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CMRE-MR-2013-013https://www.sto.nato.int/publications/CMRE%20Technical%20Reports/Forms/Technical%20Report%20Document%20Set/docsethomepage.aspx?ID=2444&FolderCTID=0x0120D5200078F9E87043356C409A0D30823AFA16F60100579C25F0F82CAC45A30F178962627E96&List=4e058c41-1dc4-4154-bf32