ADCP Navigation: SMOOTHR reference_file: a_pe.nav refabs_output: a_pe.ref output: a_pe.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 221.502327 with ratio = 0.200000 Rejected refabs at time 223.566215 with ratio = 0.254825 Rejected refabs at time 225.977327 with ratio = 0.200000 Rejected refabs at time 225.984272 with ratio = 0.826465 Rejected refabs at time 226.443993 with ratio = 0.419237 Rejected refabs at time 226.445382 with ratio = 0.419237 Rejected refabs at time 226.446771 with ratio = 0.419237 Rejected refabs at time 226.448159 with ratio = 0.419237 There are 6 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 6 Time range: 221.47733 to 221.50233 Index range: 1 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 18 -0.441 0.005 0.001 -0.450 -0.435 -1.84 1.09 15 8 2 18 -0.278 0.002 0.001 -0.281 -0.273 -1.20 2.14 3 16 Segment 2 of 6 Time range: 221.50372 to 223.56621 Index range: 20 through 1504 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1486 -0.877 0.013 0.000 -0.984 -0.744 -8.18 10.22 1445 1423 2 1486 -0.574 0.010 0.000 -0.603 -0.482 -2.98 9.50 1451 1445 Segment 3 of 6 Time range: 223.56760 to 225.97733 Index range: 1506 through 3240 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1734 -0.883 0.013 0.000 -1.012 -0.802 -10.21 6.45 31 13 2 1734 -0.576 0.010 0.000 -0.617 -0.525 -4.25 5.36 23 5 Segment 4 of 6 Time range: 225.97872 to 225.98427 Index range: 3242 through 3245 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 -0.388 0.003 0.002 -0.392 -0.384 -1.35 1.33 0 3 2 4 -0.805 0.000 0.000 -0.805 -0.804 -1.71 0.78 0 2 Segment 5 of 6 Time range: 225.98566 to 226.44399 Index range: 3247 through 3576 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 331 -0.408 0.005 0.000 -0.426 -0.390 -3.45 3.45 121 330 2 331 -0.824 0.008 0.000 -0.840 -0.775 -2.17 6.44 279 326 Segment 6 of 6 Time range: 226.44955 to 226.45927 Index range: 3581 through 3587 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 7 -1.044 0.022 0.008 -1.074 -1.016 -1.35 1.28 5 1 2 7 1.026 0.006 0.002 1.020 1.036 -0.97 1.69 6 0 Optimization iteration 2 of 5 Segment 1 of 6 Time range: 221.47733 to 221.50233 Index range: 1 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 18 0.000 0.005 0.001 -0.009 0.006 -1.84 1.09 15 8 2 18 0.000 0.002 0.001 -0.003 0.005 -1.20 2.13 3 16 Segment 2 of 6 Time range: 221.50372 to 223.56621 Index range: 20 through 1504 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1486 0.007 0.013 0.000 -0.092 0.148 -7.45 10.63 1445 1423 2 1486 0.004 0.009 0.000 -0.034 0.087 -4.47 9.75 1451 1445 Segment 3 of 6 Time range: 223.56760 to 225.97733 Index range: 1506 through 3240 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1734 -0.005 0.013 0.000 -0.129 0.081 -9.87 6.85 31 13 2 1734 0.008 0.009 0.000 -0.041 0.051 -5.67 5.03 23 5 Segment 4 of 6 Time range: 225.97872 to 225.98427 Index range: 3242 through 3245 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 -0.000 0.003 0.002 -0.004 0.004 -1.35 1.33 0 3 2 4 0.000 0.000 0.000 -0.001 0.000 -1.71 0.77 0 2 Segment 5 of 6 Time range: 225.98566 to 226.44399 Index range: 3247 through 3576 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 331 -0.002 0.005 0.000 -0.020 0.016 -3.32 3.30 121 330 2 331 -0.000 0.007 0.000 -0.017 0.046 -2.41 6.48 279 326 Segment 6 of 6 Time range: 226.44955 to 226.45927 Index range: 3581 through 3587 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 0.022 0.008 -0.030 0.029 -1.35 1.28 5 1 2 7 -0.000 0.006 0.002 -0.006 0.010 -0.98 1.69 6 0 Optimization iteration 3 of 5 Segment 1 of 6 Time range: 221.47733 to 221.50233 Index range: 1 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 18 -0.000 0.005 0.001 -0.009 0.005 -1.84 1.09 15 8 2 18 0.000 0.002 0.001 -0.003 0.005 -1.20 2.13 3 16 Segment 2 of 6 Time range: 221.50372 to 223.56621 Index range: 20 through 1504 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1486 -0.005 0.013 0.000 -0.108 0.132 -7.97 10.57 1445 1423 2 1486 0.000 0.009 0.000 -0.038 0.083 -4.48 9.75 1451 1445 Segment 3 of 6 Time range: 223.56760 to 225.97733 Index range: 1506 through 3240 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1734 0.002 0.012 0.000 -0.124 0.086 -10.28 6.87 31 13 2 1734 0.000 0.009 0.000 -0.049 0.043 -5.68 5.02 23 5 Segment 4 of 6 Time range: 225.97872 to 225.98427 Index range: 3242 through 3245 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 0.000 0.003 0.002 -0.004 0.004 -1.35 1.33 0 3 2 4 0.000 0.000 0.000 -0.001 0.000 -1.71 0.77 0 2 Segment 5 of 6 Time range: 225.98566 to 226.44399 Index range: 3247 through 3576 