October 1999 VOLUME 24 NUMBER 4 IJOEDY(ISSN 0364-9059)

NONTECHNICAL CONTENT
Front cover and table of contents
Back cover

EDITORIAL
James F. Lynch Editorial 413

PAPERS
Brian S. Bourgeois, Andrew B. Martinez, Pete J. Alleman, Jami J. Cheramie, and John M. Gravley Autonomous bathymetry survey system 414
Brian G. Ferguson and Kam W. Lo Transiting aircraft parameter estimation using underwater acoustic sensor data 424
Charles F. Gaumond Echo components for aspect-independent detection and classification 436
Claire Noel, Christophe Viala, and Yann Stephan A study of hybrid and chaotic long-range propagation in a double sound channel environment 447
Ioseba Tena Ruiz, David M. Lane, and Mike J. Chantler A comparison of inter-frame feature measures for robust object classification in sector scan sonar image sequences 458
Craig L. Stevens, E. Murray Poulter, Murray J. Smith, and John A. McGregor Nonlinear features in wave-resolving microwave radar observations of ocean waves 470
Louis L. Whitcomb and Dana R. Yoerger Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models 481
Louis L. Whitcomb and Dana R. Yoerger Preliminary experiments in model-based thruster control for underwater vehicle positioning 495

TECHNICAL COMMUNICATIONS
Ching-Yaw Tzeng An internal model control approach to the design of yaw-rate-control ship-steering autopilot 507

BOOK REVIEWS
William M. Carey Fundamentals of acoustic oceanography-Herman Medwin and Clarence S. Clay 514