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M. S. Triantafyllou, Engebretsen, K., Burgess, J. J., Yoerger, D. R., and Grosenbaugh, M. A., A full-scale experiment and theoretical study of the dynamics of underwater vehicles employing very long tethers, in BOSS '88 : proceedings of the International Conference on Behavior of Offshore Structures, Trondheim, Norway, June 1988, vol. 2, T. Moan, Ed. Trondheim, Norway: Tapir Publishers, 1988, pp. 549–563.