Rejected refabs at time 122.066551 with ratio = 0.200000 Rejected refabs at time 122.067939 with ratio = 0.200000 Rejected refabs at time 122.069328 with ratio = 0.200000 Rejected refabs at time 122.070717 with ratio = 0.200000 Rejected refabs at time 122.072106 with ratio = 0.200000 Rejected refabs at time 122.073495 with ratio = 0.200000 Rejected refabs at time 122.074884 with ratio = 0.200000 Rejected refabs at time 122.076273 with ratio = 0.200000 Rejected refabs at time 122.077662 with ratio = 0.200000 Rejected refabs at time 122.079051 with ratio = 0.200000 Rejected refabs at time 122.080439 with ratio = 0.200000 Rejected refabs at time 122.081828 with ratio = 0.200000 Rejected refabs at time 122.083217 with ratio = 0.200000 Rejected refabs at time 122.084606 with ratio = 0.200000 Rejected refabs at time 122.085995 with ratio = 0.200000 Rejected refabs at time 122.087384 with ratio = 0.200000 Rejected refabs at time 122.088773 with ratio = 0.200000 Rejected refabs at time 122.090162 with ratio = 0.200000 Rejected refabs at time 122.091550 with ratio = 0.200000 Rejected refabs at time 122.092939 with ratio = 0.200000 Rejected refabs at time 122.094328 with ratio = 0.200000 Rejected refabs at time 122.095717 with ratio = 0.200000 Rejected refabs at time 122.097106 with ratio = 0.200000 Rejected refabs at time 122.098495 with ratio = 0.200000 Rejected refabs at time 122.099884 with ratio = 0.200000 Rejected refabs at time 122.101273 with ratio = 0.200000 Rejected refabs at time 122.102662 with ratio = 0.200000 Rejected refabs at time 122.104050 with ratio = 0.200000 Rejected refabs at time 122.105440 with ratio = 0.200000 Rejected refabs at time 122.106828 with ratio = 0.200000 Rejected refabs at time 122.108217 with ratio = 0.200000 Rejected refabs at time 122.109606 with ratio = 0.200000 Rejected refabs at time 122.110995 with ratio = 0.200000 Rejected refabs at time 122.113773 with ratio = 0.200000 Rejected refabs at time 122.116551 with ratio = 0.200000 Rejected refabs at time 122.117940 with ratio = 0.200000 Rejected refabs at time 122.119328 with ratio = 0.200000 Rejected refabs at time 122.120717 with ratio = 0.200000 Rejected refabs at time 122.122106 with ratio = 0.200000 Rejected refabs at time 122.123495 with ratio = 0.200000 Rejected refabs at time 122.124884 with ratio = 0.200000 Rejected refabs at time 122.126273 with ratio = 0.200000 Rejected refabs at time 122.127662 with ratio = 0.200000 Rejected refabs at time 122.129051 with ratio = 0.200000 Rejected refabs at time 122.130439 with ratio = 0.200000 Rejected refabs at time 122.131828 with ratio = 0.200000 Rejected refabs at time 122.658217 with ratio = 0.274962 Rejected refabs at time 133.913785 with ratio = 0.200000 Rejected refabs at time 133.915174 with ratio = 0.200000 Rejected refabs at time 133.917952 with ratio = 0.349886 There are 6 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 6 Time range: 110.98098 to 114.06582 Index range: 2 through 2223 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2221 0.173 0.009 0.000 0.136 0.203 -4.21 3.41 312 1102 2 2221 -0.591 0.026 0.001 -0.655 -0.531 -2.42 2.27 2199 75 Segment 2 of 6 Time range: 114.12072 to 122.05961 Index range: 2225 through 7940 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5716 -0.007 0.010 0.000 -0.047 0.023 -4.16 3.04 3836 4530 2 5716 -0.001 0.008 0.000 -0.029 0.033 -3.68 4.58 371 4018 Segment 3 of 6 Time range: 122.13322 to 122.65822 Index range: 7994 through 8371 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 379 0.086 0.006 0.000 0.063 0.103 -3.57 2.55 116 335 2 379 -0.094 0.007 0.000 -0.113 -0.075 -2.75 2.59 11 176 Segment 4 of 6 Time range: 122.65961 to 133.91378 Index range: 8373 through 16475 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 8102 0.285 0.020 0.000 0.232 0.345 -2.65 2.96 14 6740 2 8102 -0.092 0.090 0.001 -0.168 0.104 -0.84 2.19 4690 6360 Segment 5 of 6 Time range: 133.91656 to 133.91795 Index range: 16478 through 16478 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 -0.216 0.000 0.000 -0.216 -0.216 0.00 0.00 0 0 2 1 -0.194 0.000 0.000 -0.194 -0.194 0.00 0.00 0 0 Segment 6 of 6 Time range: 133.91934 to 141.15545 Index range: 16480 through 21689 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5210 -0.558 0.060 0.001 -0.694 -0.477 -2.28 1.36 5154 279 2 5210 -0.222 0.154 0.002 -0.372 0.098 -0.98 2.08 986 5177 Optimization iteration 2 of 5 Segment 1 of 6 Time range: 110.98098 to 114.06582 Index range: 2 through 2223 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2221 -0.009 0.007 0.000 -0.039 0.021 -4.10 4.18 312 1102 2 2221 0.044 0.007 0.000 0.018 0.066 -3.88 3.43 319 895 Segment 2 of 6 Time range: 114.12072 to 122.05961 Index range: 2225 through 7940 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5716 0.010 0.008 0.000 -0.021 0.044 -4.03 4.28 3836 4530 2 5716 -0.000 0.007 0.000 -0.029 0.027 -4.21 3.93 4207 4018 Segment 3 of 6 Time range: 122.13322 to 122.65822 Index range: 7994 through 8371 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 379 -0.001 0.006 0.000 -0.024 0.016 -3.56 2.51 116 335 2 379 0.000 0.007 0.000 -0.019 0.018 -2.75 2.59 11 176 Segment 4 of 6 Time range: 122.65961 to 133.91378 Index range: 8373 through 16475 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 8102 -0.028 0.007 0.000 -0.060 0.003 -4.75 4.49 6632 2532 2 8102 -0.048 0.006 0.000 -0.071 -0.018 -3.68 4.61 4690 8060 Segment 5 of 6 Time range: 133.91656 to 133.91795 Index range: 16478 through 16478 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 6 of 6 Time range: 133.91934 to 141.15545 Index range: 16480 through 21689 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5210 0.052 0.008 0.000 0.024 0.082 -3.78 3.94 2789 279 2 5210 -0.110 0.007 0.000 -0.143 -0.077 -4.92 4.79 986 3419 Optimization iteration 3 of 5 Segment 1 of 6 Time range: 110.98098 to 114.06582 Index range: 2 through 2223 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2221 0.002 0.007 0.000 -0.029 0.032 -4.27 4.22 312 1102 2 2221 0.000 0.007 0.000 -0.025 0.023 -3.89 3.43 319 895 Segment 2 of 6 Time range: 114.12072 to 122.05961 Index range: 2225 through 7940 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5716 -0.000 0.008 0.000 -0.032 0.034 -4.03 4.28 3836 4530 2 5716 0.000 0.007 0.000 -0.029 0.027 -4.21 3.93 4207 4018 Segment 3 of 6 Time range: 122.13322 to 122.65822 Index range: 7994 through 8371 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 379 0.000 0.006 0.000 -0.023 0.016 -3.56 2.51 116 335 2 379 0.000 0.007 0.000 -0.019 0.018 -2.75 2.59 11 176 Segment 4 of 6 Time range: 122.65961 to 133.91378 Index range: 8373 through 16475 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 8102 0.000 0.007 0.000 -0.032 0.030 -4.75 4.49 6632 2532 2 8102 0.000 0.006 0.000 -0.024 0.030 -3.68 4.61 4690 8060 Segment 5 of 6 Time range: 133.91656 to 133.91795 Index range: 16478 through 16478 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 6 of 6 Time range: 133.91934 to 141.15545 Index range: 16480 through 21689 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5210 -0.000 0.008 0.000 -0.029 0.030 -3.75 3.99 2789 279 2 5210 -0.000 0.007 0.000 -0.034 0.033 -4.92 4.79 986 3419 Optimization iteration 4 of 5 Segment 1 of 6 Time