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 101.915168 with ratio = 0.200000 Rejected refabs at time 101.925574 with ratio = 0.200000 Rejected refabs at time 101.935990 with ratio = 0.200000 Rejected refabs at time 101.946405 with ratio = 0.200000 Rejected refabs at time 101.974216 with ratio = 0.200000 Rejected refabs at time 101.988101 with ratio = 0.200401 Rejected refabs at time 101.998503 with ratio = 0.200000 Rejected refabs at time 102.008918 with ratio = 0.200000 Rejected refabs at time 102.029740 with ratio = 0.200000 There are 10 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 10 Time range: 100.25198 to 101.91516 Index range: 3 through 481 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 479 1.691 0.307 0.014 1.087 2.096 -1.96 1.32 1 435 2 479 0.993 0.256 0.012 0.546 1.369 -1.75 1.47 16 457 Segment 2 of 10 Time range: 101.91863 to 101.92558 Index range: 483 through 484 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 2.323 0.007 0.004 2.314 2.331 -1.22 1.23 2 1 2 3 1.675 0.005 0.003 1.669 1.682 -1.22 1.23 0 1 Segment 3 of 10 Time range: 101.92905 to 101.93600 Index range: 486 through 487 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 2.564 0.001 0.000 2.564 2.565 -1.00 1.00 0 1 2 2 2.013 0.001 0.000 2.012 2.013 -1.00 1.00 1 0 Segment 4 of 10 Time range: 101.93946 to 101.94640 Index range: 489 through 490 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 2.836 0.000 0.000 2.836 2.836 -1.00 1.00 1 0 2 2 2.398 0.001 0.001 2.397 2.399 -1.00 1.00 1 0 Segment 5 of 10 Time range: 101.94992 to 101.97421 Index range: 492 through 498 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 3.103 0.007 0.003 3.093 3.114 -1.41 1.62 4 5 2 6 2.806 0.011 0.004 2.792 2.824 -1.35 1.64 0 5 Segment 6 of 10 Time range: 101.97768 to 101.98810 Index range: 500 through 502 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4 3.438 0.010 0.005 3.424 3.451 -1.36 1.28 0 2 2 4 3.184 0.015 0.008 3.162 3.203 -1.45 1.26 0 2 Segment 7 of 10 Time range: 101.99156 to 101.99851 Index range: 504 through 505 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 3.653 0.010 0.006 3.640 3.664 -1.32 1.10 0 1 2 3 3.469 0.012 0.007 3.455 3.485 -1.14 1.30 2 0 Segment 8 of 10 Time range: 102.00198 to 102.00891 Index range: 507 through 508 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1 3.927 0.000 0.000 3.927 3.927 0.00 0.00 0 0 2 1 3.866 0.000 0.000 3.866 3.866 0.00 0.00 0 0 Segment 9 of 10 Time range: 102.01238 to 102.02975 Index range: 510 through 514 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 4.169 0.010 0.004 4.158 4.190 -1.04 2.03 3 1 2 6 4.222 0.014 0.006 4.205 4.244 -1.27 1.61 3 1 Segment 10 of 10 Time range: 102.03321 to 102.59225 Index range: 516 through 676 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 161 4.384 0.005 0.000 4.361 4.398 -4.48 2.70 13 24 2 161 4.574 0.015 0.001 4.526 4.590 -3.24 1.09 4 50 Optimization iteration 2 of 5 Segment 1 of 10 Time range: 100.25198 to 101.91516 Index range: 3 through 481 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 479 -0.596 0.010 0.000 -0.633 -0.525 -3.62 7.18 465 11 2 479 -0.427 0.006 0.000 -0.446 -0.395 -3.00 5.10 5 11 Segment 2 of 10 Time range: 101.91863 to 101.92558 Index range: 483 through 484 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 -0.000 0.007 