414 lines
182 KiB
HTML
414 lines
182 KiB
HTML
<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Anchor Estimation Debug</title>
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<script src="https://cdn.jsdelivr.net/npm/chart.js@4"></script>
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<style>
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:root {
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--bg: #0f1117; --surface: #1a1d27; --border: #2a2d3a;
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--text: #e0e0e8; --muted: #8a8d9a; --accent: #4fc3f7;
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--green: #66bb6a; --yellow: #fdd835; --red: #ef5350;
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--accent2: #f4845f; --accent3: #7ec8a0; --accent4: #c39af4;
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}
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* { box-sizing: border-box; margin: 0; padding: 0; }
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body {
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background: var(--bg); color: var(--text);
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font-family: 'SF Mono', 'Fira Code', monospace;
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padding: 2rem; line-height: 1.6;
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}
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h1 { color: var(--accent); font-size: 1.6rem; margin-bottom: 0.3rem; }
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.subtitle { color: var(--muted); margin-bottom: 1.5rem; font-size: 0.85rem; }
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h2 { color: var(--accent); font-size: 1.1rem; margin: 2rem 0 0.75rem;
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border-bottom: 1px solid var(--border); padding-bottom: 0.3rem; }
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.stats-grid {
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display: grid; grid-template-columns: repeat(auto-fit, minmax(180px, 1fr));
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gap: 0.75rem; margin: 1rem 0;
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}
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.stat-card {
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background: var(--surface); border: 1px solid var(--border);
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border-radius: 6px; padding: 0.75rem;
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}
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.stat-card .label { color: var(--muted); font-size: 0.75rem; text-transform: uppercase; }
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.stat-card .value { font-size: 1.3rem; font-weight: 700; }
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.val-accent { color: var(--accent); }
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.val-green { color: var(--green); }
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.val-yellow { color: var(--yellow); }
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.val-red { color: var(--red); }
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.chart-row { display: grid; grid-template-columns: 1fr 1fr; gap: 1.5rem; margin: 1rem 0; }
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.chart-box {
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background: var(--surface); border: 1px solid var(--border);
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border-radius: 8px; padding: 1rem;
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}
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.chart-box.full { grid-column: 1 / -1; }
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.chart-box canvas { width: 100% !important; }
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.insight {
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color: var(--muted); font-size: 0.85rem; margin-top: 0.5rem; font-style: italic;
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background: var(--surface); border-left: 3px solid var(--accent);
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padding: 0.75rem 1rem; border-radius: 0 6px 6px 0;
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}
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.param-table { width: 100%; border-collapse: collapse; margin: 1rem 0; }
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.param-table td { padding: 0.4rem 0.75rem; border-bottom: 1px solid var(--border); }
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.param-table td:first-child { color: var(--muted); font-size: 0.85rem; width: 45%; }
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.param-table td:last-child { color: var(--accent); font-weight: 600; }
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@media (max-width: 900px) { .chart-row { grid-template-columns: 1fr; } }
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</style>
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</head>
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<body>
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<h1>Anchor Estimation Debug Report</h1>
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<p class="subtitle">Generated 2026-03-23 16:16:04 • Host: cerbo • Wind threshold: 7.0 kts • Tension ratio: 0.6</p>
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<h2>Current State</h2>
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<div class="stats-grid">
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<div class="stat-card"><div class="label">Anchor Set</div><div class="value val-accent">Yes</div></div>
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<div class="stat-card"><div class="label">Chain Length</div><div class="value val-accent">150.0 ft</div></div>
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<div class="stat-card"><div class="label">Current Wind</div><div class="value val-red">2.0 kts</div></div>
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<div class="stat-card"><div class="label">Est. Distance</div><div class="value val-accent">134.2 ft</div></div>
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<div class="stat-card"><div class="label">Catenary Distance</div><div class="value val-accent">134.2 ft</div></div>
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<div class="stat-card"><div class="label">Chain on Bottom</div><div class="value val-accent">132.8 ft</div></div>
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<div class="stat-card"><div class="label">Uncertainty</div><div class="value val-accent">10.0 ft</div></div>
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<div class="stat-card"><div class="label">Drift from Marked</div><div class="value val-accent">66.5 ft</div></div>
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</div>
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<h2>Known Anchor vs Service</h2><div class="stats-grid"> <div class="stat-card"><div class="label">Known Anchor</div> <div class="value val-green" style="font-size:0.95rem">25.486030, -76.637120</div></div> <div class="stat-card"><div class="label">Marked Anchor</div> <div class="value val-accent" style="font-size:0.95rem">25.486088, -76.636926</div></div> <div class="stat-card"><div class="label">Marked Error</div> <div class="value val-red">67.2 ft</div></div> <div class="stat-card"><div class="label">Service Estimate</div> <div class="value val-accent" style="font-size:0.95rem">25.485908, -76.636957</div></div> <div class="stat-card"><div class="label">Estimate Error</div> <div class="value val-red">69.6 ft</div></div></div>
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<h2>Reliability Analysis</h2>
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<div class="stats-grid">
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<div class="stat-card"><div class="label">Track Points</div><div class="value val-accent">1069</div></div>
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<div class="stat-card"><div class="label">Reliable</div><div class="value val-green">0 (0.0%)</div></div>
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<div class="stat-card"><div class="label">Marginal</div><div class="value val-yellow">13</div></div>
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<div class="stat-card"><div class="label">Unreliable</div><div class="value val-red">1056</div></div>
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<div class="stat-card"><div class="label">Distance Threshold</div><div class="value val-accent">90.0 ft</div></div>
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<div class="stat-card"><div class="label">Depth</div><div class="value val-accent">11.9 ft</div></div>
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</div>
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<p class="insight">
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Reliable = wind ≥ 7.0 kts AND distance from marked anchor ≥ 0.6 × chain length (90.0 ft).
