Manus, Lorcan Mac and Brown, Melvin and Lewis, Alexander and Melnik, A. and Ramos, Angel Manuel and Brett, Charles and Wood, David and von Glehn, Ingrid and Dewynne, J. and Katterbauer, Klemens and Berger, Lorenz and Bulkowski, Marcin and Roberts, Paul and Whittaker, Robert and Grandison, Scott and O'Keeffe, Stephen  (2012) Inertial navigation for divers.  [Study Group Report]