Shallow water environment
N J A 
100 0
3
0 0 0 0 0 0 0
0 1500 -1480 0 0 1 0
100 1800 400 0.1 0.5 1.8 0
50
10 80 51 50

1400 1e8
4096 1 4000
0 20 20 5
20 80 12 10