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In light winds the chain coils on the seabed in a spiral; the vessel drifts randomly and heading does not point toward the anchor.
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Only when the rode is taut (≈60% of chain length) under steady wind can the vessel heading reliably indicate anchor bearing.
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</p>
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<!-- 1. Track map -->
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<h2>1. Track Map — Reliability Overlay</h2>
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<div class="chart-row">
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<div class="chart-box full"><canvas id="trackChart" height="450"></canvas></div>
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</div>
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<p class="insight">Vessel positions in local X/Y (ft) relative to known anchor position. Green = reliable, yellow = marginal, red = unreliable. Dashed circles show the distance threshold and chain length radius.</p>
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<!-- 2. Distance + wind timeline -->
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<h2>2. Distance & Wind vs Time</h2>
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<div class="chart-row">
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<div class="chart-box full"><canvas id="distWindChart" height="300"></canvas></div>
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</div>
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<p class="insight">Distance from marked anchor (blue) and chain-length distance threshold (dashed). Only points above the threshold with sufficient wind are considered reliable.</p>
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<!-- 3. Reliability breakdown bar -->
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<h2>3. Distance Ratio Distribution</h2>
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<div class="chart-row">
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<div class="chart-box"><canvas id="ratioHist" height="250"></canvas></div>
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<div class="chart-box"><canvas id="reliabilityPie" height="250"></canvas></div>
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</div>
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<p class="insight">Left: histogram of distance-from-anchor / chain-length ratios. The vertical line marks the tension threshold. Right: overall reliability breakdown.</p>
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<!-- 4. Estimation history -->
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<h2>4. Estimated Anchor Position History</h2>
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<div class="chart-row">
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<div class="chart-box full"><canvas id="estHistoryChart" height="350"></canvas></div>
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</div>
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<p class="insight">History of estimated anchor positions (X/Y). Spread shows estimation uncertainty over time. Tight clusters indicate confidence; scattered points indicate the estimator is chasing noise.</p>
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<!-- 5. Algorithm comparison -->
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<h2>5. Estimation Algorithm Comparison</h2>
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<div class="chart-row">
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<div class="chart-box full"><canvas id="algoChart" height="400"></canvas></div>
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</div>
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<div class="chart-row"><div class="chart-box full"><table class="param-table"><tr><td style="font-weight:700;color:var(--accent)">Algorithm</td><td style="font-weight:700;color:var(--accent)">Error (ft)</td></tr><tr><td>Service estimate (current)</td><td>69.6</td></tr><tr><td>Circle Fit (all points)</td><td>15.7</td></tr><tr><td>Boundary Circle Fit (top 25%)</td><td>22.0</td></tr><tr><td>Tension-Gated Circle Fit (>60%)</td><td>23.3</td></tr><tr><td>Tension-Gated Centroid (>60%)</td><td>39.7</td></tr><tr><td>Distance-Weighted Centroid</td><td>51.2</td></tr><tr><td>Simple Centroid</td><td>56.5</td></tr><tr><td>Distance²-Weighted Centroid</td><td>58.6</td></tr></table></div></div>
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<p class="insight">
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Each algorithm estimates the anchor position using only the GPS track geometry.
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Distance from center acts as a proxy for chain tension (farther = more wind = taut rode).
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Algorithms that gate or weight by distance effectively filter for wind conditions, even without
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per-point wind data. Lower error = closer to known anchor position.
