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K. G. Foote, Chu, D., Hammar, T. R., Dr. Baldwin, K. C., Mayer, L. A., Hufnagle Jr., L. C., and Jech, J. M., Protocols for Calibrating Multibeam Sonar, Journal of the Acoustical Society of America, vol. 117. Acoustical Society of America, Melville, NY, USA, pp. 2013-2027, 2005.