Submitted on: 18 April 2012.
Revised on: 16 July 2012.
Accepted on: 04 September 2012.
___________________JOURNAL OF NAVIGATION---CAMBRIDGE UNIV PRESS
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Submitted on: 25 June 2003.
Revised on: 23 August 2003.
Accepted on: 05 September 2003.
___________________JOURNAL OF NAVIGATION---CAMBRIDGE UNIV PRESS
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