New project initialized: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_154030.mb88 > Read 1841 pings > Added 12 sections 0 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_162116.mb88 > Read 3408 pings > Added 23 sections 0 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_164932.mb88 > Read 3428 pings > Added 22 sections 1 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_171756.mb88 > Read 3429 pings > Added 21 sections 49 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_174620.mb88 > Read 3424 pings > Added 22 sections 52 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_181444.mb88 > Read 3428 pings > Added 22 sections 41 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_184308.mb88 > Read 3427 pings > Added 22 sections 54 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_191132.mb88 > Read 3429 pings > Added 22 sections 54 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_193956.mb88 > Read 3429 pings > Added 21 sections 43 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_200821.mb88 > Read 3428 pings > Added 21 sections 47 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_203645.mb88 > Read 3428 pings > Added 23 sections 41 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_210509.mb88 > Read 3428 pings > Added 21 sections 49 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_213333.mb88 > Read 3427 pings > Added 21 sections 81 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_220157.mb88 > Read 3430 pings > Added 23 sections 94 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_223021.mb88 > Read 3428 pings > Added 21 sections 57 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051019/20051019_225845.mb88 > Read 341 pings > Added 3 sections 0 crossings > User on cpu at Contours generated for all crossings. > User on cpu at Add Tie Point 0 of Crossing 455 > Nav points: 12:10:6 10:3:6 > Offsets: 9.337288 4.668644 m > User on cpu at Add Tie Point 0 of Crossing 460 > Nav points: 12:11:8 8:19:5 > Offsets: -1.581522 -1.581522 m > User on cpu at Add Tie Point 0 of Crossing 477 > Nav points: 12:13:2 6:18:6 > Offsets: -17.621057 14.144257 m > User on cpu at Add Tie Point 0 of Crossing 483 > Nav points: 12:14:2 5:14:3 > Offsets: -9.795508 11.282498 m > User on cpu at Add Tie Point 0 of Crossing 489 > Nav points: 12:15:5 3:12:5 > Offsets: 5.406360 25.829558 m > User on cpu at Add Tie Point 0 of Crossing 495 > Nav points: 12:16:4 2:10:3 > Offsets: 18.049122 38.120843 m > User on cpu at Add Tie Point 0 of Crossing 517 > Nav points: 13:1:6 2:7:3 > Offsets: -14.912757 -14.912757 m > User on cpu at Add Tie Point 0 of Crossing 528 > Nav points: 13:3:3 3:15:5 > Offsets: 4.645001 9.290001 m > User on cpu at Add Tie Point 0 of Crossing 535 > Nav points: 13:4:3 5:10:5 > Offsets: 4.614671 9.229342 m > User on cpu at Add Tie Point 0 of Crossing 545 > Nav points: 13:5:4 6:21:6 > Offsets: 8.616065 17.232131 m > User on cpu at Add Tie Point 0 of Crossing 552 > Nav points: 13:6:5 8:16:4 > Offsets: 4.740573 9.481147 m > User on cpu at Add Tie Point 0 of Crossing 564 > Nav points: 13:8:2 10:6:7 > Offsets: 9.800049 14.700073 m > User on cpu at Add Tie Point 0 of Crossing 572 > Nav points: 13:9:3 12:6:7 > Offsets: 0.000000 4.958533 m > User on cpu at Add Tie Point 0 of Crossing 617 > Nav points: 14:4:6 11:13:7 > Offsets: 0.000000 0.000000 m > User on cpu at Delete Tie Point 0 of Crossing 617 > Nav points: 14:4:6 11:13:7 > Offsets: 0.000000 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 622 > Nav points: 14:5:8 10:21:4 > Offsets: 5.437202 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 617 > Nav points: 14:4:8 11:13:7 > Offsets: -3.584611 -0.010933 m > User on cpu at Add Tie Point 0 of Crossing 635 > Nav points: 14:7:4 8:2:6 > Offsets: -1.486403 11.014628 m > User on cpu at Add Tie Point 0 of Crossing 641 > Nav points: 14:8:1 7:12:8 > Offsets: 10.246034 15.369051 m > User on cpu at Add Tie Point 0 of Crossing 647 > Nav points: 14:9:3 4:18:2 > Offsets: 1.711676 13.685103 m > User on cpu at Add Tie Point 0 of Crossing 653 > Nav points: 14:10:3 4:8:1 > Offsets: 14.760806 11.808644 m > User on cpu at Add Tie Point 0 of Crossing 656 > Nav points: 14:11:4 1:15:3 > Offsets: 4.033700 20.168500 m > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 8.05272e-10 1.41731e-12 1.91148e-15 1.72246e-11 > 2 8.05272e-08 0.00799905 4.1883 37741.2 > 3 2.47219e-08 0.00784565 4.10798 37017.4 > 4 7.98025e-09 0.00652548 3.41674 30788.6 > 5 2.95777e-09 0.00175072 0.916675 8260.25 > 6 1.45102e-09 9.27829e-06 0.00485811 43.7769 > 7 9.98997e-10 6.36666e-10 3.33357e-07 0.00300391 > 8 1.1346e-09 5.64726e-08 2.9569e-05 0.26645 > 9 1.22953e-09 4.37675e-07 0.000229167 2.06504 > 10 1.16308e-09 1.11769e-07 5.85224e-05 0.527351 > 11 1.18302e-09 1.7362e-07 9.09073e-05 0.819175 > 12 1.19697e-09 2.32434e-07 0.000121702 1.09667 > 13 1.1872e-09 1.8976e-07 9.93582e-05 0.895327 > 14 1.19013e-09 2.01802e-07 0.000105664 0.952145 > 15 1.19218e-09 2.10609e-07 0.000110275 0.993698 > 16 1.19362e-09 2.16967e-07 0.000113604 1.0237 > 17 1.19261e-09 2.125e-07 0.000111265 1.00262 > 18 1.19292e-09 2.13832e-07 0.000111962 1.0089 > Final smoothing weight: 1.19292e-09 > Final crossing sigma: 0.000111962 > Final total sigma: 2.13832e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.337 4.669 0.063 0.032 -9.274 -4.637 > 460 -1.582 -1.582 -0.011 -0.011 1.571 1.571 > 477 -17.621 14.144 -17.620 14.144 0.000 -0.000 > 483 -9.795 11.283 -9.795 11.282 0.000 -0.000 > 489 5.406 25.830 5.406 25.829 -0.000 -0.001 > 495 18.048 38.121 18.048 38.120 -0.000 -0.001 > 517 -14.913 -14.913 -14.912 -14.912 0.000 0.000 > 528 4.645 9.290 4.645 9.290 -0.000 -0.000 > 535 4.615 9.229 4.615 9.229 -0.000 -0.000 > 545 8.616 17.232 8.616 17.232 -0.000 -0.000 > 552 4.741 9.481 4.741 9.481 -0.000 -0.000 > 564 9.800 14.700 9.800 14.700 -0.000 -0.000 > 572 0.000 4.959 -0.000 4.958 -0.000 -0.000 > 617 -3.585 -0.011 -3.585 -0.011 0.000 0.000 > 622 5.438 0.000 5.438 0.000 -0.000 -0.000 > 635 -1.487 11.015 -1.487 11.014 0.000 -0.000 > 641 10.248 15.369 10.248 15.369 -0.000 -0.000 > 647 1.712 13.685 1.712 13.685 -0.000 -0.000 > 653 14.763 11.809 14.763 11.808 -0.000 -0.000 > 656 4.034 20.168 4.034 20.168 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_225845.mb88.na0 Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.9145e-10 1.3664e-12 1.85752e-15 1.67383e-11 > 2 7.9145e-08 0.00783628 4.10308 36973.2 > 3 2.42975e-08 0.007686 4.02439 36264.2 > 4 7.84327e-09 0.00639269 3.34721 30162.1 > 5 2.90699e-09 0.00171509 0.898022 8092.16 > 6 1.42611e-09 9.08949e-06 0.00475926 42.8861 > 7 9.81849e-10 6.23711e-10 3.26574e-07 0.00294279 > 8 1.11513e-09 5.53234e-08 2.89674e-05 0.261028 > 9 1.20842e-09 4.28769e-07 