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</p>
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<!-- 6. Parameters -->
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<h2>6. System Parameters</h2>
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<div class="chart-row">
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<div class="chart-box">
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<table class="param-table">
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<tr><td>Chain length</td><td>150.0 ft</td></tr>
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<tr><td>Vessel depth</td><td>11.9 ft</td></tr>
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<tr><td>Freeboard</td><td>4.0 ft</td></tr>
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<tr><td>Windage area</td><td>200.0 sqft</td></tr>
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<tr><td>Drag coefficient</td><td>1.1</td></tr>
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<tr><td>Chain weight</td><td>2.25 lb/ft</td></tr>
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</table>
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</div>
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<div class="chart-box">
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<table class="param-table">
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<tr><td>Wind threshold</td><td>7.0 kts</td></tr>
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<tr><td>Tension ratio</td><td>0.6</td></tr>
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<tr><td>Distance threshold</td><td>90.0 ft</td></tr>
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<tr><td>Current wind</td><td>2.0 kts</td></tr>
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<tr><td>Wind direction</td><td>89.2°</td></tr>
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<tr><td>Vessel heading</td><td>72.1°</td></tr>
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</table>
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</div>
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</div>
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<script>
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const D = {"track": [{"ts": 1774215674.1081257, "lat": 25.485795, "lon": -76.6372066, "x": -28.5, "y": -85.7, "dist": 90.3, "ratio": 0.602, "reliability": "marginal"}, {"ts": 1774215734.2157118, "lat": 25.4858133, "lon": -76.6372366, "x": -38.4, "y": -79.0, "dist": 87.9, "ratio": 0.586, "reliability": "unreliable"}, {"ts": 1774215749.2408428, "lat": 25.485825, "lon": -76.63726, "x": -46.1, "y": -74.7, "dist": 87.9, "ratio": 0.586, "reliability": "unreliable"}, {"ts": 1774215764.2624164, "lat": 25.48584, "lon": -76.637285, "x": -54.3, "y": -69.3, "dist": 88.1, "ratio": 0.587, "reliability": "unreliable"}, {"ts": 1774215779.2946253, "lat": 25.4858566, "lon": -76.6373083, "x": -62.0, "y": -63.2, "dist": 88.6, "ratio": 0.591, "reliability": "unreliable"}, {"ts": 1774215809.3654482, "lat": 25.4858766, "lon": -76.6373316, "x": -69.6, "y": -55.9, "dist": 89.4, "ratio": 0.596, "reliability": "unreliable"}, {"ts": 1774215854.4456406, "lat": 25.4858783, "lon": -76.6373, "x": -59.2, "y": -55.3, "dist": 81.1, "ratio": 0.541, "reliability": "unreliable"}, {"ts": 1774215899.5639672, "lat": 25.4858766, "lon": -76.6372733, "x": -50.4, "y": -55.9, "dist": 75.4, "ratio": 0.502, "reliability": "unreliable"}, {"ts": 1774215944.6595058, "lat": 25.4858516, "lon": -76.6372616, "x": -46.6, "y": -65.0, "dist": 80.1, "ratio": 0.534, "reliability": "unreliable"}, {"ts": 1774216034.8664894, "lat": 25.485865, "lon": -76.63729, "x": -55.9, "y": -60.2, "dist": 82.2, "ratio": 0.548, "reliability": "unreliable"}, {"ts": 1774216064.9172993, "lat": 25.4858916, "lon": -76.6373133, "x": -63.6, "y": -50.5, "dist": 81.2, "ratio": 0.542, "reliability": "unreliable"}, {"ts": 1774216094.9337444, "lat": 25.48592, "lon": -76.63733, "x": -69.1, "y": -40.1, "dist": 80.0, "ratio": 0.533, "reliability": "unreliable"}, {"ts": 1774216125.0020952, "lat": 25.48594, "lon": -76.6373416, "x": -72.9, "y": -32.8, "dist": 80.0, "ratio": 0.533, "reliability": "unreliable"}, {"ts": 1774216185.0531638, "lat": 25.485925, "lon": -76.6373266, "x": -68.0, "y": -38.3, "dist": 78.1, "ratio": 0.521, "reliability": "unreliable"}, {"ts": 1774216230.1355152, "lat": 25.4859016, "lon": -76.6373166, "x": -64.7, "y": -46.8, "dist": 79.9, "ratio": 0.533, "reliability": "unreliable"}, {"ts": 1774216290.2264135, "lat": 25.4859316, "lon": -76.637325, "x": -67.5, "y": -35.9, "dist": 76.5, "ratio": 0.51, "reliability": "unreliable"}, {"ts": 1774216305.2547164, "lat": 25.48595, "lon": -76.6373333, "x": -70.2, "y": -29.2, "dist": 76.1, "ratio": 0.507, "reliability": "unreliable"}, {"ts": 