0.004 -0.009 0.009 -1.22 1.23 2 1 2 3 -0.000 0.005 0.003 -0.006 0.006 -1.21 1.23 0 1 Segment 3 of 10 Time range: 101.92905 to 101.93600 Index range: 486 through 487 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 0.000 0.001 0.000 -0.001 0.001 -1.00 1.00 0 1 2 2 -0.000 0.001 0.000 -0.001 0.001 -1.00 1.00 1 0 Segment 4 of 10 Time range: 101.93946 to 101.94640 Index range: 489 through 490 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 0.000 0.000 0.000 -0.000 0.000 -1.00 1.00 1 0 2 2 -0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 1 0 Segment 5 of 10 Time range: 101.94992 to 101.97421 Index range: 492 through 498 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 0.000 0.007 0.003 -0.010 0.011 -1.40 1.63 4 5 2 6 -0.000 0.011 0.004 -0.014 0.017 -1.35 1.64 0 5 Segment 6 of 10 Time range: 101.97768 to 101.98810 Index range: 500 through 502 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 0.010 0.005 -0.014 0.013 -1.36 1.28 0 2 2 4 -0.000 0.015 0.008 -0.022 0.019 -1.45 1.26 0 2 Segment 7 of 10 Time range: 101.99156 to 101.99851 Index range: 504 through 505 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 0.000 0.010 0.006 -0.013 0.011 -1.32 1.10 0 1 2 3 -0.000 0.012 0.007 -0.014 0.016 -1.14 1.30 2 0 Segment 8 of 10 Time range: 102.00198 to 102.00891 Index range: 507 through 508 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 9 of 10 Time range: 102.01238 to 102.02975 Index range: 510 through 514 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 0.000 0.010 0.004 -0.011 0.021 -1.04 2.03 3 1 2 6 -0.000 0.014 0.006 -0.017 0.022 -1.27 1.61 3 1 Segment 10 of 10 Time range: 102.03321 to 102.59225 Index range: 516 through 676 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 161 -0.016 0.007 0.001 -0.031 0.011 -2.04 3.62 58 24 2 161 -0.028 0.004 0.000 -0.047 -0.015 -4.77 3.28 4 39 Optimization iteration 3 of 5 Segment 1 of 10 Time range: 100.25198 to 101.91516 Index range: 3 through 481 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 479 0.011 0.009 0.000 -0.033 0.072 -4.71 6.55 16 11 2 479 -0.000 0.006 0.000 -0.019 0.032 -2.98 5.12 5 11 Segment 2 of 10 Time range: 101.91863 to 101.92558 Index range: 483 through 484 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 0.000 0.007 0.004 -0.009 0.009 -1.22 1.23 2 1 2 3 -0.000 0.005 0.003 -0.006 0.006 -1.21 1.23 0 1 Segment 3 of 10 Time range: 101.92905 to 101.93600 Index range: 486 through 487 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 0 1 2 2 -0.000 0.001 0.000 -0.001 0.001 -1.00 1.00 1 0 Segment 4 of 10 Time range: 101.93946 to 101.94640 Index range: 489 through 490 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 0.000 0.000 0.000 -0.000 0.000 -1.00 1.00 1 0 2 2 -0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 1 0 Segment 5 of 10 Time range: 101.94992 to 101.97421 Index range: 492 through 498 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 0.000 0.007 0.003 -0.009 0.011 -1.38 1.64 4 5 2 6 -0.000 0.011 0.004 -0.014 0.017 -1.35 1.64 0 5 Segment 6 of 10 Time range: 101.97768 to 101.98810 Index range: 500 through 502 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 0.010 0.005 -0.014 0.013 -1.36 1.28 0 2 2 4 -0.000 0.015 0.008 -0.022 0.019 -1.45 1.26 0 2 Segment 7 of 10 Time range: 101.99156 to 101.99851 Index range: 504 through 