0.000224503 2.02302 > 10 1.14312e-09 1.09495e-07 5.73316e-05 0.51662 > 11 1.16271e-09 1.70087e-07 8.90575e-05 0.802506 > 12 1.17642e-09 2.27704e-07 0.000119226 1.07436 > 13 1.16682e-09 1.85898e-07 9.73364e-05 0.877108 > 14 1.1697e-09 1.97696e-07 0.000103513 0.932769 > 15 1.17172e-09 2.06323e-07 0.000108031 0.973477 > 16 1.17313e-09 2.12552e-07 0.000111292 1.00287 > 17 1.17412e-09 2.17004e-07 0.000113623 1.02387 > 18 1.17343e-09 2.13878e-07 0.000111986 1.00912 > Final smoothing weight: 1.17343e-09 > Final crossing sigma: 0.000111986 > Final total sigma: 2.13878e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.337 4.669 0.063 0.031 -9.274 -4.637 > 460 -1.581 -1.582 -0.011 -0.011 1.571 1.571 > 477 -17.620 14.144 -17.619 14.144 0.000 -0.000 > 483 -9.795 11.283 -9.795 11.282 0.000 -0.000 > 489 5.406 25.830 5.406 25.829 -0.000 -0.001 > 495 18.047 38.121 18.047 38.120 -0.000 -0.001 > 517 -14.912 -14.913 -14.912 -14.912 0.000 0.000 > 528 4.645 9.290 4.645 9.290 -0.000 -0.000 > 535 4.615 9.229 4.614 9.229 -0.000 -0.000 > 545 8.616 17.232 8.616 17.232 -0.000 -0.000 > 552 4.741 9.481 4.740 9.481 -0.000 -0.000 > 564 7.219 -0.508 7.219 -0.508 -0.000 0.000 > 572 0.000 4.959 -0.000 4.958 -0.000 -0.000 > 617 -3.585 -0.011 -3.585 -0.011 0.000 0.000 > 622 5.438 0.000 5.438 0.000 -0.000 -0.000 > 635 -1.487 11.015 -1.487 11.014 0.000 -0.000 > 641 10.248 15.369 10.247 15.369 -0.000 -0.000 > 647 1.712 13.685 1.712 13.685 -0.000 -0.000 > 653 14.763 11.809 14.762 11.808 -0.000 -0.000 > 656 4.034 20.168 4.034 20.168 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_225845.mb88.na0 Delete Tie Point 0 of Crossing 460 > Nav points: 12:11:8 8:19:5 > Offsets: -1.581522 -1.581522 m > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 19 > Total Unknowns: 5224 > Total Constraints: 10474 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 8.24191e-10 1.34368e-12 1.8768e-15 1.69121e-11 > 2 8.24191e-08 0.00743296 4.09595 36909 > 3 2.53027e-08 0.00729041 4.0174 36201.2 > 4 8.16773e-09 0.00606367 3.3414 30109.7 > 5 3.02725e-09 0.00162682 0.896461 8078.1 > 6 1.48511e-09 8.62134e-06 0.00475081 42.8101 > 7 1.02247e-09 5.9147e-10 3.2593e-07 0.00293699 > 8 1.16126e-09 5.24691e-08 2.89133e-05 0.26054 > 9 1.25841e-09 4.06666e-07 0.000224094 2.01934 > 10 1.19041e-09 1.03848e-07 5.72257e-05 0.515666 > 11 1.21081e-09 1.61316e-07 8.88934e-05 0.801028 > 12 1.22509e-09 2.15963e-07 0.000119007 1.07238 > 13 1.21509e-09 1.76314e-07 9.71582e-05 0.875503 > 14 1.21809e-09 1.87501e-07 0.000103323 0.931053 > 15 1.22019e-09 1.95684e-07 0.000107832 0.971687 > 16 1.22166e-09 2.01592e-07 0.000111088 1.00102 > 17 1.22269e-09 2.05816e-07 0.000113415 1.022 > 18 1.22197e-09 2.02851e-07 0.000111782 1.00728 > Final smoothing weight: 1.22197e-09 > Final crossing sigma: 0.000111782 > Final total sigma: 2.02851e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.337 4.669 0.063 0.031 -9.274 -4.637 > 477 -17.621 14.144 -0.119 0.095 17.502 -14.049 > 483 -9.795 11.283 -9.795 11.282 0.000 -0.000 > 489 5.406 25.830 5.406 25.829 -0.000 -0.001 > 495 18.048 38.121 18.048 38.120 -0.000 -0.001 > 517 -14.913 -14.913 -14.912 -14.912 0.000 0.000 > 528 4.645 9.290 4.645 9.290 -0.000 -0.000 > 535 4.615 9.229 4.615 9.229 -0.000 -0.000 > 545 8.616 17.232 8.616 17.232 -0.000 -0.000 > 552 4.741 9.481 4.741 9.481 -0.000 -0.000 > 564 7.219 -0.508 7.219 -0.508 -0.000 0.000 > 572 0.000 4.959 -0.000 4.958 -0.000 -0.000 > 617 -3.585 -0.011 -3.585 -0.011 0.000 0.000 > 622 5.438 0.000 5.438 0.000 -0.000 -0.000 > 635 -1.487 11.015 -1.487 11.014 0.000 -0.000 > 641 10.248 15.369 10.248 15.369 -0.000 -0.000 > 647 1.712 13.685 1.712 13.685 -0.000 -0.000 > 653 14.764 11.809 14.763 11.808 -0.000 -0.000 > 656 4.034 20.168 4.034 20.168 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 19 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 19 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 19 > Total Unknowns: 5224 > Total Constraints: 10474 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 8.24298e-10 1.34394e-12 2.09753e-15 1.8901e-11 > 2 8.24298e-08 0.00743332 4.09615 36910.8 > 3 2.53059e-08 0.00729077 4.0176 36202.9 > 4 8.16879e-09 0.00606397 3.34157 30111.1 > 5 3.02764e-09 0.0016269 0.896505 8078.48 > 6 1.4853e-09 8.62177e-06 0.00475105 42.8121 > 7 1.0226e-09 5.91499e-10 3.25946e-07 0.00293712 > 8 1.16141e-09 5.24717e-08 2.89147e-05 0.260553 > 9 1.25858e-09 4.06686e-07 0.000224105 2.01943 > 10 1.19056e-09 1.03853e-07 5.72285e-05 0.515691 > 11 1.21097e-09 1.61324e-07 8.88978e-05 0.801066 > 12 1.22525e-09 2.15973e-07 0.000119013 1.07243 > 13 1.21525e-09 1.76323e-07 9.7163e-05 0.875544 > 14 1.21825e-09 1.8751e-07 0.000103328 0.931097 > 15 1.22035e-09 1.95694e-07 0.000107838 0.971733 > 16 1.22182e-09 2.01602e-07 0.000111093 1.00107 > 17 1.22285e-09 2.05826e-07 0.000113421 1.02205 > 18 1.22213e-09 2.02861e-07 0.000111787 1.00732 > Final smoothing weight: 1.22213e-09 > Final crossing sigma: 0.000111787 > Final total sigma: 2.02861e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 477 -17.618 14.149 -0.119 0.095 17.500 -14.054 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Add Tie Point 0 of Crossing 460 > Nav points: 12:11:7 8:19:5 > Offsets: -2.593288 -1.296644 m > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96969e-10 1.36329e-12 1.84693e-15 1.66429e-11 > 2 7.96969e-08 0.00776957 4.06815 36658.5 > 3 2.44669e-08 0.00762057 3.99013 35955.5 > 4 7.89796e-09 0.00633827 3.31872 29905.3 > 5 2.92727e-09 0.00170049 0.890377 8023.28 > 6 1.43606e-09 9.01211e-06 0.00471874 42.5211 > 7 9.88696e-10 6.18401e-10 3.23794e-07 0.00291774 > 8 1.1229e-09 5.48525e-08 2.87208e-05 0.258806 > 9 1.21685e-09 4.25119e-07 0.000222592 2.0058 > 10 1.15109e-09 1.08563e-07 5.68435e-05 0.512223 > 11 1.17082e-09 1.68639e-07 8.82994e-05 0.795675 > 12 1.18463e-09 2.25766e-07 0.000118211 1.06521 > 13 1.17496e-09 1.84316e-07 9.65078e-05 0.869642 > 14 1.17786e-09 1.96013e-07 0.000102632 0.92483 > 15 1.17989e-09 2.04567e-07 0.000107111 0.965191 > 16 1.18131e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18231e-09 2.15157e-07 0.000112656 1.01515 > 18 1.18161e-09 2.12057e-07 0.000111033 1.00053 > 19 1.18182e-09 2.12983e-07 0.000111518 1.0049 > 20 1.18196e-09 2.13633e-07 0.000111858 1.00797 > Final smoothing weight: 1.18196e-09 > Final crossing sigma: 0.000111858 > Final total sigma: 2.13633e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.342 4.672 0.063 0.032 -9.279 -4.641 > 460 -2.593 -1.297 -0.017 -0.009 2.576 1.288 > 477 -17.622 9.211 -17.621 9.210 0.000 -0.000 > 483 -9.797 11.286 -9.796 11.286 0.000 -0.000 > 489 5.407 25.835 5.407 25.834 -0.000 -0.001 > 495 18.050 38.120 18.049 38.119 -0.000 -0.001 > 517 -14.909 -14.915 -14.909 -14.915 0.000 0.000 > 528 4.649 9.289 4.648 9.288 -0.000 -0.000 > 535 4.613 9.233 4.613 9.233 -0.000 -0.000 > 545 8.619 17.234 8.619 17.234 -0.000 -0.000 > 552 4.738 9.477 4.738 9.477 -0.000 -0.000 > 564 7.218 -0.510 7.218 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.587 -0.011 -3.587 -0.011 0.000 0.000 > 622 5.443 0.000 5.442 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.252 15.370 10.252 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.767 11.808 14.766 11.807 -0.000 -0.000 > 656 4.033 20.164 4.033 20.163 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 2.61497e-08 1.3692e-05 0.12338 > 2 7.96985e-08 0.00773582 4.05047 36499.1 > 3 2.44674e-08 0.00727519 3.80929 34325.8 > 4 7.89812e-09 0.0040009 2.09487 18877.1 > 5 2.92733e-09 1.56388e-05 0.00818847 73.7869 > 6 1.43609e-09 3.43696e-08 1.79959e-05 0.162163 > 7 1.88346e-09 1.24838e-08 6.53649e-06 0.0589009 > 8 2.19662e-09 2.75802e-08 1.4441e-05 0.130129 > 9 2.41583e-09 3.56671e-08 1.86753e-05 0.168285 > 10 2.56928e-09 3.71325e-07 0.000194426 1.75198 > 11 2.46187e-09 2.43254e-08 1.27368e-05 0.114772 > 12 2.49409e-09 2.49025e-08 1.30389e-05 0.117495 > 13 2.51665e-09 8.79009e-08 4.60249e-05 0.414734 > 14 2.53244e-09 1.50669e-07 7.88905e-05 0.710889 > 15 2.54349e-09 2.05139e-07 0.000107411 0.967889 > 16 2.55123e-09 2.48963e-07 0.000130357 1.17466 > 17 2.54581e-09 2.17776e-07 0.000114028 1.02751 > 18 2.54419e-09 2.08885e-07 0.000109372 0.985563 > 19 2.54467e-09 2.1153e-07 0.000110757 0.998043 > 20 2.54502e-09 2.13393e-07 0.000111733 1.00683 > Final smoothing weight: 2.54502e-09 > Final crossing sigma: 0.000111733 > Final total sigma: 2.13393e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.029 0.015 -9.311 -4.657 > 460 -2.596 -1.298 -0.008 -0.004 2.588 1.294 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAProject opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2610 > Second derivative constraints: 2608 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10476 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.96985e-10 1.36332e-12 1.84684e-15 1.6642e-11 > 2 7.96985e-08 0.00776959 4.06816 36658.5 > 3 2.44674e-08 0.00762059 3.99014 35955.5 > 4 7.89812e-09 0.00633829 3.31873 29905.3 > 5 2.92733e-09 0.0017005 0.89038 8023.28 > 6 1.43609e-09 9.01214e-06 0.00471876 42.5211 > 7 9.88716e-10 6.18403e-10 3.23795e-07 0.00291774 > 8 1.12293e-09 5.48526e-08 2.87208e-05 0.258806 > 9 1.21688e-09 4.2512e-07 0.000222593 2.0058 > 10 1.15111e-09 1.08563e-07 5.68437e-05 0.512223 > 11 1.17084e-09 1.68639e-07 8.82996e-05 0.795675 > 12 1.18465e-09 2.25767e-07 0.000118211 1.06521 > 13 1.17498e-09 1.84316e-07 9.65081e-05 0.869642 > 14 1.17788e-09 1.96013e-07 0.000102633 0.92483 > 15 1.17991e-09 2.04568e-07 0.000107112 0.965191 > 16 1.18134e-09 2.10743e-07 0.000110345 0.994329 > 17 1.18233e-09 2.15157e-07 0.000112656 1.01516 > 18 1.18163e-09 2.12058e-07 0.000111033 1.00053 > 19 1.18184e-09 2.12984e-07 0.000111518 1.0049 > 20 1.18199e-09 2.13634e-07 0.000111859 1.00797 > Final smoothing weight: 1.18199e-09 > Final crossing sigma: 0.000111859 > Final total sigma: 2.13634e-07 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 0.063 0.032 -9.277 -4.641 > 460 -2.596 -1.298 -0.018 -0.009 2.578 1.290 > 477 -17.618 9.211 -17.618 9.211 0.000 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 -0.000 > 489 5.406 25.835 5.406 25.834 -0.000 -0.001 > 495 18.047 38.120 18.046 38.119 -0.000 -0.001 > 517 -14.906 -14.915 -14.906 -14.915 0.000 0.000 > 528 4.648 9.289 4.648 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 -0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 -0.000 4.960 -0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.019 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 -0.000 -0.000 > 653 14.764 11.808 14.763 11.807 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 -0.000 -0.001 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2609 > Second derivative constraints: 2607 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10472 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.97295e-10 1.38137e-12 1.34953e-15 1.21608e-11 > 2 7.97295e-08 1.38137e-10 3.13906e-15 2.82863e-11 > 3 7.97295e-06 1.38137e-08 1.28142e-11 1.1547e-07 > 4 0.000797295 1.37381e-06 1.27433e-07 0.00114831 > 5 0.0797295 2.36781e-05 6.03372e-05 0.543704 > 6 7.97295 0.00111569 0.115796 1043.45 > 7 2.4477 0.000347222 0.0112821 101.664 > 8 0.79012 0.000112229 0.00117933 10.627 > 9 0.292847 4.74919e-05 0.000219174 1.97499 > 10 0.143665 2.99049e-05 9.18654e-05 0.827806 > 11 0.188419 3.50002e-05 0.000122279 1.10187 > 12 0.157091 3.13972e-05 0.000100145 0.902416 > 13 0.166489 3.24637e-05 0.000106383 0.958626 > 14 0.173068 3.32186e-05 0.000110959 0.999861 > 15 0.177674 3.37503e-05 0.000114262 1.02962 > 16 0.17445 3.33778e-05 0.000111941 1.00871 > Final smoothing weight: 0.17445 > Final crossing sigma: 0.000111941 > Final total sigma: 3.33778e-05 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 9.340 4.672 -0.000 -0.000 > 460 -2.596 -1.298 -2.596 -1.298 0.000 0.000 > 477 -17.618 9.211 -17.618 9.211 0.001 -0.000 > 483 -9.795 11.286 -9.795 11.286 0.000 0.000 > 489 5.406 25.835 5.406 25.835 -0.000 -0.000 > 495 18.047 38.120 18.046 38.119 -0.001 -0.001 > 517 -14.906 -14.915 -14.906 -14.914 0.001 0.001 > 528 4.648 9.289 4.647 9.288 -0.000 -0.000 > 535 4.612 9.233 4.612 9.233 -0.000 -0.000 > 545 8.617 17.234 8.617 17.234 -0.000 -0.000 > 552 4.737 9.477 4.737 9.477 0.000 -0.000 > 564 7.217 -0.510 7.217 -0.510 -0.000 0.000 > 572 0.000 4.961 0.000 4.960 0.000 -0.000 > 617 -3.586 -0.011 -3.586 -0.011 0.000 0.000 > 622 5.442 0.000 5.441 0.000 -0.000 0.000 > 635 -1.490 11.020 -1.490 11.020 0.000 -0.000 > 641 10.250 15.370 10.250 15.370 -0.000 -0.000 > 647 1.713 13.683 1.713 13.683 0.000 -0.000 > 653 14.764 11.808 14.763 11.808 -0.000 -0.000 > 656 4.032 20.164 4.032 20.164 0.000 -0.000 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2609 > Second derivative constraints: 2607 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10472 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.97295e-10 1.38137e-12 1.34953e-15 1.21608e-12 > 2 7.97295e-08 1.38137e-10 3.13906e-15 2.82863e-12 > 3 7.97295e-06 1.38137e-08 1.28142e-11 1.1547e-08 > 4 0.000797295 1.37381e-06 1.27433e-07 0.000114831 > 5 0.0797295 2.36781e-05 6.03372e-05 0.0543704 > 6 7.97295 0.00111569 0.115796 104.345 > 7 2.4477 0.000347222 0.0112821 10.1664 > 8 0.79012 0.000112229 0.00117933 1.0627 > 9 0.292847 4.74919e-05 0.000219174 0.197499 > 10 0.442028 6.5739e-05 0.000407762 0.367438 > 11 0.546456 7.85337e-05 0.000577852 0.520707 > 12 0.619555 8.80334e-05 0.000725654 0.653893 > 13 0.670724 9.52741e-05 0.000849924 0.765873 > 14 0.706543 0.000100361 0.000943096 0.849832 > 15 