1774216335.2992232, "lat": 25.4859716, "lon": -76.637345, "x": -74.0, "y": -21.3, "dist": 77.1, "ratio": 0.514, "reliability": "unreliable"}, {"ts": 1774216380.4117944, "lat": 25.4859583, "lon": -76.6373283, "x": -68.5, "y": -26.1, "dist": 73.4, "ratio": 0.489, "reliability": "unreliable"}, {"ts": 1774216425.5675113, "lat": 25.485935, "lon": -76.6373233, "x": -66.9, "y": -34.6, "dist": 75.4, "ratio": 0.503, "reliability": "unreliable"}, {"ts": 1774216470.676706, "lat": 25.4859133, "lon": -76.63732, "x": -65.8, "y": -42.5, "dist": 78.4, "ratio": 0.523, "reliability": "unreliable"}, {"ts": 1774216575.802126, "lat": 25.485925, "lon": -76.6373383, "x": -71.8, "y": -38.3, "dist": 81.5, "ratio": 0.543, "reliability": "unreliable"}, {"ts": 1774216680.95346, "lat": 25.4859066, "lon": -76.637325, "x": -67.5, "y": -45.0, "dist": 81.1, "ratio": 0.541, "reliability": "unreliable"}, {"ts": 1774216726.0153656, "lat": 25.4858816, "lon": -76.63731, "x": -62.5, "y": -54.1, "dist": 82.7, "ratio": 0.552, "reliability": "unreliable"}, {"ts": 1774216756.0811036, "lat": 25.48586, "lon": -76.6372983, "x": -58.7, "y": -62.0, "dist": 85.4, "ratio": 0.569, "reliability": "unreliable"}, {"ts": 1774216786.127858, "lat": 25.4858383, "lon": -76.6372816, "x": -53.2, "y": -69.9, "dist": 87.9, "ratio": 0.586, "reliability": "unreliable"}, {"ts": 1774216876.3561327, "lat": 25.4858566, "lon": -76.637275, "x": -51.0, "y": -63.2, "dist": 81.3, "ratio": 0.542, "reliability": "unreliable"}, {"ts": 1774216921.4667861, "lat": 25.485875, "lon": -76.6372916, "x": -56.5, "y": -56.5, "dist": 79.9, "ratio": 0.533, "reliability": "unreliable"}, {"ts": 1774216966.5861397, "lat": 25.48589, "lon": -76.6373116, "x": -63.1, "y": -51.0, "dist": 81.2, "ratio": 0.541, "reliability": "unreliable"}, {"ts": 1774217011.6839292, "lat": 25.4859, "lon": -76.6373383, "x": -71.8, "y": -47.4, "dist": 86.1, "ratio": 0.574, "reliability": "unreliable"}, {"ts": 1774217056.8383052, "lat": 25.4859166, "lon": -76.6373566, "x": -77.9, "y": -41.3, "dist": 88.2, "ratio": 0.588, "reliability": "unreliable"}, {"ts": 1774217192.0434227, "lat": 25.4859383, "lon": -76.6373516, "x": -76.2, "y": -33.4, "dist": 83.3, "ratio": 0.555, "reliability": "unreliable"}, {"ts": 1774217267.1844242, "lat": 25.48591, "lon": -76.6373366, "x": -71.3, "y": -43.7, "dist": 83.7, "ratio": 0.558, "reliability": "unreliable"}, {"ts": 1774217282.1733854, "lat": 25.48589, "lon": -76.6373216, "x": 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"y": -6.7, "dist": 73.8, "ratio": 0.492, "reliability": "unreliable"}, {"ts": 1774282499.2022963, "lat": 25.4859733, "lon": -76.6373433, "x": -73.5, "y": -20.7, "dist": 76.4, "ratio": 0.509, "reliability": "unreliable"}, {"ts": 1774282529.273285, "lat": 25.4859466, "lon": -76.6373383, "x": -71.8, "y": -30.4, "dist": 78.1, "ratio": 0.52, "reliability": "unreliable"}, {"ts": 1774282559.3542109, "lat": 25.48592, "lon": -76.637335, "x": -70.8, "y": -40.1, "dist": 81.4, "ratio": 0.543, "reliability": "unreliable"}], "estimators": [{"id": "centroid", "name": "Simple Centroid", "description": "Unweighted average of all track positions.", "x": -56.4, "y": 1.6, "lat": 25.4860343, "lon": -76.6372915, "error_ft": 56.5}, {"id": "dist_weighted", "name": "Distance-Weighted Centroid", "description": "Points farther from center get higher weight (proxy for chain tension / wind). Iterates 5x.", "x": -51.2, "y": -1.1, "lat": 25.4860269, "lon": -76.6372756, "error_ft": 51.2}, {"id": "dist2_weighted", "name": "Distance\u00b2-Weighted Centroid", "description": "Squared distance weighting \u2014 strongly favors outermost points where chain is taut.", "x": -52.1, "y": -26.8, "lat": 25.4859565, "lon": -76.6372783, "error_ft": 58.6}, {"id": "circle_fit", "name": "Circle Fit (all points)", "description": "Kasa algebraic circle fit on all 1069 points. Fitted radius: 63 ft.", "x": -10.4, "y": -11.7, "lat": 25.485998, "lon": -76.6371516, "error_ft": 15.7, "fit_radius": 62.7}, {"id": "tension_gated", "name": "Tension-Gated Centroid (>60%)", "description": "Only uses 162/1069 points beyond 60% of max swing radius (59 ft). These points had taut chain.", "x": -35.3, "y": -18.2, "lat": 25.48598, "lon": -76.6372272, "error_ft": 39.7}, {"id": "boundary_fit", "name": "Boundary Circle Fit (top 25%)", "description": "Circle fit on outermost 267 points only. These had the highest chain tension. Fitted radius: 66 ft.", "x": -19.5, "y": -10.2, "lat": 25.486002, "lon": -76.6371791, "error_ft": 22.0, "fit_radius": 66.0}, {"id": "tension_circle", "name": "Tension-Gated Circle Fit (>60%)", "description": "Circle fit on 162 points beyond tension threshold. Fitted radius: 68 ft.", "x": -21.4, "y": -9.2, "lat": 25.4860048, "lon": -76.6371849, "error_ft": 23.3, "fit_radius": 68.3}], "est_history": [{"x": 