@article {Rainnie1971,
	title = {{Equipment and instrumentation for the navigation of submersibles}},
	journal = {Underwater Journal and Information Bulletin},
	volume = {3},
	number = {3},
	year = {1971},
	pages = {120{\textendash}128},
	keywords = {HOV Alvin (Human Occupied Vehicle)},
	issn = {0041-6614},
	author = {Rainnie, W O}
}
