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ECMWF Data Assimilation- scientific documentation, 3rd ed.
P. Lönnberg, D.B. Shaw
1992, Meteorological Bulletin: Research Manual 1, User manual, ECMWF.
10781-ecmwf-data-assimilation-scientific-documentation-3rd-ed.pdf
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10781-ecmwf-data-assimilation-scientific-documentation-3rd-ed.pdf