54.1, "y": -43.7, "ts": 1774281070.4708307, "uncertainty_ft": 10.0}, {"x": 54.1, "y": -43.8, "ts": 1774281085.474582, "uncertainty_ft": 10.0}, {"x": 54.1, "y": -43.7, "ts": 1774281100.4971569, "uncertainty_ft": 10.0}, {"x": 54.0, "y": -43.5, "ts": 1774281115.5522509, "uncertainty_ft": 10.0}, {"x": 53.9, "y": -43.4, "ts": 1774281130.6064868, "uncertainty_ft": 10.0}, {"x": 53.8, "y": -43.4, "ts": 1774281145.6156287, "uncertainty_ft": 10.0}, {"x": 53.8, "y": -43.4, "ts": 1774281160.6454413, "uncertainty_ft": 10.0}, {"x": 53.8, "y": -43.3, "ts": 1774281175.6745014, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -43.2, "ts": 1774281190.720695, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -43.0, "ts": 1774281205.749313, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -42.9, "ts": 1774281220.7970495, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -42.7, "ts": 1774281235.8308618, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -42.7, "ts": 1774281250.8744888, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -42.7, "ts": 1774281265.901934, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -42.8, "ts": 1774281280.9496217, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -42.9, "ts": 1774281295.9931254, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -42.9, "ts": 1774281311.029894, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -42.9, "ts": 1774281326.0567172, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -42.9, "ts": 1774281341.1275582, "uncertainty_ft": 10.0}, {"x": 53.5, "y": -42.8, "ts": 1774281356.1335034, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -42.9, "ts": 1774281371.178726, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -43.1, "ts": 1774281386.201584, "uncertainty_ft": 10.0}, {"x": 53.1, "y": -43.3, "ts": 1774281401.2452025, "uncertainty_ft": 10.0}, {"x": 53.0, "y": -43.6, "ts": 1774281416.26556, "uncertainty_ft": 10.0}, {"x": 53.1, "y": -44.0, "ts": 1774281431.314861, "uncertainty_ft": 10.0}, {"x": 53.1, "y": -44.3, "ts": 1774281446.3625243, "uncertainty_ft": 10.0}, {"x": 53.1, "y": -44.4, "ts": 1774281461.4270778, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281476.4327247, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281491.4940634, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281506.5314734, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281521.5780528, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281536.6216347, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281551.67541, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281566.7210455, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281581.7832878, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281596.796578, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281611.85748, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281626.8882387, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281641.9383595, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281656.9771469, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.6, "ts": 1774281671.997797, "uncertainty_ft": 10.0}, {"x": 53.0, "y": -44.7, "ts": 1774281687.069314, "uncertainty_ft": 10.0}, {"x": 52.8, "y": -44.8, "ts": 1774281702.12729, "uncertainty_ft": 10.0}, {"x": 52.7, "y": -44.9, "ts": 1774281717.1245835, "uncertainty_ft": 10.0}, {"x": 52.6, "y": -44.9, "ts": 1774281732.2118573, "uncertainty_ft": 10.0}, {"x": 52.6, "y": -44.9, "ts": 1774281747.2689574, "uncertainty_ft": 10.0}, {"x": 52.7, "y": -44.9, "ts": 1774281762.3286412, "uncertainty_ft": 10.0}, {"x": 52.8, "y": -44.9, "ts": 1774281777.3621488, "uncertainty_ft": 10.0}, {"x": 53.0, "y": -44.8, "ts": 1774281792.4029648, "uncertainty_ft": 10.0}, {"x": 53.2, "y": -44.7, "ts": 1774281807.405657, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.5, "ts": 1774281822.4803953, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -44.2, "ts": 1774281837.514, "uncertainty_ft": 10.0}, {"x": 53.8, "y": -43.9, "ts": 1774281852.5602357, "uncertainty_ft": 10.0}, {"x": 54.1, "y": -43.6, "ts": 1774281867.6093495, "uncertainty_ft": 10.0}, {"x": 54.2, "y": -43.3, "ts": 1774281882.6529624, "uncertainty_ft": 10.0}, {"x": 54.4, "y": -43.1, "ts": 1774281897.726535, "uncertainty_ft": 10.0}, {"x": 54.4, "y": -42.9, "ts": 1774281912.7748342, "uncertainty_ft": 10.0}, {"x": 54.5, "y": -42.8, "ts": 1774281927.7726665, "uncertainty_ft": 10.0}, {"x": 54.5, "y": -42.7, "ts": 1774281942.9473202, "uncertainty_ft": 10.0}, {"x": 54.4, "y": -42.8, "ts": 1774281957.9153504, "uncertainty_ft": 10.0}, {"x": 54.3, "y": -43.0, "ts": 1774281972.9493327, "uncertainty_ft": 10.0}, {"x": 54.1, "y": -43.3, "ts": 1774281987.99899, "uncertainty_ft": 10.0}, {"x": 53.9, "y": -43.6, "ts": 1774282003.0473042, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -43.9, "ts": 