The authors are grateful for the help provided by Jeff Jackson in programming and in the analysis of sonar and turbulence data and Peter Chandler in the analysis of the bubble resonator data, and thank the Autosub Team and master and crew of the Tershelling, without whose enthusiastic assistance the data would not have been obtained. Part of this research was undertaken with funding from NERC Grant NER/A/S/2000/00359. TRO was supported by the Office of Naval Research (Grant N000149910088). SAT thanks Prof. Alan Elliot (SOS, University College of North Wales, United Kingdom) for the use of a workstation, and Kate Davis for assistance with figures.
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