The author thanks Andy Majda, Chris Snyder, Stephen Anderson, Doug Nychka, Thomas Bengtsson, and Peter Bickell for their insights on ensemble and particle filters. Thanks to Tim Hoar, Kevin Raeder, Nancy Collins, Glen Romine, and Hui Liu for helping to build and maintain the Data Assimilation Research Testbed. Pavel Sakov, Herschel Mitchell, and two anonymous reviewers were a great help in improving this manuscript. Any opinions, findings, and conclusions or recommendations expressed in this publication are those of the author and do not necessarily reflect the views of the National Science Foundation.
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