505 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 0.000 0.010 0.006 -0.013 0.011 -1.32 1.10 0 1 2 3 -0.000 0.012 0.007 -0.014 0.016 -1.14 1.30 2 0 Segment 8 of 10 Time range: 102.00198 to 102.00891 Index range: 507 through 508 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 9 of 10 Time range: 102.01238 to 102.02975 Index range: 510 through 514 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 0.000 0.010 0.004 -0.011 0.021 -1.04 2.03 3 1 2 6 -0.000 0.014 0.006 -0.017 0.022 -1.27 1.61 3 1 Segment 10 of 10 Time range: 102.03321 to 102.59225 Index range: 516 through 676 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 161 0.004 0.006 0.001 -0.010 0.029 -2.27 3.91 58 24 2 161 -0.000 0.004 0.000 -0.019 0.013 -4.76 3.29 4 39 Optimization iteration 4 of 5 Segment 1 of 10 Time range: 100.25198 to 101.91516 Index range: 3 through 481 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 479 -0.006 0.009 0.000 -0.044 0.061 -4.28 7.39 16 11 2 479 0.000 0.006 0.000 -0.019 0.032 -2.99 5.11 5 11 Segment 2 of 10 Time range: 101.91863 to 101.92558 Index range: 483 through 484 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 -0.000 0.007 0.004 -0.009 0.009 -1.22 1.23 2 1 2 3 0.000 0.005 0.003 -0.006 0.006 -1.21 1.23 0 1 Segment 3 of 10 Time range: 101.92905 to 101.93600 Index range: 486 through 487 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 -0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 0 1 2 2 -0.000 0.001 0.000 -0.001 0.001 -1.00 1.00 1 0 Segment 4 of 10 Time range: 101.93946 to 101.94640 Index range: 489 through 490 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 -0.000 0.000 0.000 -0.000 0.000 -1.00 1.00 1 0 2 2 0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 1 0 Segment 5 of 10 Time range: 101.94992 to 101.97421 Index range: 492 through 498 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 -0.000 0.007 0.003 -0.010 0.011 -1.38 1.64 4 5 2 6 0.000 0.011 0.004 -0.014 0.017 -1.35 1.64 0 5 Segment 6 of 10 Time range: 101.97768 to 101.98810 Index range: 500 through 502 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 0.010 0.005 -0.014 0.013 -1.36 1.28 0 2 2 4 0.000 0.015 0.008 -0.022 0.019 -1.45 1.26 0 2 Segment 7 of 10 Time range: 101.99156 to 101.99851 Index range: 504 through 505 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 -0.000 0.010 0.006 -0.013 0.011 -1.32 1.10 0 1 2 3 0.000 0.012 0.007 -0.014 0.016 -1.14 1.30 2 0 Segment 8 of 10 Time range: 102.00198 to 102.00891 Index range: 507 through 508 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 9 of 10 Time range: 102.01238 to 102.02975 Index range: 510 through 514 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 -0.000 0.010 0.004 -0.011 0.021 -1.04 2.03 3 1 2 6 0.000 0.014 0.006 -0.017 0.022 -1.27 1.61 3 1 Segment 10 of 10 Time range: 102.03321 to 102.59225 Index range: 516 through 676 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 161 -0.000 0.006 0.001 -0.014 0.025 -2.26 3.91 58 24 2 161 0.000 0.004 0.000 -0.019 0.013 -4.76 3.29 4 39 Optimization iteration 5 of 5 Segment 1 of 10 fix time dx dy (1.e-5 degrees) 100.29017 66 32 Segment 1 of 10 Time range: 100.25198 to 101.91516 Index range: 3 through 481 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 479 -0.000 0.009 0.000 -0.038 0.066 -4.28 7.39 16 11 2 479 