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. 2017 Oct 30;7:14294. doi: 10.1038/s41598-017-14278-z

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Sub-sampled tow track estimated by YAPS. The tow track data set was sub-sampled to simulate an eight-hydrophone array and YAPS was applied to estimate the track. (a) Number of hydrophones detecting each signal transmission. Signal transmissions detected by less than three hydrophones are highlighted using colours blue, light blue and red representing 2, 1 and 0 detecting hydrophones, respectively. () indicate running mean (window = 10) number of detecting hydrophones. (b) Track estimated by YAPS () overlain known track obtained using DGPS (). Approximately 50% of estimated positions were with 0.5 m of true position and 80% were within 1 m.

Inline graphic — Sub-sampled tow track estimated by YAPS. The tow track data set was sub-sampled to simulate an eight-hydrophone array and YAPS was applied to estimate the track. (a) Number of hydrophones detecting each signal transmission. Signal transmissions detected by less than three hydrophones are highlighted using colours blue, light blue and red representing 2, 1 and 0 detecting hydrophones, respectively. () indicate running mean (window = 10) number of detecting hydrophones. (b) Track estimated by YAPS () overlain known track obtained using DGPS (). Approximately 50% of estimated positions were with 0.5 m of true position and 80% were within 1 m.