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 331 0.003 0.005 0.000 -0.016 0.021 -3.50 3.58 121 330 2 331 -0.000 0.007 0.000 -0.017 0.046 -2.41 6.48 279 326 Segment 6 of 6 Time range: 226.44955 to 226.45927 Index range: 3581 through 3587 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 0.022 0.008 -0.030 0.029 -1.35 1.28 5 1 2 7 0.000 0.006 0.002 -0.006 0.010 -0.98 1.69 6 0 Optimization iteration 4 of 5 Segment 1 of 6 Time range: 221.47733 to 221.50233 Index range: 1 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 18 0.000 0.005 0.001 -0.009 0.005 -1.84 1.09 15 8 2 18 -0.000 0.002 0.001 -0.003 0.005 -1.20 2.13 3 16 Segment 2 of 6 Time range: 221.50372 to 223.56621 Index range: 20 through 1504 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1486 0.000 0.013 0.000 -0.103 0.137 -7.97 10.57 1445 1423 2 1486 -0.000 0.009 0.000 -0.038 0.083 -4.48 9.75 1451 1445 Segment 3 of 6 Time range: 223.56760 to 225.97733 Index range: 1506 through 3240 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1734 -0.000 0.012 0.000 -0.126 0.084 -10.27 6.87 31 13 2 1734 -0.000 0.009 0.000 -0.049 0.043 -5.67 5.02 23 5 Segment 4 of 6 Time range: 225.97872 to 225.98427 Index range: 3242 through 3245 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 -0.000 0.003 0.002 -0.004 0.004 -1.35 1.33 0 3 2 4 -0.000 0.000 0.000 -0.001 0.000 -1.71 0.77 0 2 Segment 5 of 6 Time range: 225.98566 to 226.44399 Index range: 3247 through 3576 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 331 0.000 0.005 0.000 -0.018 0.019 -3.50 3.58 121 330 2 331 0.000 0.007 0.000 -0.017 0.046 -2.41 6.48 279 326 Segment 6 of 6 Time range: 226.44955 to 226.45927 Index range: 3581 through 3587 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 0.022 0.008 -0.030 0.029 -1.35 1.28 5 1 2 7 -0.000 0.006 0.002 -0.006 0.010 -0.98 1.69 6 0 Optimization iteration 5 of 5 Segment 1 of 6 fix time dx dy (1.e-5 degrees) Segment 1 of 6 Time range: 221.47733 to 221.50233 Index range: 1 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 18 0.000 0.005 0.001 -0.009 0.005 -1.84 1.09 15 8 2 18 -0.000 0.002 0.001 -0.003 0.005 -1.20 2.13 3 16 Segment 2 of 6 fix time dx dy (1.e-5 degrees) 223.47455 51 -7 223.47594 83 -4 223.47733 114 -6 223.47872 136 -13 223.48011 137 -28 223.48149 118 -38 223.48288 93 -26 223.48427 72 -13 223.50511 -54 5 223.50649 -71 28 223.50788 -76 48 223.50927 -89 65 223.51066 -103 83 223.51205 -86 62 223.51344 -54 33 Segment 2 of 6 Time range: 221.50372 to 223.56621 Index range: 20 through 1504 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1486 0.000 0.013 0.000 -0.103 0.137 -7.97 10.57 1445 1423 2 1486 -0.000 0.009 0.000 -0.038 0.083 -4.48 9.75 1451 1445 Segment 3 of 6 fix time dx dy (1.e-5 degrees) 223.58566 72 -33 223.58705 84 -48 223.58844 74 -36 223.58983 56 -18 223.60094 11 -49 223.60649 -48 -27 223.60788 -66 -34 223.60927 -97 -32 223.61066 -121 -21 223.61205 -126 -10 223.61344 -110 1 223.61482 -87 7 223.61621 -65 12 Segment 3 of 6 Time range: 223.56760 to 225.97733 Index range: 1506 through 3240 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1734 -0.000 0.012 0.000 -0.126 0.084 -10.27 6.87 31 13 2 1734 -0.000 0.009 0.000 -0.049 0.043 -5.67 5.02 23 5 Segment 4 of 6 fix time dx dy (1.e-5 degrees) Segment 4 of 6 Time range: 225.97872 to 225.98427 Index range: 3242 through 3245 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 -0.000 0.003 0.002 -0.004 0.004 -1.35 1.33 0 3 2 4 0.000 0.000 0.000 -0.001 0.000 -1.71 0.77 0 2 Segment 5 of 6 fix time dx dy (1.e-5 degrees) Segment 5 of 6 Time range: 225.98566 to 226.44399 Index range: 3247 through 3576 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 331 0.000 0.005 0.000 -0.018 0.019 -3.50 3.58 121 330 2 331 0.000 0.007 0.000 -0.017 0.046 -2.41 6.48 279 326 Segment 6 of 6 fix time dx dy (1.e-5 degrees) Segment 6 of 6 Time range: 226.44955 to 226.45927 Index range: 3581 through 3587 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 0.022 0.008 -0.030 0.029 -1.35 1.28 5 1 2 7 0.000 0.006 0.002 -0.006 0.010 -0.98 1.69 6 0 seg i0 i1 n nfix 1 1 19 18 18 2 20 1505 1485 1486 3 1506 3241 1735 1734 4 3242 3246 4 4 5 3247 3577 330 331 6 3581 3588 7 7 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 221.47733 221.50233 -91.0936 -91.1733 28.6818 28.6309 5 3 18 2 221.50372 223.56621 -91.1776 -94.8161 28.6280 29.3122 12 9 1486 3 223.56760 225.97733 -94.8161 -91.4735 29.3122 28.7403 12 9 1734 4 225.97872 225.98427 -91.4686 -91.4498 28.7380 28.7290 3 0 4 5 225.98566 226.44399 -91.4500 -90.5787 28.7288 29.0548 5 8 331 6 226.44955 226.45927 -90.5850 -90.5769 29.0733 29.1059 22 7 7