1774282018.0671048, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -44.1, "ts": 1774282033.0996785, "uncertainty_ft": 10.0}, {"x": 53.5, "y": -44.3, "ts": 1774282048.1199574, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.5, "ts": 1774282063.208216, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.7, "ts": 1774282078.2263396, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -44.9, "ts": 1774282093.2320106, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -45.2, "ts": 1774282108.2903795, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -45.4, "ts": 1774282123.3698502, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -45.6, "ts": 1774282138.3400502, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -45.7, "ts": 1774282153.3881779, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -45.6, "ts": 1774282168.4457452, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -45.3, "ts": 1774282183.463839, "uncertainty_ft": 10.0}, {"x": 53.3, "y": -44.9, "ts": 1774282198.4897797, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.7, "ts": 1774282213.5649226, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -44.3, "ts": 1774282228.5789375, "uncertainty_ft": 10.0}, {"x": 53.7, "y": -43.9, "ts": 1774282243.605512, "uncertainty_ft": 10.0}, {"x": 53.9, "y": -43.4, "ts": 1774282258.6497912, "uncertainty_ft": 10.0}, {"x": 54.1, "y": -43.1, "ts": 1774282273.6741552, "uncertainty_ft": 10.0}, {"x": 54.2, "y": -42.8, "ts": 1774282288.721837, "uncertainty_ft": 10.0}, {"x": 54.4, "y": -42.5, "ts": 1774282303.7417154, "uncertainty_ft": 10.0}, {"x": 54.5, "y": -42.3, "ts": 1774282318.8078308, "uncertainty_ft": 10.0}, {"x": 54.6, "y": -42.2, "ts": 1774282333.8156605, "uncertainty_ft": 10.0}, {"x": 54.6, "y": -42.1, "ts": 1774282348.852643, "uncertainty_ft": 10.0}, {"x": 54.5, "y": -42.1, "ts": 1774282363.870019, "uncertainty_ft": 10.0}, {"x": 54.4, "y": -42.2, "ts": 1774282378.8979383, "uncertainty_ft": 10.0}, {"x": 54.2, "y": -42.4, "ts": 1774282393.9594982, "uncertainty_ft": 10.0}, {"x": 54.0, "y": -42.8, "ts": 1774282409.011086, "uncertainty_ft": 10.0}, {"x": 53.8, "y": -43.2, "ts": 1774282424.0187166, "uncertainty_ft": 10.0}, {"x": 53.6, "y": -43.6, "ts": 1774282439.0493596, "uncertainty_ft": 10.0}, {"x": 53.5, "y": -44.0, "ts": 1774282454.081563, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.3, "ts": 1774282469.115194, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.4, "ts": 1774282484.1715915, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.5, "ts": 1774282499.2022963, "uncertainty_ft": 10.0}, {"x": 53.4, "y": -44.4, "ts": 1774282514.2578173, "uncertainty_ft": 10.0}, {"x": 53.5, "y": -44.4, "ts": 1774282529.273285, "uncertainty_ft": 10.0}, {"x": 53.5, "y": -44.4, "ts": 1774282544.3231883, "uncertainty_ft": 10.0}, {"x": 53.5, "y": -44.5, "ts": 1774282559.3542109, "uncertainty_ft": 10.0}], "ref": {"lat": 25.48603, "lon": -76.63712, "using_known": true}, "marked": {"lat": 25.486087952525743, "lon": -76.63692622522753, "x": 63.8, "y": 21.1, "error_ft": 67.2}, "estimated": {"lat": 25.485907967199477, "lon": -76.63695741080241, "x": 53.5, "y": -44.5, "error_ft": 69.6}, "params": {"chain_length": 150.0, "wind_threshold": 7.0, "tension_ratio": 0.6, "distance_threshold": 90.0, "vessel_wind": 2.0, "vessel_wind_dir": 89.2, "vessel_heading": 72.1, "vessel_depth": 11.9, "freeboard": 4.0, "windage_area": 200.0, "drag_coeff": 1.1, "chain_weight": 2.25, "est_distance": 134.2, "catenary_distance": 134.2, "chain_on_bottom": 132.8, "uncertainty": 10.0, "drift": 66.5, "anchor_set": true}, "stats": {"total_points": 1069, "reliable": 0, "marginal": 13, "unreliable": 1056, "pct_reliable": 0.0}};
|
|
|
|
const commonOpts = {
|
|
responsive: true,
|
|
plugins: { legend: { labels: { color: '#8a8d9a' } } },
|
|
scales: {
|
|
x: { ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
y: { ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
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},
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};
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const COLORS = { reliable: '#66bb6a', marginal: '#fdd835', unreliable: '#ef5350' };
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// --- 1. Track scatter with reliability colors ---
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(function() {
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const pts = D.track;
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const data = pts.map(p => ({ x: p.x, y: p.y }));
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const colors = pts.map(p => COLORS[p.reliability]);
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const datasets = [{
|
|
label: 'Vessel track',
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data, backgroundColor: colors,
