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M. A. Masnadi-Shirazi, de Moustier, C., Cervenka, P., and Zisk, S. H., “Differential Phase Estimation with the SeaMARC II Bathymetric Sidescan Sonar System”, IEEE Journal of Oceanic Engineering, vol. 17. IEEE, Washington DC, Washington DC, USA, pp. 239-251, 1992.