@Article{2003:evensen,
  author =       {Geir Evensen},
  title =        {The Ensemble {K}alman Filter: theoretical formulation and practical implementation},
  journal =      {Ocean Dynamics},
  year =         {2003},
  volume =    {53},
  number =    {4},
  pages =     {343--367},
  doi = {10.1007/s10236-003-0036-9}
}
