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Table 3 Summary of parametric coefficients (linear terms) and smoothing terms from GAM used to determine if detection efficiency was related to distance from transmitter (tag distance, in meters), direction of robot travel relative to transmitter (toward or away), robot depth (depth, in meters from water surface), or robot pitch (pitch, in degrees from horizontal)

From: Characterization of acoustic detection efficiency using a gliding robotic fish as a mobile receiver platform

Linear terms Estimate SE Z p-value
(Intercept) − 4.282 0.581 − 7.363 1.79E−13
dir = toward 5.322 0.594 8.965 3.11E-19
Smoothing terms EDF   χ2 p-value
s(rt_distance): dir = away 6.48E−04   4.85E−04 0.265
s(rt_distance): dir = toward 1.642   4.345 5.84E−04
s(rt_distance): run = 17–1 2.152   6.651 3.07E−04
s(rt_distance): run = 18–1, 18–2 2.466   44.738 4.25E−13
s(rt_distance): run = 18–3 1.118   2.699 5.27E−03
s(pitch): dir = away 0.570   1.087 0.152
s(pitch): dir = toward 2.416   33.366 3.15E−09
s(depth): dir = away 1.212   9.468 8.55E−04
s(depth): dir = toward 0.209   0.255 0.247
  1. Included for each parametric coefficient is the estimate, standard error (SE), test statistic (Z), and p-value for the null hypothesis that the corresponding parameter is zero. Included for each smoothing term is the estimated degrees of freedom (EDF), test statistic (χ2), and approximate p-value for the null hypothesis that the smoothing term is zero. Italicized p-values are significant at significance level of 0.05