0.731616 0.000103921 0.0010112 0.9112 > 16 0.749167 0.000106414 0.00106028 0.955429 > 17 0.761453 0.000108159 0.00109533 0.987013 > 18 0.770053 0.00010938 0.00112021 1.00943 > Final smoothing weight: 0.770053 > Final crossing sigma: 0.00112021 > Final total sigma: 0.00010938 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 9.337 4.670 -0.003 -0.002 > 460 -2.596 -1.298 -2.596 -1.296 -0.000 0.003 > 477 -17.618 9.211 -17.612 9.212 0.006 0.001 > 483 -9.795 11.286 -9.792 11.287 0.003 0.001 > 489 5.406 25.835 5.406 25.834 0.000 -0.001 > 495 18.047 38.120 18.039 38.111 -0.007 -0.009 > 517 -14.906 -14.915 -14.900 -14.907 0.007 0.008 > 528 4.648 9.289 4.646 9.286 -0.002 -0.002 > 535 4.612 9.233 4.611 9.232 -0.001 -0.001 > 545 8.617 17.234 8.614 17.231 -0.003 -0.003 > 552 4.737 9.477 4.737 9.476 0.000 -0.002 > 564 7.217 -0.510 7.217 -0.508 0.000 0.003 > 572 0.000 4.961 0.001 4.960 0.001 -0.001 > 617 -3.586 -0.011 -3.585 -0.010 0.002 0.001 > 622 5.442 0.000 5.440 0.002 -0.002 0.002 > 635 -1.490 11.020 -1.488 11.019 0.002 -0.001 > 641 10.250 15.370 10.248 15.368 -0.002 -0.002 > 647 1.713 13.683 1.714 13.683 0.002 -0.000 > 653 14.764 11.808 14.761 11.808 -0.003 0.000 > 656 4.032 20.164 4.033 20.161 0.001 -0.003 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2609 > Second derivative constraints: 2607 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10472 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.97295e-10 1.38137e-12 1.34953e-15 1.21608e-13 > 2 7.97295e-08 1.38137e-10 3.13906e-15 2.82863e-13 > 3 7.97295e-06 1.38137e-08 1.28142e-11 1.1547e-09 > 4 0.000797295 1.37381e-06 1.27433e-07 1.14831e-05 > 5 0.0797295 2.36781e-05 6.03372e-05 0.00543704 > 6 7.97295 0.00111569 0.115796 10.4345 > 7 2.4477 0.000347222 0.0112821 1.01664 > 8 0.79012 0.000112229 0.00117933 0.10627 > 9 1.28739 0.000182817 0.00312902 0.281959 > 10 1.63548 0.000232191 0.00504683 0.454774 > 11 1.87915 0.000266729 0.00665929 0.600074 > 12 2.04971 0.000290892 0.00791991 0.713669 > 13 2.16911 0.000307798 0.00886681 0.798996 > 14 2.25268 0.000319629 0.00956117 0.861565 > 15 2.31119 0.000327909 0.0100627 0.906754 > 16 2.35214 0.000333704 0.0104213 0.939067 > 17 2.38081 0.00033776 0.010676 0.96202 > 18 2.40087 0.000340599 0.0108561 0.97825 > 19 2.41492 0.000342586 0.010983 0.989691 > 20 2.42475 0.000343977 0.0110723 0.997738 > 21 2.43164 0.000344951 0.0111351 1.00339 > 22 2.43645 0.000345632 0.0111791 1.00736 > Final smoothing weight: 2.43645 > Final crossing sigma: 0.0111791 > Final total sigma: 0.000345632 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 9.309 4.656 -0.031 -0.016 > 460 -2.596 -1.298 -2.599 -1.270 -0.003 0.029 > 477 -17.618 9.211 -17.557 9.221 0.061 0.010 > 483 -9.795 11.286 -9.769 11.297 0.026 0.010 > 489 5.406 25.835 5.406 25.825 0.001 -0.009 > 495 18.047 38.120 17.976 38.030 -0.071 -0.089 > 517 -14.906 -14.915 -14.840 -14.831 0.066 0.084 > 528 4.648 9.289 4.629 9.266 -0.019 -0.023 > 535 4.612 9.233 4.602 9.220 -0.010 -0.013 > 545 8.617 17.234 8.584 17.202 -0.033 -0.033 > 552 4.737 9.477 4.740 9.461 0.003 -0.016 > 564 7.217 -0.510 7.218 -0.482 0.001 0.028 > 572 0.000 4.961 0.005 4.952 0.005 -0.009 > 617 -3.586 -0.011 -3.571 -0.003 0.015 0.008 > 622 5.442 0.000 5.426 0.016 -0.015 0.016 > 635 -1.490 11.020 -1.472 11.009 0.017 -0.010 > 641 10.250 15.370 10.229 15.353 -0.021 -0.017 > 647 1.713 13.683 1.729 13.679 0.016 -0.004 > 653 14.764 11.808 14.732 11.812 -0.032 0.005 > 656 4.032 20.164 4.039 20.137 0.007 -0.027 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2609 > Second derivative constraints: 2607 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10472 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.97295e-10 1.38137e-12 1.34953e-15 1.21608e-13 > 2 7.97295e-08 1.38137e-10 3.13906e-15 2.82863e-13 > 3 7.97295e-06 1.38137e-08 1.28142e-11 1.1547e-09 > 4 0.000797295 1.37381e-06 1.27433e-07 1.14831e-05 > 5 0.0797295 2.36781e-05 6.03372e-05 0.00543704 > 6 7.97295 0.00111569 0.115796 10.4345 > 7 2.4477 0.000347222 0.0112821 1.01664 > 8 0.79012 0.000112229 0.00117933 0.10627 > 9 1.28739 0.000182817 0.00312902 0.281959 > 10 1.63548 0.000232191 0.00504683 0.454774 > 11 1.87915 0.000266729 0.00665929 0.600074 > 12 2.04971 0.000290892 0.00791991 0.713669 > 13 2.16911 0.000307798 0.00886681 0.798996 > 14 2.25268 0.000319629 0.00956117 0.861565 > 15 2.31119 0.000327909 0.0100627 0.906754 > 16 2.35214 0.000333704 0.0104213 0.939067 > 17 2.38081 0.00033776 0.010676 0.96202 > 18 2.40087 0.000340599 0.0108561 0.97825 > 19 2.41492 0.000342586 0.010983 0.989691 > 20 2.42475 0.000343977 0.0110723 0.997738 > 21 2.43164 0.000344951 0.0111351 1.00339 > 22 2.43645 0.000345632 0.0111791 1.00736 > Final smoothing weight: 2.43645 > Final crossing sigma: 0.0111791 > Final total sigma: 0.000345632 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 9.309 4.656 -0.031 -0.016 > 460 -2.596 -1.298 -2.599 -1.270 -0.003 0.029 > 477 -17.618 9.211 -17.557 9.221 0.061 0.010 > 483 -9.795 11.286 -9.769 11.297 0.026 0.010 > 489 5.406 25.835 5.406 25.825 0.001 -0.009 > 495 18.047 38.120 17.976 38.030 -0.071 -0.089 > 517 -14.906 -14.915 -14.840 -14.831 0.066 0.084 > 528 4.648 9.289 4.629 9.266 -0.019 -0.023 > 535 4.612 9.233 4.602 9.220 -0.010 -0.013 > 545 8.617 17.234 8.584 17.202 -0.033 -0.033 > 552 4.737 9.477 4.740 9.461 0.003 -0.016 > 564 7.217 -0.510 7.218 -0.482 0.001 0.028 > 572 0.000 4.961 0.005 4.952 0.005 -0.009 > 617 -3.586 -0.011 -3.571 -0.003 0.015 0.008 > 622 5.442 0.000 5.426 0.016 -0.015 0.016 > 635 -1.490 11.020 -1.472 11.009 0.017 -0.010 > 641 10.250 15.370 10.229 15.353 -0.021 -0.017 > 647 1.713 13.683 1.729 13.679 0.016 -0.004 > 653 14.764 11.808 14.732 11.812 -0.032 0.005 > 656 4.032 20.164 4.039 20.137 0.007 -0.027 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2609 > Second derivative constraints: 2607 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10472 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.97295e-10 1.38137e-12 1.34953e-15 2.69907e-15 > 2 7.97295e-08 1.38137e-10 3.13906e-15 6.27812e-15 > 3 7.97295e-06 1.38137e-08 1.28142e-11 2.56285e-11 > 4 0.000797295 1.37381e-06 1.27433e-07 2.54866e-07 > 5 0.0797295 2.36781e-05 6.03372e-05 0.000120674 > 6 7.97295 0.00111569 0.115796 0.231592 > 7 797.295 0.00786035 4.11146 8.22291 > 8 244.77 0.00764587 3.95976 7.91952 > 9 79.012 0.0062019 2.91882 5.83765 > 10 29.2847 0.00353233 1.09143 2.18287 > 11 14.3665 0.00194765 0.348148 0.696297 > 12 18.8419 0.0024784 0.556602 1.1132 > 13 15.7091 0.00211173 0.407813 0.815627 > 14 16.6489 0.00222414 0.451195 0.902391 > 15 17.3068 0.00230161 0.482253 0.964507 > 16 17.7674 0.00235523 0.504299 1.0086 > Final smoothing weight: 17.7674 > Final crossing sigma: 0.504299 > Final total