Dedicated to
Lieutenant Robert A. Heinlein, USN, deceased,
who showed us how it was done

To
Lieutenant Commander Loren J. Moscoe, USN Ret.,
who taught me what it meant,
and made me mad enough to learn a hell of a lot

To
Lieutenant Commander Michael J. Brennan, USN Ret.,
and the crew at work who kept this book honest,
as much as they could

And to
Ellen
who keeps all the different parts of me together.