Conversations with J. Gast at RD Instruments have been invaluable over the course of this investigation and preparing the manuscript; his time spent in evaluating and researching the bias issue has been greatly appreciated. The authors would also like to thank R. Arrieta and SPAWAR Systems Center-San Diego; A. Genin, J. Grover, M. McManus, J. Musiak, T. Powell, and M. Riedenbach for their assistance in the field experiments where this bias issue was explored. B. Morris and K. Vierra of Arete Associates generously provided use of their Trimble Navigation kinematic GPS and documentation for the bottom-tracking evaluation. Stimulating conversations with P. Devine, T. Joyce, J. O'Donnell, and A. Valle-Levinson were also valuable. Two anonymous reviewers also offered helpful suggestions for improving the manuscript. The field work in Eilat was supported by the United States–Israel Binational Science Foundation (BSF 97-450). Finally, this work would not have been possible without the generous support of K. Ward at ONR (N00014-98-1-0785 and N-00014-01-1-1012).
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