Fig. 4From: A new GNSS-acoustic positioning software implementing multiple positioning functions considering nadir total delaysTop panel shows the projected travel-time (P-TT) residuals in the nadir direction by the cross symbols with the color indicating the seafloor transponder number. The black curve represents the estimated NTD time series expressed by the 3d B-spline functions. Bottom panel shows the final travel-time residuals by the cross symbols with the color indicating the seafloor transponder number, which are obtained by removing the black curve from the cross symbols in the top panelBack to article page