Table 8. Outcome of IR and OR for six sailing conditions.

Sailing condition number			1	2	3	4	5	6
Bj			0°0’0.21”	0°0’0.15”	0°0’0.79”	0°0’1.11”	0°0’0.38”	0°0’6.13”
Improvement rate (IR) for error volatility (%)		aw	52.0	31.7	23.9	47.0	35.3	14.8
		BP	37.4	67.6	39.6	44.2	18.3	-33.7
		km	49.1	46.4	19.5	32.9	10.8	6.0
${\sum }_{k=2}^n{\mathrm{\Delta }}_{kj}$			634.9637	801.4171	967.0018	1009.9170	849.4575	2044.8136
Optimization rate(OR) for error stability (%)		aw	6.4	-3.7	2.9	-1.4	3.3	1.1
		BP	3.9	6.6	3.6	4.2	-1.8	-3.1
		km	-2.8	4.4	-1.5	3.9	1.7	0.5