0.000 0.006 0.000 -0.019 0.032 -2.99 5.11 5 11 Segment 2 of 10 fix time dx dy (1.e-5 degrees) Segment 2 of 10 Time range: 101.91863 to 101.92558 Index range: 483 through 484 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 -0.000 0.007 0.004 -0.009 0.009 -1.22 1.23 2 1 2 3 0.000 0.005 0.003 -0.006 0.006 -1.21 1.23 0 1 Segment 3 of 10 fix time dx dy (1.e-5 degrees) Segment 3 of 10 Time range: 101.92905 to 101.93600 Index range: 486 through 487 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 -0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 0 1 2 2 -0.000 0.001 0.000 -0.001 0.001 -1.00 1.00 1 0 Segment 4 of 10 fix time dx dy (1.e-5 degrees) Segment 4 of 10 Time range: 101.93946 to 101.94640 Index range: 489 through 490 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 2 -0.000 0.000 0.000 -0.000 0.000 -1.00 1.00 1 0 2 2 0.000 0.001 0.001 -0.001 0.001 -1.00 1.00 1 0 Segment 5 of 10 fix time dx dy (1.e-5 degrees) Segment 5 of 10 Time range: 101.94992 to 101.97421 Index range: 492 through 498 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 -0.000 0.007 0.003 -0.010 0.011 -1.38 1.64 4 5 2 6 0.000 0.011 0.004 -0.014 0.017 -1.35 1.64 0 5 Segment 6 of 10 fix time dx dy (1.e-5 degrees) Segment 6 of 10 Time range: 101.97768 to 101.98810 Index range: 500 through 502 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 0.010 0.005 -0.014 0.013 -1.36 1.28 0 2 2 4 0.000 0.015 0.008 -0.022 0.019 -1.45 1.26 0 2 Segment 7 of 10 fix time dx dy (1.e-5 degrees) Segment 7 of 10 Time range: 101.99156 to 101.99851 Index range: 504 through 505 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 3 -0.000 0.010 0.006 -0.013 0.011 -1.32 1.10 0 1 2 3 0.000 0.012 0.007 -0.014 0.016 -1.14 1.30 2 0 Segment 8 of 10 fix time dx dy (1.e-5 degrees) Segment 8 of 10 Time range: 102.00198 to 102.00891 Index range: 507 through 508 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 9 of 10 fix time dx dy (1.e-5 degrees) Segment 9 of 10 Time range: 102.01238 to 102.02975 Index range: 510 through 514 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 6 -0.000 0.010 0.004 -0.011 0.021 -1.04 2.03 3 1 2 6 0.000 0.014 0.006 -0.017 0.022 -1.27 1.61 3 1 Segment 10 of 10 fix time dx dy (1.e-5 degrees) Segment 10 of 10 Time range: 102.03321 to 102.59225 Index range: 516 through 676 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 161 -0.000 0.006 0.001 -0.014 0.025 -2.26 3.91 58 24 2 161 0.000 0.004 0.000 -0.019 0.013 -4.76 3.29 4 39 seg i0 i1 n nfix 1 3 482 479 479 2 483 485 2 3 3 486 488 2 2 4 489 491 2 2 5 492 499 7 6 6 500 503 3 4 7 504 506 2 3 8 507 509 2 1 9 510 515 5 6 10 516 677 161 161 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 100.25198 101.91516 26.5713 30.6636 -34.2315 -31.1188 8 7 479 2 101.91863 101.92558 30.6660 30.6718 -31.1155 -31.1088 7 6 3 3 101.92905 101.93600 30.6742 30.6807 -31.1054 -31.0967 1 1 2 4 101.93946 101.94640 30.6834 30.6893 -31.0929 -31.0837 0 1 2 5 101.94992 101.97421 30.6920 30.7122 -31.0796 -31.0520 6 12 6 6 101.97768 101.98810 30.7155 30.7239 -31.0483 -31.0372 10 17 4 7 101.99156 101.99851 30.7260 30.7309 -31.0343 -31.0262 9 14 3 8 102.00198 102.00891 30.7336 30.7395 -31.0222 -31.0137 0 0 1 9 102.01238 102.02975 30.7419 30.7540 -31.0101 -30.9913 10 15 6 10 102.03321 102.59225 30.7561 30.9593 -30.9880 -30.7027 6 4 161