\chapter*{Nomenclature}
\label{nomenc}
\addcontentsline{toc}{section}{\numberline{}Nomenclature}
\footnotesize
\begin{table*}[htb]
\begin{tabular} {ll} 
$\vec{X}(k)$ & = Vehicle state at descrete time count k \\
$\vec{U}(k)$ & = Control inputs at descrete time count k \\
$\vec{Z}(k)$ & = Sensor measurements at descrete time count k \\
$\mathcal{Y}$& = Feature detection operator \\
$\mathcal{V}$& = Visitation map operator \\
$\mathcal{F}$& = Feature map operator \\
$\phi$ & = Vehicle pitch angle \\
$\psi$ & = Vehicle roll angle \\
$\theta$ & = Vehicle yaw angle \\
$x$ & = Vehicle position (east) \\
$y$ & = Vehicle position (north) \\
$z$ & = Vehicle position (depth) \\
$u$ & = Vehicle speed \\
$r$ & = Range returned by sonar altimeter \\
$d$ & = Depth returned by depth sensor \\
$\mathbf{F}(k)$ & = Vehicle transition matrix \\
$\mathbf{G}(k)$ & = Vehicle input gain matrix \\
$\vec{v}$ & = Process noise \\
$L(z)$ & = Laplacian operator \\
$z_c$ & = Isobath contour \\
\end{tabular}
\end{table*}
\normalsize