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pointRadius: 2.5, showLine: false,
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}];
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// Distance threshold circle
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const thrRadius = D.params.distance_threshold;
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const circlePts = (r, label, color, dash) => {
|
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const pts = [];
|
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for (let a = 0; a <= 360; a += 2) {
|
|
const rad = a * Math.PI / 180;
|
|
pts.push({ x: r * Math.cos(rad), y: r * Math.sin(rad) });
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}
|
|
return {
|
|
label, data: pts, borderColor: color, borderDash: dash,
|
|
pointRadius: 0, showLine: true, fill: false, borderWidth: 1.5,
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};
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};
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datasets.push(circlePts(thrRadius, `Tension threshold (${thrRadius} ft)`, '#fdd835', [6, 3]));
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datasets.push(circlePts(D.params.chain_length, `Chain length (${D.params.chain_length} ft)`, '#8a8d9a', [3, 3]));
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// Markers
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if (D.ref.using_known) {
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datasets.push({
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label: 'Known anchor (0,0)', data: [{ x: 0, y: 0 }],
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backgroundColor: '#00e676', pointRadius: 10, pointStyle: 'crossRot', showLine: false,
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});
|
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if (D.marked.x !== undefined) {
|
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datasets.push({
|
|
label: `Marked anchor (${D.marked.error_ft || '?'} ft error)`,
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data: [{ x: D.marked.x, y: D.marked.y }],
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backgroundColor: '#ff5252', pointRadius: 8, pointStyle: 'crossRot', showLine: false,
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});
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}
|
|
} else {
|
|
datasets.push({
|
|
label: 'Marked anchor (0,0)', data: [{ x: 0, y: 0 }],
|
|
backgroundColor: '#ff5252', pointRadius: 8, pointStyle: 'crossRot', showLine: false,
|
|
});
|
|
}
|
|
if (D.estimated.x !== null) {
|
|
const errLabel = D.estimated.error_ft !== null ? ` (${D.estimated.error_ft} ft error)` : '';
|
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datasets.push({
|
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label: 'Service estimate' + errLabel, data: [{ x: D.estimated.x, y: D.estimated.y }],
|
|
backgroundColor: '#4fc3f7', pointRadius: 8, pointStyle: 'star', showLine: false,
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});
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}
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|
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new Chart('trackChart', {
|
|
type: 'scatter', data: { datasets },
|
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options: {
|
|
...commonOpts, aspectRatio: 1.1,
|
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scales: {
|
|
x: { title: { display: true, text: 'East-West (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
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y: { title: { display: true, text: 'North-South (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
},
|
|
},
|
|
});
|
|
})();
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|
|
|
// --- 2. Distance + wind timeline ---
|
|
(function() {
|
|
const pts = D.track;
|
|
if (!pts.length) return;
|
|
const t0 = pts[0].ts;
|
|
const hours = pts.map(p => ((p.ts - t0) / 3600).toFixed(2));
|
|
|
|
new Chart('distWindChart', {
|
|
type: 'scatter',
|
|
data: {
|
|
datasets: [
|
|
{
|
|
label: 'Distance from marked (ft)',
|
|
data: pts.map((p, i) => ({ x: parseFloat(hours[i]), y: p.dist })),
|
|
backgroundColor: pts.map(p => COLORS[p.reliability]),
|
|
pointRadius: 2, showLine: false, yAxisID: 'y',
|
|
},
|
|
{
|
|
label: `Threshold (${D.params.distance_threshold} ft)`,
|
|
data: [{ x: 0, y: D.params.distance_threshold }, { x: parseFloat(hours[hours.length-1]) || 1, y: D.params.distance_threshold }],
|
|
borderColor: '#fdd835', borderDash: [6, 3],
|
|
pointRadius: 0, showLine: true, fill: false, borderWidth: 1.5, yAxisID: 'y',
|
|
},
|
|
],
|
|
},
|
|
options: {
|
|
...commonOpts,
|
|
scales: {
|
|