range: 110.98098 to 114.06582 Index range: 2 through 2223 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2221 -0.000 0.007 0.000 -0.031 0.030 -4.26 4.22 312 1102 2 2221 -0.000 0.007 0.000 -0.026 0.022 -3.89 3.43 319 895 Segment 2 of 6 Time range: 114.12072 to 122.05961 Index range: 2225 through 7940 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5716 -0.000 0.008 0.000 -0.032 0.034 -4.03 4.28 3836 4530 2 5716 -0.000 0.007 0.000 -0.029 0.027 -4.21 3.93 4207 4018 Segment 3 of 6 Time range: 122.13322 to 122.65822 Index range: 7994 through 8371 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 379 -0.000 0.006 0.000 -0.023 0.016 -3.56 2.51 116 335 2 379 0.000 0.007 0.000 -0.019 0.018 -2.75 2.59 11 176 Segment 4 of 6 Time range: 122.65961 to 133.91378 Index range: 8373 through 16475 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 8102 0.000 0.007 0.000 -0.032 0.030 -4.74 4.49 6632 2532 2 8102 -0.000 0.006 0.000 -0.024 0.030 -3.68 4.61 4690 8060 Segment 5 of 6 Time range: 133.91656 to 133.91795 Index range: 16478 through 16478 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 6 of 6 Time range: 133.91934 to 141.15545 Index range: 16480 through 21689 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5210 -0.000 0.008 0.000 -0.028 0.030 -3.73 4.02 2789 279 2 5210 -0.000 0.007 0.000 -0.034 0.033 -4.91 4.79 986 3419 Optimization iteration 5 of 5 Segment 1 of 6 fix time dx dy (1.e-5 degrees) Segment 1 of 6 Time range: 110.98098 to 114.06582 Index range: 2 through 2223 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2221 -0.000 0.007 0.000 -0.031 0.031 -4.26 4.22 312 1102 2 2221 -0.000 0.007 0.000 -0.026 0.022 -3.89 3.43 319 895 Segment 2 of 6 fix time dx dy (1.e-5 degrees) Segment 2 of 6 Time range: 114.12072 to 122.05961 Index range: 2225 through 7940 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5716 0.000 0.008 0.000 -0.032 0.034 -4.03 4.28 3836 4530 2 5716 -0.000 0.007 0.000 -0.029 0.027 -4.21 3.93 4207 4018 Segment 3 of 6 fix time dx dy (1.e-5 degrees) Segment 3 of 6 Time range: 122.13322 to 122.65822 Index range: 7994 through 8371 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 379 0.000 0.006 0.000 -0.023 0.016 -3.56 2.51 116 335 2 379 -0.000 0.007 0.000 -0.019 0.018 -2.75 2.59 11 176 Segment 4 of 6 fix time dx dy (1.e-5 degrees) Segment 4 of 6 Time range: 122.65961 to 133.91378 Index range: 8373 through 16475 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 8102 -0.000 0.007 0.000 -0.032 0.030 -4.74 4.49 6632 2532 2 8102 -0.000 0.006 0.000 -0.024 0.030 -3.68 4.61 4690 8060 Segment 5 of 6 fix time dx dy (1.e-5 degrees) Segment 5 of 6 Time range: 133.91656 to 133.91795 Index range: 16478 through 16478 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 6 of 6 fix time dx dy (1.e-5 degrees) Segment 6 of 6 Time range: 133.91934 to 141.15545 Index range: 16480 through 21689 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5210 -0.000 0.008 0.000 -0.028 0.030 -3.73 4.02 2789 279 2 5210 -0.000 0.007 0.000 -0.034 0.033 -4.91 4.79 986 3419 seg i0 i1 n nfix 1 2 2224 2222 2221 2 2225 7941 5716 5716 3 7994 8372 378 379 4 8373 16476 8103 8102 5 16478 16479 1 1 6 16480 21690 5210 5210 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 110.98098 114.06582 -102.9994 -99.6562 14.4783 2.2995 8 7 2221 2 114.12072 122.05961 -99.6562 -101.2690 2.2993 2.2128 9 8 5716 3 122.13322 122.65822 -101.2683 -101.1087 2.2121 2.2064 7 8 379 4 122.65961 133.91378 -101.1070 -99.3866 2.2059 2.2727 7 7 8102 5 133.91656 133.91795 -99.3917 -99.3945 2.2700 2.2686 0 0 1 6 133.91934 141.15545 -99.3974 -107.5449 2.2673 17.0224 8 8 5210