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Kirkwood, W.J., D. Gashler, H. Thomas, T.C. O'Reilly, R. McEwen, N. Tervalon, F. Shane, D. Au, M. Sibenac, T. Konvalina, A. Bahlavouni, and J.G. Bellingham. 2001. Development of a long endurance autonomous underwater vehicle for ocean science exploration. MTS/IEEE Oceans 2001: An Ocean Odyssey: 1504–1512.
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