sigma: 0.00235523 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 7.838 4.095 -1.502 -0.577 > 460 -2.596 -1.298 -2.652 0.020 -0.057 1.318 > 477 -17.618 9.211 -14.860 9.532 2.759 0.321 > 483 -9.795 11.286 -8.535 11.770 1.260 0.484 > 489 5.406 25.835 5.203 25.013 -0.203 -0.822 > 495 18.047 38.120 14.957 34.062 -3.090 -4.058 > 517 -14.906 -14.915 -11.998 -11.244 2.908 3.671 > 528 4.648 9.289 3.839 8.338 -0.808 -0.951 > 535 4.612 9.233 4.152 8.722 -0.460 -0.511 > 545 8.617 17.234 7.249 15.624 -1.368 -1.610 > 552 4.737 9.477 4.798 8.806 0.061 -0.672 > 564 7.217 -0.510 7.065 0.684 -0.152 1.195 > 572 0.000 4.961 0.312 4.558 0.312 -0.402 > 617 -3.586 -0.011 -2.839 0.348 0.747 0.359 > 622 5.442 0.000 4.706 0.758 -0.735 0.758 > 635 -1.490 11.020 -0.657 10.500 0.833 -0.520 > 641 10.250 15.370 9.217 14.521 -1.033 -0.849 > 647 1.713 13.683 2.467 13.451 0.754 -0.232 > 653 14.764 11.808 13.215 11.946 -1.548 0.138 > 656 4.032 20.164 4.312 18.782 0.280 -1.382 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 50153 > Independent nav snav points: 2612 > Fixed nav snav points: 0 > First derivative constraints: 2609 > Second derivative constraints: 2607 > Useful crossings: 20 > Total Unknowns: 5224 > Total Constraints: 10472 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 7.97295e-10 1.38137e-12 1.34953e-15 1.34953e-14 > 2 7.97295e-08 1.38137e-10 3.13906e-15 3.13906e-14 > 3 7.97295e-06 1.38137e-08 1.28142e-11 1.28142e-10 > 4 0.000797295 1.37381e-06 1.27433e-07 1.27433e-06 > 5 0.0797295 2.36781e-05 6.03372e-05 0.000603372 > 6 7.97295 0.00111569 0.115796 1.15796 > 7 2.4477 0.000347222 0.0112821 0.112821 > 8 4.10527 0.000580839 0.0315349 0.315349 > 9 5.26558 0.000743071 0.0515527 0.515527 > 10 6.07779 0.000855815 0.0683186 0.683186 > 11 6.64634 0.000934276 0.0813596 0.813596 > 12 7.04432 0.000988953 0.0911108 0.911108 > 13 7.32291 0.0010271 0.0982356 0.982356 > 14 7.51792 0.00105374 0.103367 1.03367 > 15 7.38142 0.0010351 0.0997627 0.997627 > 16 7.42237 0.00104069 0.100838 1.00838 > Final smoothing weight: 7.42237 > Final crossing sigma: 0.100838 > Final total sigma: 0.00104069 > Nav Tie Offsets (m): id observed solution error > 455 9.340 4.672 9.053 4.536 -0.286 -0.136 > 460 -2.596 -1.298 -2.623 -1.039 -0.027 0.260 > 477 -17.618 9.211 -17.068 9.298 0.550 0.087 > 483 -9.795 11.286 -9.558 11.382 0.236 0.096 > 489 5.406 25.835 5.402 25.735 -0.004 -0.100 > 495 18.047 38.120 17.413 37.313 -0.633 -0.807 > 517 -14.906 -14.915 -14.313 -14.161 0.594 0.754 > 528 4.648 9.289 4.480 9.086 -0.168 -0.202 > 535 4.612 9.233 4.521 9.122 -0.091 -0.111 > 545 8.617 17.234 8.322 16.934 -0.295 -0.301 > 552 4.737 9.477 4.763 9.334 0.026 -0.144 > 564 7.217 -0.510 7.218 -0.257 0.001 0.254 > 572 0.000 4.961 0.050 4.882 0.050 -0.079 > 617 -3.586 -0.011 -3.445 0.058 0.141 0.069 > 622 5.442 0.000 5.302 0.148 -0.139 0.148 > 635 -1.490 11.020 -1.330 10.924 0.160 -0.096 > 641 10.250 15.370 10.057 15.213 -0.193 -0.157 > 647 1.713 13.683 1.860 13.647 0.148 -0.037 > 653 14.764 11.808 14.472 11.847 -0.292 0.040 > 656 4.032 20.164 4.093 19.916 0.061 -0.248 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 16 > Number of Crossings Found: 663 > Number of Crossings Analyzed: 20 > Number of Navigation Ties: 20 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051018/20051018_152523.mb88 > Read 2061 pings > Added 13 sections 49 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051018/20051018_163002.mb88 > Read 2157 pings > Added 14 sections 106 crossings > User on cpu at Imported format 88 file: /Volumes/SMPD04/MappingAUVOps/20051018/20051018_170441.mb88 > Read 28782 pings > Added 179 sections 879 crossings > User on cpu at Contours generated for all crossings. > User on cpu at Add Tie Point 0 of Crossing 840 > Nav points: 18:18:5 4:12:3 > Offsets: 1.043916 10.439156 m > User on cpu at Add Tie Point 0 of Crossing 851 > Nav points: 18:20:5 4:15:3 > Offsets: 0.000000 8.382866 m > User on cpu at Add Tie Point 0 of Crossing 857 > Nav points: 18:21:6 7:14:4 > Offsets: 9.770230 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 865 > Nav points: 18:22:4 14:7:5 > Offsets: -3.896478 -23.378866 m > User on cpu at Add Tie Point 0 of Crossing 879 > Nav points: 18:26:0 8:6:4 > Offsets: -8.781169 4.390584 m > User on cpu at Add Tie Point 0 of Crossing 919 > Nav points: 18:33:0 8:13:4 > Offsets: 0.000000 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 943 > Nav points: 18:36:4 13:5:7 > Offsets: -4.150994 -3.113246 m > User on cpu at Add Tie Point 0 of Crossing 947 > Nav points: 18:37:8 6:20:6 > Offsets: 0.000000 8.617286 m > User on cpu at Add Tie Point 0 of Crossing 975 > Nav points: 18:40:1 12:13:4 > Offsets: 12.212810 -1.610761 m > User on cpu at Add Tie Point 0 of Crossing 1007 > Nav points: 18:46:3 6:13:6 > Offsets: 9.440164 15.063219 m > User on cpu at Add Tie Point 0 of Crossing 1085 > Nav points: 18:93:3 9:10:2 > Offsets: -9.166822 -4.583411 m > User on cpu at Add Tie Point 0 of Crossing 1113 > Nav points: 18:97:2 9:13:7 > Offsets: 4.548836 9.097672 m > User on cpu at Add Tie Point 0 of Crossing 1120 > Nav points: 18:98:1 9:13:3 > Offsets: 4.150407 8.300813 m > User on cpu at Add Tie Point 0 of Crossing 1130 > Nav points: 18:99:5 18:94:6 > Offsets: 3.628312 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 1138 > Nav points: 18:100:1 9:8:4 > Offsets: -8.886129 8.886129 m > User on cpu at Add Tie Point 0 of Crossing 1141 > Nav points: 18:100:5 18:51:4 > Offsets: -6.848974 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 1149 > Nav points: 18:101:3 6:8:5 > Offsets: -4.401555 17.606222 m > User on cpu at Add Tie Point 0 of Crossing 1169 > Nav points: 18:104:2 6:9:5 > Offsets: 8.536174 21.340435 m > User on cpu at Add Tie Point 0 of Crossing 1176 > Nav points: 18:105:6 9:7:4 > Offsets: -4.150704 4.150704 m > User on cpu at Add Tie Point 0 of Crossing 1178 > Nav points: 18:105:4 18:50:4 > Offsets: -2.619667 2.619667 m > User on cpu at Add Tie Point 0 of Crossing 1196 > Nav points: 18:107:0 9:7:3 > Offsets: -4.354715 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 1241 > Nav points: 18:115:2 6:16:4 > Offsets: 4.291184 8.582368 m > User on cpu at Add Tie Point 0 of Crossing 1266 > Nav points: 18:118:0 6:18:5 > Offsets: 0.000000 20.929652 m > User on cpu at Add Tie Point 0 of Crossing 1269 > Nav points: 18:118:4 12:12:5 > Offsets: -4.080337 -8.160674 m > User on cpu at Add Tie Point 0 of Crossing 1304 > Nav points: 18:122:3 8:16:4 > Offsets: 0.000000 4.173949 m > User on cpu at Add Tie Point 0 of Crossing 1308 > Nav points: 18:122:2 13:6:4 > Offsets: -8.314670 -4.157335 m > User on cpu at Add Tie Point 0 of Crossing 1322 > Nav points: 18:124:7 10:6:5 > Offsets: 4.365158 4.365158 m > User on cpu at