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information to correct for vessel yaw. (Most modern MBES systems use an integrated motion-sensor and position system that measures yaw as well as the other dynamics and position.) A satellite-based global navigation system positions the soundings with respect to the surface of the earth. Sound speed profiles (speed of sound in water as a function of depth) of the water column correct for refraction or "ray-bending" of the sound waves owing to non-uniform water column

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