Table 1. Estimates of the different contributors to localisation errors.

Source of Error	Magnitude
Timing Error Estimate within a hydrophone cluster	1 μs
Timing Error Estimate between hydrophone clusters	10 μs (differences in the waveform are likely to be greater between clusters making it likely that there will be a larger error)
Location of hydrophones within a cluster	1mm in each dimension
Relative location of clusters	5cm in each horizontal dimension, 2cm vertically
Speed of sound	10m/s