...y technology in reducing the dangerousswork of surveying and clearing underwater mine fields. The ONR has the spiralsdevelopment of the Coastal Battlefield Reconnaissance and Analysis (COBRA) systems(=-=Almquist, 2009-=-): Block-1 (day-time operations, surface mines and obstacles, andsdetection in beach zones), Block-2 (night operations, detection in surf zones), and Block3 (buried mines, near real-time processing). ...