Add Tie Point 0 of Crossing 1328 > Nav points: 18:124:6 13:8:3 > Offsets: -8.488054 -4.244027 m > User on cpu at Add Tie Point 0 of Crossing 1334 > Nav points: 18:125:4 10:6:3 > Offsets: 4.365169 4.365169 m > User on cpu at Add Tie Point 0 of Crossing 1354 > Nav points: 18:127:2 8:16:4 > Offsets: 0.000000 4.419284 m > User on cpu at Add Tie Point 0 of Crossing 1358 > Nav points: 18:127:5 13:6:4 > Offsets: -4.118800 -4.118800 m > User on cpu at Add Tie Point 0 of Crossing 1362 > Nav points: 18:127:4 18:121:5 > Offsets: 8.169706 10.892941 m > User on cpu at Add Tie Point 0 of Crossing 1368 > Nav points: 18:128:2 6:21:4 > Offsets: 12.142413 20.237355 m > User on cpu at Add Tie Point 0 of Crossing 1374 > Nav points: 18:128:2 18:36:4 > Offsets: 0.439991 1.886630 m > User on cpu at Add Tie Point 0 of Crossing 1395 > Nav points: 18:131:2 7:0:5 > Offsets: 4.090394 12.271181 m > User on cpu at Add Tie Point 0 of Crossing 1408 > Nav points: 18:132:6 8:16:3 > Offsets: 0.000000 8.513901 m > User on cpu at Add Tie Point 0 of Crossing 1413 > Nav points: 18:132:3 18:35:5 > Offsets: 6.328660 9.492990 m > User on cpu at Add Tie Point 0 of Crossing 1472 > Nav points: 18:138:0 10:11:4 > Offsets: 0.000000 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 1488 > Nav points: 18:140:3 10:13:4 > Offsets: 0.000000 4.076337 m > User on cpu at Set crossing 1522 to be ignored > User on cpu at Add Tie Point 0 of Crossing 1527 > Nav points: 18:145:8 14:7:6 > Offsets: -2.360203 -11.801015 m > User on cpu at Add Tie Point 0 of Crossing 1547 > Nav points: 18:148:6 8:2:3 > Offsets: 0.000000 0.000000 m > User on cpu at Add Tie Point 0 of Crossing 1554 > Nav points: 18:149:8 7:13:5 > Offsets: 8.694054 4.347027 m > User on cpu at Add Tie Point 0 of Crossing 1557 > Nav points: 18:149:4 18:22:2 > Offsets: 3.348859 20.093154 m > User on cpu at Add Tie Point 0 of Crossing 1563 > Nav points: 18:150:3 14:8:5 > Offsets: -3.311479 -9.934438 m > User on cpu at Add Tie Point 0 of Crossing 1578 > Nav points: 18:152:7 7:12:5 > Offsets: 13.710940 4.570313 m > User on cpu at Add Tie Point 0 of Crossing 1587 > Nav points: 18:153:6 8:3:2 > Offsets: 0.000000 -3.564691 m > User on cpu at Add Tie Point 0 of Crossing 1593 > Nav points: 18:153:7 18:23:3 > Offsets: 11.732441 -3.910814 m > User on cpu at Set crossing 1594 to be ignored > User on cpu at Set crossing 1600 to be ignored > User on cpu at Add Tie Point 0 of Crossing 1608 > Nav points: 18:154:7 18:148:4 > Offsets: 0.000000 -4.016857 m > User on cpu at Add Tie Point 0 of Crossing 1610 > Nav points: 18:155:7 8:1:4 > Offsets: -3.958865 3.958865 m > User on cpu at Add Tie Point 0 of Crossing 1619 > Nav points: 18:155:4 18:146:6 > Offsets: -3.069683 3.069683 m > User on cpu at Add Tie Point 0 of Crossing 1637 > Nav points: 18:157:2 7:15:4 > Offsets: 4.303048 8.606096 m > User on cpu at Add Tie Point 0 of Crossing 1642 > Nav points: 18:158:5 4:13:8 > Offsets: 0.780327 9.624037 m > User on cpu at Add Tie Point 0 of Crossing 1643 > Nav points: 18:158:6 4:14:3 > Offsets: -4.145000 12.435001 m > User on cpu at Add Tie Point 1 of Crossing 455 > Nav points: 12:10:6 10:3:6 > Offsets: 9.341473 4.672015 m > User on cpu at Delete Tie Point 1 of Crossing 455 > Nav points: 12:10:6 10:3:6 > Offsets: 9.341473 4.672015 m > User on cpu at Set crossing 686 to be ignored > User on cpu at Set crossing 695 to be ignored > User on cpu at Set crossing 697 to be ignored > User on cpu at Set crossing 714 to be ignored > User on cpu at Set crossing 719 to be ignored > User on cpu at Set crossing 748 to be ignored > User on cpu at Set crossing 765 to be ignored > User on cpu at Set crossing 769 to be ignored > User on cpu at Set crossing 772 to be ignored > User on cpu at Set crossing 773 to be ignored > User on cpu at Set crossing 786 to be ignored > User on cpu at Set crossing 790 to be ignored > User on cpu at Set crossing 798 to be ignored > User on cpu at Set crossing 801 to be ignored > User on cpu at Set crossing 805 to be ignored > User on cpu at Set crossing 813 to be ignored > User on cpu at Set crossing 814 to be ignored > User on cpu at Set crossing 815 to be ignored > User on cpu at Set crossing 816 to be ignored > User on cpu at Set crossing 817 to be ignored > User on cpu at Set crossing 818 to be ignored > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 83153 > Independent nav snav points: 4232 > Fixed nav snav points: 0 > First derivative constraints: 4226 > Second derivative constraints: 4221 > Useful crossings: 73 > Total Unknowns: 8464 > Total Constraints: 17040 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 5.89062e-10 8.7694e-13 2.89486e-15 2.89486e-14 > 2 5.89062e-08 8.7694e-11 2.03085e-15 2.03085e-14 > 3 5.89062e-06 8.7694e-09 2.62281e-12 2.62281e-11 > 4 0.000589062 8.75204e-07 2.61696e-08 2.61696e-07 > 5 0.0589062 2.11428e-05 2.66722e-05 0.000266722 > 6 5.89062 0.000935424 0.082677 0.82677 > 7 589.062 0.00698526 1.62678 16.2678 > 8 180.842 0.00651374 1.48401 14.8401 > 9 58.376 0.00446644 0.86227 8.6227 > 10 21.6362 0.00247462 0.358215 3.58215 > 11 10.6143 0.00150448 0.17738 1.7738 > 12 7.30772 0.0011214 0.111855 1.11855 > 13 6.31575 0.000992783 0.091421 0.91421 > 14 6.61334 0.00103212 0.0975564 0.975564 > 15 6.82166 0.00105927 0.101852 1.01852 > 16 6.67584 0.0010403 0.0988451 0.988451 > 17 6.71958 0.001046 0.0997471 0.997471 > 18 6.7502 0.00104999 0.100379 1.00379 > 19 6.77164 0.00105278 0.10082 1.0082 > Final smoothing weight: 6.77164 > Final crossing sigma: 0.10082 > Final total sigma: 0.00105278 > Nav Tie Offsets (m): id observed solution error > 455 9.338 4.672 9.171 4.640 -0.167 -0.032 > 460 -2.595 -1.298 -2.561 -1.068 0.034 0.231 > 477 -17.615 9.211 -15.629 10.891 1.986 1.680 > 483 -9.793 11.286 -9.660 11.275 0.133 -0.011 > 489 5.405 25.835 5.373 25.706 -0.032 -0.129 > 495 18.043 38.120 17.497 37.418 -0.546 -0.702 > 517 -14.904 -14.915 -14.416 -14.299 0.487 0.616 > 528 4.647 9.289 4.482 9.084 -0.165 -0.204 > 535 4.611 9.233 4.493 9.096 -0.118 -0.137 > 545 8.616 17.234 9.165 17.435 0.549 0.201 > 552 4.736 9.477 4.633 8.696 -0.103 -0.782 > 564 7.216 -0.510 8.244 1.310 1.028 1.821 > 572 0.000 4.961 0.127 4.972 0.127 0.011 > 617 -3.585 -0.011 -3.465 0.074 0.120 0.085 > 622 5.441 0.000 5.327 0.184 -0.114 0.184 > 635 -1.489 11.020 -1.479 10.717 0.011 -0.302 > 641 10.248 15.370 10.297 15.343 0.049 -0.027 > 647 1.712 13.683 1.810 13.731 0.097 0.048 > 653 14.761 11.808 14.520 11.867 -0.241 0.059 > 656 4.031 20.164 4.081 19.944 0.050 -0.220 > 840 1.044 10.439 1.134 10.296 0.090 -0.144 > 851 0.000 8.383 -0.062 8.298 -0.062 -0.085 > 857 9.769 0.000 9.574 -0.296 -0.195 -0.296 > 865 -3.896 -23.379 -3.979 -23.328 -0.083 0.051 > 879 -8.780 4.391 -8.727 4.326 0.053 -0.064 > 919 0.000 0.000 -0.051 0.020 -0.051 0.020 > 943 -4.150 -3.113 -3.721 -3.352 0.429 -0.239 > 947 0.000 8.617 0.253 8.954 0.253 0.337 > 975 12.208 -1.611 12.089 -1.724 -0.119 -0.113 > 1007 9.436 15.063 9.341 14.977 -0.095 -0.087 > 1085 -9.162 -4.583 -9.096 -4.293 0.066 0.291 > 1113 4.547 9.098 4.425 9.038 -0.122 -0.059 > 1120 4.148 8.301 4.041 8.273 -0.107 -0.028 > 1130 3.627 0.000 3.480 0.282 -0.147 0.282 > 1138 -8.882 8.886 -8.725 8.522 0.157 -0.364 > 1141 -6.846 0.000 -6.898 0.204 -0.053 0.204 > 1149 -4.399 17.606 -4.079 17.547 0.320 -0.059 > 1169 8.532 21.341 8.185 21.126 -0.347 -0.214 > 1176 -4.149 4.151 -4.161 4.248 -0.013 0.098 > 1178 -2.618 2.620 -2.479 2.524 0.140 -0.096 > 1196 -4.353 0.000 -4.322 0.146 0.030 0.146 > 1241 4.289 8.582 4.219 8.721 -0.071 0.139 > 1266 0.000 20.930 -1.620 19.108 -1.620 -1.822 > 1269 -4.079 -8.161 -2.444 -6.573 1.635 1.587 > 1304 0.000 4.174 -0.304 4.226 -0.304 0.052 > 1308 -8.312 -4.157 -8.420 -5.058 -0.108 -0.901 > 1322 4.364 4.365 3.521 3.028 -0.843 -1.338 > 1328 -8.485 -4.244 -7.358 -2.608 1.127 1.637 > 1334 4.364 4.365 4.158 3.963 -0.205 -0.403 > 1354 0.000 4.419 0.217 4.979 0.217 0.560 > 1358 -4.117 -4.119 -3.840 -3.213 0.278 0.906 > 1362 8.167 10.893 7.810 9.922 -0.357 -0.971 > 1368 12.138 20.237 10.836 19.236 -1.302 -1.002 > 1374 0.440 1.887 1.442 2.327 1.002 0.440 > 1395 4.089 12.271 4.414 12.670 0.325 0.399 > 1408 0.000 8.514 0.207 8.549 0.207 0.035 > 1413 6.327 9.493 5.877 9.040 -0.450 -0.453 > 1472 0.000 0.000 0.021 0.088 0.021 0.088 > 1488 0.000 4.076 0.003 3.980 0.003 -0.096 > 1527 -2.360 -11.801 -2.297 -11.787 0.063 0.014 > 1547 0.000 0.000 -0.142 0.659 -0.142 0.659 > 1554 8.693 4.347 8.740 4.776 0.048 0.429 > 1557 3.348 20.093 3.309 19.084 -0.039 -1.009 > 1563 -3.311 -9.934 -3.214 -9.942 0.097 -0.008 > 1578 13.709 4.570 13.569 4.279 -0.140 -0.291 > 1587 0.000 -3.565 0.164 -3.637 0.164 -0.072 > 1593 11.731 -3.911 11.499 -3.404 -0.232 0.507 > 1608 0.000 -4.017 -0.101 -3.851 -0.101 0.165 > 1610 -3.958 3.959 -3.882 3.714 0.077 -0.245 > 1619 -3.069 3.070 -2.969 3.023 0.100 -0.047 > 1637 4.303 8.606 4.343 8.606 0.040 -0.000 > 1642 0.780 9.624 0.230 9.942 -0.550 0.318 > 1643 -4.145 12.435 -3.591 12.103 0.554 -0.332 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051018/20051018_152523.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051018/20051018_163002.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051018/20051018_170441.mb88.na0 Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 83153 > Independent nav snav points: 4232 > Fixed nav snav points: 0 > First derivative constraints: 4226 > Second derivative constraints: 4221 > Useful crossings: 73 > Total Unknowns: 8464 > Total Constraints: 17040 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 5.8184e-10 8.67034e-13 1.5815e-15 1.5815e-14 > 2 5.8184e-08 8.67034e-11 2.30372e-15 2.30372e-14 > 3 5.8184e-06 8.67033e-09 2.53056e-12 2.53056e-11 > 4 0.00058184 8.65377e-07 2.52537e-08 2.52537e-07 > 5 0.058184 2.0714e-05 2.51483e-05 0.000251483 > 6 5.8184 0.000841833 0.0706099 0.706099 > 7 581.84 0.00705866 1.64379 16.4379 > 8 178.625 0.00655152 1.49162 14.9162 > 9 57.6603 0.00438056 0.837637 8.37637 > 10 21.371 0.00233696 0.320102 3.20102 > 11 10.4842 0.00137483 0.150099 1.50099 > 12 7.21813 0.00101322 0.0948535 0.948535 > 13 8.19794 0.00112687 0.111699 1.11699 > 14 7.51207 0.00104783 0.0999259 0.999259 > 15 7.71783 0.00107179 0.103468 1.03468 > 16 7.5738 0.00105504 0.100989 1.00989 > Final smoothing weight: 7.5738 > Final crossing sigma: 0.100989 > Final total sigma: 0.00105504 > Nav Tie Offsets (m): id observed solution error > 455 9.342 4.672 9.137 4.653 -0.205 -0.019 > 460 -2.596 -1.298 -2.545 -0.972 0.051 0.326 > 477 -12.864 25.071 -11.091 25.118 1.774 0.047 > 483 -9.797 11.286 -9.591 11.395 0.206 0.109 > 489 5.407 25.835 5.382 25.727 -0.025 -0.108 > 495 18.050 38.120 17.380 37.273 -0.670 -0.846 > 517 -14.909 -14.915 -14.303 -14.149 0.606 0.766 > 528 4.649 9.289 4.444 9.032 -0.204 -0.256 > 535 4.613 9.233 4.460 9.034 -0.153 -0.199 > 545 8.619 17.234 9.216 17.471 0.596 0.237 > 552 4.738 9.477 4.624 8.575 -0.113 -0.903 > 564 7.218 -0.510 8.357 1.526 1.139 2.036 > 572 0.000 4.961 0.152 4.965 0.152 0.004 > 617 -3.587 -0.011 -3.437 0.094 0.150 0.105 > 622 5.443 0.000 5.300 0.227 -0.142 0.227 > 635 -1.490 11.020 -1.475 10.661 0.015 -0.359 > 641 10.252 15.370 10.312 15.343 0.060 -0.027 > 647 1.713 13.683 1.834 13.742 0.121 0.059 > 653 14.767 11.808 14.465 11.882 -0.301 0.074 > 656 4.033 20.164 4.095 19.889 0.062 -0.275 > 840 1.044 10.439 1.151 10.263 0.107 -0.177 > 851 0.000 8.383 -0.073 8.273 -0.073 -0.110 > 857 9.773 0.000 9.530 -0.357 -0.242 -0.357 > 865 -3.897 -23.379 -3.998 -23.292 -0.101 0.087 > 879 -8.783 4.391 -8.715 4.309 0.068 -0.082 > 919 0.000 0.000 -0.063 0.025 -0.063 0.025 > 943 -4.151 -3.113 -3.738 -3.435 0.414 -0.322 > 947 0.000 8.617 0.365 9.215 0.365 0.598 > 975 12.213 -1.611 11.993 -1.972 -0.220 -0.361 > 1007 9.440 15.063 9.338 15.007 -0.102 -0.056 > 1085 -9.166 -4.583 -9.082 -4.225 0.084 0.359 > 1113 4.548 9.098 4.397 9.023 -0.152 -0.075 > 1120 4.150 8.301 4.016 8.267 -0.134 -0.034 > 1130 3.628 0.000 3.446 0.347 -0.182 0.347 > 1138 -8.885 8.886 -8.692 8.443 0.193 -0.444 > 1141 -6.848 0.000 -6.907 0.250 -0.059 0.250 > 1149 -4.401 17.606 -4.008 17.531 0.393 -0.075 > 1169 8.535 21.340 8.109 21.073 -0.426 -0.267 > 1176 -4.150 4.151 -4.164 4.267 -0.014 0.116 > 1178 -2.619 2.620 -2.451 2.506 0.169 -0.114 > 1196 -4.354 0.000 -4.317 0.181 0.037 0.181 > 1241 4.291 8.582 4.211 8.789 -0.080 0.206 > 1266 0.000 20.930 -1.456 20.251 -1.456 -0.679 > 1269 -4.080 -8.161 -2.584 -7.709 1.497 0.451 > 1304 0.000 4.174 -0.376 4.210 -0.376 0.036 > 1308 -8.315 -4.157 -8.434 -5.184 -0.119 -1.027 > 1322 4.365 4.365 3.438 2.897 -0.927 -1.468 > 1328 -8.489 -4.244 -7.220 -2.423 1.268 1.821 > 1334 4.365 4.365 4.127 3.896 -0.238 -0.469 > 1354 0.000 4.419 0.259 5.067 0.259 0.648 > 1358 -4.119 -4.119 -3.752 -3.044 0.367 1.074 > 1362 8.170 10.893 7.725 9.703 -0.445 -1.190 > 1368 12.143 20.237 10.643 19.071 -1.500 -1.167 > 1374 0.440 1.887 1.558 2.432 1.118 0.545 > 1395 4.091 12.271 4.481 12.755 0.391 0.484 > 1408 0.000 8.514 0.248 8.546 0.248 0.032 > 1413 6.329 9.493 5.785 8.946 -0.544 -0.547 > 1472 0.000 0.000 0.027 0.108 0.027 0.108 > 1488 0.000 4.076 0.003 3.957 0.003 -0.120 > 1527 -2.361 -11.801 -2.283 -11.787 0.077 0.014 > 1547 0.000 0.000 -0.174 0.788 -0.174 0.788 > 1554 8.696 4.347 8.754 4.862 0.058 0.515 > 1557 3.350 20.093 3.303 18.876 -0.047 -1.217 > 1563 -3.312 -9.934 -3.192 -9.942 0.120 -0.007 > 1578 13.714 4.570 13.541 4.214 -0.173 -0.357 > 1587 0.000 -3.565 0.200 -3.650 0.200 -0.086 > 1593 11.735 -3.911 11.448 -3.286 -0.287 0.624 > 1608 0.000 -4.017 -0.121 -3.818 -0.121 0.199 > 1610 -3.960 3.959 -3.866 3.665 0.094 -0.293 > 1619 -3.070 3.070 -2.947 3.008 0.124 -0.061 > 1637 4.304 8.606 4.353 8.602 0.049 -0.004 > 1642 0.781 9.624 0.132 9.999 -0.649 0.375 > 1643 -4.146 12.435 -3.492 12.042 0.654 -0.393 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051018/20051018_152523.