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Submitted on: 26 January 2008.
Revised on: 07 April 2008.
Accepted on: 01 May 2008.
___________________JOURNAL OF NAVIGATION---CAMBRIDGE UNIV PRESS
Submitted on: 24 December 2012.
Revised on: 27 January 2013.
Accepted on: 18 March 2013.
___________________JOURNAL OF NAVIGATION---CAMBRIDGE UNIV PRESS
Submitted on: 07 August 2012.
Revised on: 11 October 2012.
Accepted on: 28 November 2012.
___________________JOURNAL OF NAVIGATION---CAMBRIDGE UNIV PRESS