ADCP Navigation: SMOOTHR reference_file: a_rb.nav refabs_output: a_rb.ref output: a_rb.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 310.197978 with ratio = 0.199593 Rejected refabs at time 310.201391 with ratio = 0.200803 Rejected refabs at time 314.533183 with ratio = 0.199409 Rejected refabs at time 325.510104 with ratio = 0.724924 Rejected refabs at time 325.513550 with ratio = 0.714835 Rejected refabs at time 338.980223 with ratio = 0.199495 Rejected refabs at time 341.877495 with ratio = 0.228712 Rejected refabs at time 341.880961 with ratio = 0.228712 Rejected refabs at time 341.884426 with ratio = 0.228712 Rejected refabs at time 341.887892 with ratio = 0.228712 Rejected refabs at time 341.891357 with ratio = 0.228712 Rejected refabs at time 341.894823 with ratio = 0.226443 Rejected refabs at time 341.898322 with ratio = 0.229171 Rejected refabs at time 341.901784 with ratio = 0.228712 Rejected refabs at time 341.905249 with ratio = 0.228712 Rejected refabs at time 341.908713 with ratio = 0.230059 Rejected refabs at time 341.912225 with ratio = 0.228712 Rejected refabs at time 341.915690 with ratio = 0.228712 Rejected refabs at time 341.919155 with ratio = 0.228712 Rejected refabs at time 341.922620 with ratio = 0.228712 Rejected refabs at time 341.926086 with ratio = 0.228712 Rejected refabs at time 341.929552 with ratio = 0.226443 Rejected refabs at time 341.933053 with ratio = 0.229171 Rejected refabs at time 341.936515 with ratio = 0.228712 Rejected refabs at time 341.939980 with ratio = 0.228712 Rejected refabs at time 341.943446 with ratio = 0.228712 Rejected refabs at time 341.946911 with ratio = 0.230059 Rejected refabs at time 341.950423 with ratio = 0.228712 Rejected refabs at time 341.953889 with ratio = 0.229171 Rejected refabs at time 341.957347 with ratio = 0.228712 Rejected refabs at time 341.960812 with ratio = 0.228712 Rejected refabs at time 341.964278 with ratio = 0.228712 Rejected refabs at time 341.967744 with ratio = 0.230059 Rejected refabs at time 341.971255 with ratio = 0.229632 Rejected refabs at time 341.974707 with ratio = 0.228712 Rejected refabs at time 341.978173 with ratio = 0.228712 Rejected refabs at time 341.981638 with ratio = 0.228712 Rejected refabs at time 341.985102 with ratio = 0.230059 Rejected refabs at time 341.988613 with ratio = 0.228712 Rejected refabs at time 341.992077 with ratio = 0.228712 Rejected refabs at time 341.995543 with ratio = 0.228712 Rejected refabs at time 341.999008 with ratio = 0.228712 Rejected refabs at time 342.002473 with ratio = 0.229171 Rejected refabs at time 342.005934 with ratio = 0.230059 Rejected refabs at time 342.009445 with ratio = 0.228712 Rejected refabs at time 342.012911 with ratio = 0.228712 Rejected refabs at time 342.016376 with ratio = 0.228712 Rejected refabs at time 342.019842 with ratio = 0.228712 Rejected refabs at time 342.023307 with ratio = 0.228712 Rejected refabs at time 342.026773 with ratio = 0.230059 Rejected refabs at time 342.030284 with ratio = 0.228712 Rejected refabs at time 342.037214 with ratio = 0.200401 Rejected refabs at time 342.040679 with ratio = 0.200803 Rejected refabs at time 342.044137 with ratio = 0.200401 Rejected refabs at time 342.047603 with ratio = 0.201980 Rejected refabs at time 342.051113 with ratio = 0.200401 Rejected refabs at time 342.058036 with ratio = 0.200401 Rejected refabs at time 342.061502 with ratio = 0.198413 