x: { title: { display: true, text: 'Hours', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
y: { position: 'left', title: { display: true, text: 'Distance (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
},
|
|
},
|
|
});
|
|
})();
|
|
|
|
// --- 3a. Ratio histogram ---
|
|
(function() {
|
|
const ratios = D.track.map(p => p.ratio);
|
|
if (!ratios.length) return;
|
|
const bins = 20;
|
|
const maxR = Math.min(Math.max(...ratios) * 1.1, 2.0);
|
|
const step = maxR / bins;
|
|
const counts = new Array(bins).fill(0);
|
|
const labels = [];
|
|
for (let i = 0; i < bins; i++) {
|
|
labels.push((i * step).toFixed(2));
|
|
ratios.forEach(r => { if (r >= i * step && r < (i+1) * step) counts[i]++; });
|
|
}
|
|
const thrBin = Math.floor(D.params.tension_ratio / step);
|
|
const bgColors = counts.map((_, i) => i >= thrBin ? 'rgba(102,187,106,0.6)' : 'rgba(239,83,80,0.6)');
|
|
|
|
new Chart('ratioHist', {
|
|
type: 'bar',
|
|
data: { labels, datasets: [{ label: 'Distance / Chain Length', data: counts, backgroundColor: bgColors, borderWidth: 0 }] },
|
|
options: {
|
|
...commonOpts,
|
|
scales: {
|
|
x: { title: { display: true, text: 'Distance Ratio', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
y: { title: { display: true, text: 'Count', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
},
|
|
},
|
|
});
|
|
})();
|
|
|
|
// --- 3b. Reliability pie ---
|
|
(function() {
|
|
new Chart('reliabilityPie', {
|
|
type: 'doughnut',
|
|
data: {
|
|
labels: ['Reliable', 'Marginal', 'Unreliable'],
|
|
datasets: [{
|
|
data: [D.stats.reliable, D.stats.marginal, D.stats.unreliable],
|
|
backgroundColor: ['#66bb6a', '#fdd835', '#ef5350'],
|
|
borderWidth: 0,
|
|
}],
|
|
},
|
|
options: {
|
|
responsive: true,
|
|
plugins: {
|
|
legend: { labels: { color: '#8a8d9a' } },
|
|
},
|
|
},
|
|
});
|
|
})();
|
|
|
|
// --- 4. Estimation history scatter ---
|
|
(function() {
|
|
const eh = D.est_history;
|
|
if (!eh.length) return;
|
|
const data = eh.map(p => ({ x: p.x, y: p.y }));
|
|
const unc = eh.map(p => Math.max(2, Math.min(p.uncertainty_ft / 10, 10)));
|
|
|
|
const datasets = [{
|
|
label: 'Estimated anchor',
|
|
data, backgroundColor: 'rgba(195,154,244,0.5)',
|
|
pointRadius: unc, showLine: false,
|
|
}];
|
|
const refLabel = D.ref.using_known ? 'Known anchor (0,0)' : 'Marked anchor (0,0)';
|
|
const refColor = D.ref.using_known ? '#00e676' : '#ff5252';
|
|
datasets.push({
|
|
label: refLabel, data: [{ x: 0, y: 0 }],
|
|
backgroundColor: refColor, pointRadius: 8, pointStyle: 'crossRot', showLine: false,
|
|
});
|
|
|
|
new Chart('estHistoryChart', {
|
|
type: 'scatter', data: { datasets },
|
|
options: {
|
|
...commonOpts, aspectRatio: 1.2,
|
|
scales: {
|
|
x: { title: { display: true, text: 'East-West (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
y: { title: { display: true, text: 'North-South (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
},
|
|
},
|
|
});
|
|
})();
|
|
|
|
// --- 5. Algorithm comparison scatter ---
|
|
(function() {
|
|
const algos = D.estimators;
|
|
if (!algos || !algos.length) return;
|
|
|
|
const ALGO_COLORS = [
|
|
'#4fc3f7', '#f4845f', '#c39af4', '#66bb6a', '#fdd835', '#e040fb', '#26c6da'
|
|
];
|
|
|
|
const trackPts = D.track;
|
|
const datasets = [];
|
|
|
|
if (trackPts.length) {
|
|
datasets.push({
|
|
label: 'Vessel track',
|
|
data: trackPts.map(p => ({ x: p.x, y: p.y })),
|
|
backgroundColor: 'rgba(255,255,255,0.08)',
|
|
pointRadius: 1.2, showLine: false,
|
|
});
|
|
}
|
|
|
|
const refLabel2 = D.ref.using_known ? 'Known anchor' : 'Marked anchor';
|
|
const refColor2 = D.ref.using_known ? '#00e676' : '#ff5252';
|
|
datasets.push({
|
|
label: refLabel2 + ' (0,0)', data: [{ x: 0, y: 0 }],
|
|
backgroundColor: refColor2, pointRadius: 10, pointStyle: 'crossRot', showLine: false,
|
|
});
|
|
|
|
if (D.estimated.x !== null) {
|
|
datasets.push({
|
|
label: `Service estimate (${D.estimated.error_ft ?? '?'} ft)`,
|
|
data: [{ x: D.estimated.x, y: D.estimated.y }],
|
|
backgroundColor: '#ffffff', pointRadius: 7, pointStyle: 'star', showLine: false,
|
|
});
|
|
}
|
|
|
|
algos.forEach((a, i) => {
|
|
const c = ALGO_COLORS[i % ALGO_COLORS.length];
|
|
datasets.push({
|
|
label: `${a.name} (${a.error_ft} ft)`,
|
|
data: [{ x: a.x, y: a.y }],
|
|
backgroundColor: c, pointRadius: 8,
|
|
pointStyle: 'rectRot', showLine: false,
|
|
});
|
|
});
|
|
|
|
new Chart('algoChart', {
|
|
type: 'scatter', data: { datasets },
|
|
options: {
|
|
...commonOpts, aspectRatio: 1.1,
|
|
scales: {
|
|
x: { title: { display: true, text: 'East-West (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
y: { title: { display: true, text: 'North-South (ft)', color: '#8a8d9a' }, ticks: { color: '#8a8d9a' }, grid: { color: '#2a2d3a' } },
|
|
},
|
|
},
|
|
});
|
|
})();
|
|
</script>
|
|
</body>
|
|
</html> |