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051018/20051018_163002.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/20051018/20051018_170441.mb88.na0 Project opened: NVA_MAUVMARS1 > Project home: /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.nvh > Number of Files: 19 > Number of Crossings Found: 1697 > Number of Crossings Analyzed: 97 > Number of Navigation Ties: 73 > User on cpu at Log file /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/NVA_MAUVMARS1.dir/log.txt opened > User on cpu at Inverting for optimal navigation > User on cpu at > Inverse problem size: > Nav points: 83153 > Independent nav snav points: 4232 > Fixed nav snav points: 0 > First derivative constraints: 4226 > Second derivative constraints: 4221 > Useful crossings: 73 > Total Unknowns: 8464 > Total Constraints: 17040 > Iteration Smoothing S_total S_crossing Ratio > -------------------------------------- > 1 5.81825e-10 8.67032e-13 2.30732e-15 2.30732e-14 > 2 5.81825e-08 8.67032e-11 2.22352e-15 2.22352e-14 > 3 5.81825e-06 8.67032e-09 2.53007e-12 2.53007e-11 > 4 0.000581825 8.65375e-07 2.5253e-08 2.5253e-07 > 5 0.0581825 2.07137e-05 2.51451e-05 0.000251451 > 6 5.81825 0.000841762 0.0705873 0.705873 > 7 581.825 0.00705881 1.64382 16.4382 > 8 178.62 0.00655163 1.49164 14.9164 > 9 57.6589 0.0043806 0.837633 8.37633 > 10 21.3704 0.00233693 0.320081 3.20081 > 11 10.4839 0.00137477 0.150071 1.50071 > 12 7.21795 0.00101314 0.0948275 0.948275 > 13 8.19774 0.0011268 0.111672 1.11672 > 14 7.51188 0.00104776 0.0998995 0.998995 > 15 7.71764 0.00107172 0.103441 1.03441 > 16 7.57361 0.00105497 0.100963 1.00963 > Final smoothing weight: 7.57361 > Final crossing sigma: 0.100963 > Final total sigma: 0.00105497 > Nav Tie Offsets (m): id observed solution error > 455 9.339 4.672 9.134 4.653 -0.205 -0.019 > 460 -2.596 -1.298 -2.545 -0.972 0.051 0.326 > 477 -12.863 25.069 -11.090 25.116 1.773 0.047 > 483 -9.794 11.286 -9.589 11.395 0.206 0.109 > 489 5.406 25.835 5.381 25.727 -0.025 -0.108 > 495 18.045 38.120 17.375 37.274 -0.670 -0.846 > 517 -14.905 -14.915 -14.299 -14.149 0.606 0.766 > 528 4.647 9.289 4.443 9.032 -0.204 -0.256 > 535 4.612 9.233 4.458 9.034 -0.153 -0.199 > 545 8.617 17.234 9.213 17.473 0.596 0.238 > 552 4.737 9.477 4.623 8.575 -0.113 -0.903 > 564 7.216 -0.510 8.354 1.524 1.138 2.034 > 572 0.000 4.961 0.152 4.965 0.152 0.004 > 617 -3.586 -0.011 -3.436 0.094 0.150 0.105 > 622 5.441 0.000 5.299 0.227 -0.142 0.227 > 635 -1.490 11.020 -1.474 10.661 0.015 -0.359 > 641 10.249 15.370 10.309 15.343 0.060 -0.027 > 647 1.713 13.683 1.834 13.742 0.121 0.059 > 653 14.763 11.808 14.462 11.882 -0.301 0.074 > 656 4.032 20.164 4.094 19.889 0.062 -0.275 > 840 1.044 10.443 1.151 10.266 0.107 -0.177 > 851 0.000 8.379 -0.073 8.269 -0.073 -0.109 > 857 9.767 0.000 9.525 -0.357 -0.242 -0.357 > 865 -3.898 -23.382 -3.998 -23.295 -0.100 0.087 > 879 -8.777 4.395 -8.710 4.313 0.068 -0.082 > 919 0.000 0.000 -0.063 0.025 -0.063 0.025 > 943 -4.148 -3.118 -3.735 -3.438 0.413 -0.320 > 947 0.000 8.623 0.365 9.220 0.365 0.598 > 975 12.212 -1.609 11.992 -1.970 -0.220 -0.361 > 1007 9.437 15.059 9.336 15.003 -0.102 -0.056 > 1085 -9.161 -4.583 -9.077 -4.225 0.084 0.359 > 1113 4.549 9.100 4.397 9.025 -0.152 -0.075 > 1120 4.148 8.301 4.014 8.267 -0.134 -0.034 > 1130 3.630 0.000 3.448 0.347 -0.182 0.347 > 1138 -8.884 8.889 -8.691 8.445 0.193 -0.444 > 1141 -6.851 0.000 -6.910 0.250 -0.059 0.250 > 1149 -4.398 17.612 -4.005 17.536 0.393 -0.075 > 1169 8.536 21.340 8.110 21.073 -0.426 -0.267 > 1176 -4.148 4.150 -4.162 4.267 -0.014 0.116 > 1178 -2.622 2.619 -2.454 2.505 0.169 -0.114 > 1196 -4.353 0.000 -4.316 0.181 0.037 0.181 > 1241 4.291 8.578 4.210 8.785 -0.080 0.206 > 1266 0.000 20.930 -1.456 20.251 -1.456 -0.679 > 1269 -4.076 -8.157 -2.581 -7.706 1.496 0.451 > 1304 0.000 4.173 -0.376 4.209 -0.376 0.036 > 1308 -8.313 -4.162 -8.433 -5.188 -0.120 -1.027 > 1322 4.362 4.361 3.436 2.895 -0.926 -1.467 > 1328 -8.483 -4.239 -7.216 -2.420 1.267 1.819 > 1334 4.362 4.361 4.124 3.893 -0.238 -0.469 > 1354 0.000 4.417 0.259 5.065 0.259 0.649 > 1358 -4.121 -4.117 -3.753 -3.044 0.368 1.073 > 1362 8.171 10.898 7.726 9.707 -0.445 -1.190 > 1368 12.140 20.242 10.640 19.074 -1.500 -1.167 > 1374 0.437 1.887 1.555 2.434 1.118 0.547 > 1395 4.085 12.274 4.476 12.757 0.391 0.483 > 1408 0.000 8.512 0.248 8.544 0.248 0.032 > 1413 6.324 9.488 5.780 8.941 -0.544 -0.547 > 1472 0.000 0.000 0.027 0.108 0.027 0.108 > 1488 0.000 4.073 0.003 3.953 0.003 -0.119 > 1527 -2.364 -11.797 -2.287 -11.782 0.077 0.014 > 1547 0.000 0.000 -0.174 0.788 -0.174 0.788 > 1554 8.697 4.350 8.754 4.865 0.057 0.515 > 1557 3.345 20.097 3.299 18.881 -0.046 -1.217 > 1563 -3.309 -9.932 -3.190 -9.939 0.120 -0.007 > 1578 13.710 4.572 13.537 4.216 -0.173 -0.357 > 1587 0.000 -3.562 0.199 -3.648 0.199 -0.086 > 1593 11.730 -3.906 11.443 -3.282 -0.287 0.624 > 1608 0.000 -4.017 -0.121 -3.818 -0.121 0.199 > 1610 -3.961 3.962 -3.866 3.668 0.094 -0.293 > 1619 -3.068 3.074 -2.945 3.012 0.123 -0.062 > 1637 4.299 8.612 4.349 8.608 0.049 -0.004 > 1642 0.776 9.621 0.128 9.998 -0.648 0.376 > 1643 -4.148 12.440 -3.494 12.046 0.653 -0.394 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_154030.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_162116.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_164932.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_171756.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_174620.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_181444.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_184308.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_191132.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_193956.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_200821.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_203645.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_210509.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_213333.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_220157.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_223021.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051019/20051019_225845.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051018/20051018_152523.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051018/20051018_163002.mb88.na0 > Output updated nav to /Volumes/SMPD04/MappingAUVOps/MARSsurvey/Navadjust/../../20051018/20051018_170441.mb88.na0