Rejected refabs at time 342.578864 with ratio = 0.401987 Rejected refabs at time 342.582329 with ratio = 0.401987 Rejected refabs at time 342.585795 with ratio = 0.405155 Rejected refabs at time 342.589304 with ratio = 0.401987 Rejected refabs at time 342.592769 with ratio = 0.401987 There are 7 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 7 Time range: 304.76391 to 310.19797 Index range: 1 through 1565 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1533 3.702 1.856 0.047 0.622 6.925 -1.66 1.74 0 1487 2 1533 -2.075 0.798 0.020 -3.459 -0.833 -1.73 1.56 1475 0 Segment 2 of 7 Time range: 310.20492 to 314.53318 Index range: 1568 through 2814 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 7 Time range: 315.71840 to 325.51010 Index range: 2816 through 5635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2821 2.697 0.196 0.004 1.578 2.915 -5.72 1.11 0 2664 2 2821 2.194 1.743 0.033 -0.462 4.975 -1.52 1.59 251 2630 Segment 4 of 7 Time range: 325.51701 to 338.98022 Index range: 5638 through 9515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3878 -2.779 4.692 0.075 -10.788 2.894 -1.71 1.21 3871 124 2 3878 5.446 0.734 0.012 4.291 7.881 -1.58 3.32 28 3877 Segment 5 of 7 Time range: 340.35321 to 341.87750 Index range: 9517 through 9955 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 439 -0.959 0.125 0.006 -1.200 -0.770 -1.93 1.51 421 0 2 439 1.657 0.191 0.009 1.368 2.026 -1.51 1.93 1 437 Segment 6 of 7 Time range: 342.06499 to 342.57887 Index range: 10010 through 10157 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 149 -0.518 0.035 0.003 -0.713 -0.320 -5.54 5.60 27 24 2 149 5.496 0.037 0.003 5.280 5.602 -5.91 2.89 4 27 Segment 7 of 7 Time range: 342.59623 to 342.62751 Index range: 10163 through 10171 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 2.260 0.087 0.029 2.124 2.390 -1.56 1.50 2 5 2 9 11.375 0.053 0.018 11.311 11.463 -1.21 1.66 2 5 Optimization iteration 2 of 5 Segment 1 of 7 Time range: 304.76391 to 310.19797 Index range: 1 through 1565 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1533 -3.085 0.007 0.000 -3.108 -3.071 -3.43 2.11 1501 428 2 1533 1.244 0.005 0.000 1.227 1.266 -3.45 4.56 1022 1316 Segment 2 of 7 Time range: 310.20492 to 314.53318 Index range: 1568 through 2814 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 7 Time range: 315.71840 to 325.51010 Index range: 2816 through 5635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2821 -1.118 0.004 0.000 -1.157 -1.095 -8.66 5.06 2788 2786 2 2821 -2.460 0.004 0.000 -2.499 -2.399 -9.07 14.19 2788 2790 Segment 4 of 7 Time range: 325.51701 to 338.98022 Index range: 5638 through 9515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3878 5.144 0.186 0.003 4.786 5.392 -1.93 1.33 3871 142 2 3878 -1.130 0.005 0.000 -1.146 -1.113 -3.57 3.77 884 2088 Segment 5 of 7 Time range: 340.35321 to 341.87750 Index range: 9517 through 9955 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 439 0.178 0.022 0.001 0.125 0.263 -2.40 3.86 421 299 2 439 -0.289 0.010 0.000 -0.322 -0.258 -3.33 3.17 420 151 Segment 6 of 7 Time range: 342.06499 to 342.57887 Index range: 10010 through 10157 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 149 0.001 0.034 0.003 -0.194 0.192 -5.67 5.58 27 24 2 149 -0.053 0.031 0.003 -0.216 0.048 -5.31 3.28 4 15 Segment 7 of 7 Time range: 342.59623 to 342.62751 Index range: 10163 through 10171 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 -0.005 0.084 0.028 -0.136 0.123 -1.56 1.51 2 5 2 9 -0.002 0.052 0.017 -0.064 0.084 -1.20 1.66 2 5 Optimization iteration 3 of 5 Segment 1 of 7 Time range: 304.76391 to 310.19797 Index range: 1 through 1565 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1533 0.025 0.011 0.000 -0.005 0.049 -2.61 2.09 212 1430 2 1533 0.000 0.005 0.000 -0.016 0.022 -3.42 4.58 1022 1316 Segment 2 of 7 Time range: 310.20492 to 314.53318 Index range: 1568 through 2814 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 7 Time range: 315.71840 to 325.51010 Index range: 2816 through 5635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2821 -0.001 0.005 0.000 -0.034 0.027 -7.47 6.14 2788 2786 2 2821 0.000 0.004 0.000 -0.038 0.062 -8.65 13.95 2788 2790 Segment 4 of 7 Time range: 325.51701 to 338.98022 Index range: 5638 through 9515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3878 0.291 0.052 0.001 0.205 0.392 -1.63 1.94 172 3854 2 3878 0.001 0.005 0.000 -0.015 0.018 -3.60 3.62 884 2088 Segment 5 of 7 Time range: 340.35321 to 341.87750 Index range: 9517 through 9955 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 439 0.013 0.022 0.001 -0.031 0.104 -2.01 4.11 193 299 2 439 0.000 0.010 0.000 -0.032 0.031 -3.29 3.15 420 151 Segment 6 of 7 Time range: 342.06499 to 342.57887 Index range: 10010 through 10157 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 149 -0.000 0.034 0.003 -0.195 0.190 -5.69 5.58 27 24 2 149 0.000 0.031 0.003 -0.163 0.101 -5.31 3.28 4 15 Segment 7 of 7 Time range: 342.59623 to 342.62751 Index range: 10163 through 10171 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 -0.001 0.084 0.028 -0.132 0.126 -1.56 1.51 2 5 2 9 0.000 0.052 0.017 -0.062 0.086 -1.20 1.66 2 5 Optimization iteration 4 of 5 Segment 1 of 7 Time range: 304.76391 to 310.19797 Index range: 1 through 1565 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1533 -0.021 0.004 0.000 -0.037 -0.010 -4.63 3.09 212 717 2 1533 -0.000 0.005 0.000 -0.017 0.022 -3.44 4.57 1022 1316 Segment 2 of 7 Time range: 310.20492 to 314.53318 Index range: 1568 through 2814 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 7 Time range: 315.71840 to 325.51010 Index range: 2816 through 5635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2821 -0.002 0.004 0.000 -0.039 0.023 -8.23 5.55 2788 2786 2 2821 -0.000 0.004 0.000 -0.039 0.061 -8.97 14.14 2788 2790 Segment 4 of 7 Time range: 325.51701 to 338.98022 Index range: 5638 through 9515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3878 -0.062 0.004 0.000 -0.084 -0.045 -4.90 4.07 172 3632 2 3878 -0.000 0.005 0.000 -0.017 0.016 -3.61 3.67 884 2088 Segment 5 of 7 Time range: 340.35321 to 341.87750 Index range: 9517 through 9955 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 439 -0.002 0.022 0.001 -0.046 0.087 -2.02 4.11 193 299 2 439 -0.000 0.010 0.000 -0.033 0.031 -3.30 3.15 420 151 Segment 6 of 7 Time range: 342.06499 to 342.57887 Index range: 10010 through 10157 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 149 0.000 0.034 0.003 -0.194 0.191 -5.69 5.58 27 24 2 149 -0.000 0.031 0.003 -0.163 0.101 -5.31 3.28 4 15 Segment 7 of 7 Time range: 342.59623 to 342.62751 Index range: 10163 through 10171 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 0.000 0.084 0.028 -0.131 0.127 -1.56 1.51 2 5 2 9 -0.000 0.052 0.017 -0.062 0.086 -1.20 1.66 2 5 Optimization iteration 5 of 5 Segment 1 of 7 fix time dx dy (1.e-5 degrees) Segment 1 of 7 Time range: 304.76391 to 310.19797 Index range: 1 through 1565 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1533 -0.000 0.004 0.000 -0.017 0.011 -4.62 3.09 212 717 2 1533 -0.000 0.005 0.000 -0.017 0.022 -3.44 4.57 1022 1316 Segment 2 of 7 fix time dx dy (1.e-5 degrees) Segment 2 of 7 Time range: 310.20492 to 314.53318 Index range: 1568 through 2814 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 7 fix time dx dy (1.e-5 degrees) 325.39896 -37 -39 325.40243 -19 47 325.40592 -13 61 Segment 3 of 7 Time range: 315.71840 to 325.51010 Index range: 2816 through 5635 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2821 -0.000 0.004 0.000 -0.037 0.025 -8.23 5.55 2788 2786 2 2821 0.000 0.004 0.000 -0.039 0.061 -8.97 14.14 2788 2790 Segment 4 of 7 fix time dx dy (1.e-5 degrees) Segment 4 of 7 Time range: 325.51701 to 338.98022 Index range: 5638 through 9515 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3878 0.000 0.004 0.000 -0.021 0.018 -4.90 4.08 172 3632 2 3878 0.000 0.005 0.000 -0.017 0.017 -3.61 3.67 884 2088 Segment 5 of 7 fix time dx dy (1.e-5 degrees) 340.87747 48 27 340.88094 45 31 340.88441 51 29 340.88792 46 23 340.90876 52 9 340.91223 57 17 340.91566 56 22 340.91916 47 23 340.96778 47 20 341.38791 57 3 341.39137 77 8 341.39482 90 18 341.39834 87 20 341.40180 85 17 341.40527 84 14 341.40873 68 7 341.41220 56 1 341.41567 52 2 341.41913 65 6 341.42264 65 5 341.42611 55 8 341.42958 51 7 Segment 5 of 7 Time range: 340.35321 to 341.87750 Index range: 9517 through 9955 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 439 0.000 0.022 0.001 -0.044 0.090 -2.02 4.11 193 299 2 439 0.000 0.010 0.000 -0.033 0.031 -3.30 3.15 420 151 Segment 6 of 7 fix time dx dy (1.e-5 degrees) 342.06847 -12 60 342.07193 -36 -109 342.07885 -85 -163 342.08236 -33 -83 342.09275 38 -36 342.09622 41 -91 342.09968 14 -62 342.10319 27 54 342.10666 30 46 342.11358 16 48 342.11709 -11 101 342.12056 -8 94 342.14138 72 -39 342.14484 131 22 342.14830 191 42 342.15177 94 18 342.15528 -62 40 342.15875 -194 101 342.16220 -152 33 342.16566 -74 10 342.55802 -6 -52 342.56149 -13 -115 342.56500 -6 -87 342.57193 27 46 Segment 6 of 7 Time range: 342.06499 to 342.57887 Index range: 10010 through 10157 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 149 -0.000 0.034 0.003 -0.194 0.191 -5.69 5.58 27 24 2 149 0.000 0.031 0.003 -0.163 0.101 -5.31 3.28 4 15 Segment 7 of 7 fix time dx dy (1.e-5 degrees) 342.59970 -113 -61 342.60317 -131 -62 342.60663 -50 -15 342.61014 112 85 342.61361 127 86 Segment 7 of 7 Time range: 342.59623 to 342.62751 Index range: 10163 through 10171 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 9 -0.000 0.084 0.028 -0.131 0.127 -1.56 1.51 2 5 2 9 0.000 0.052 0.017 -0.062 0.086 -1.20 1.66 2 5 seg i0 i1 n nfix 1 1 1566 1565 1533 2 1568 2815 1247 0 3 2816 5636 2820 2821 4 5638 9516 3878 3878 5 9517 9956 439 439 6 10010 10158 148 149 7 10163 10172 9 9 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 304.76391 310.19797 -59.6379 nan 12.8372 nan nan 5 1533 2 310.20492 314.53318 nan nan nan nan nan 0 0 3 315.71840 325.51010 -26.9197 -23.4987 -1.3641 14.8963 5 5 2821 4 325.51701 338.98022 -23.4988 -66.3400 14.8944 29.1155 4 5 3878 5 340.35321 341.87750 -68.7348 -71.3258 34.7909 40.3015 19 11 439 6 342.06499 342.57887 -71.3867 -71.3763 41.0698 41.4449 28 34 149 7 342.59623 342.62751 -71.3486 -71.3158 41.5036 41.5310 69 57 9