This application utilized three dual-frequency GPS receivers (on the AUV, the ship and on shore). Data were processed in two modes:

1. Shore to Ship - Determine the +- 5 cm relative location of the ship in post processing. The baseline distance was several 100 km.
2. Ship to AUV - Measure the +- 1 cm relative position between the AUV and the ship using the Epoch-by-Epoch approach. The baseline distance between ship and AUV was up to 30 km. The attitude of the ship was measured with an additional two GPS receivers.

Combining both solutions results in positioning of the AUV at the +- 10 cm level prior to and after dives.