There is a typographical error in the text preceding (12) and preceding (16) in Snyder et al. (2015). The text preceding (12) should read, “Now let
This error has no effect on the conclusions of the paper.
REFERENCE
Snyder, C., T. Bengtsson, and M. Morzfeld, 2015: Performance bounds on particle filters using the optimal proposal. Mon. Wea. Rev., 143, 4750–4761, doi:10.1175/MWR-D-15-0144.1.