example, the California Board of Pilot Commissioners requires that pilot trainees have a master's license, two years' command experience on tugs or deep draft vessels, and pass a written exam and simulator exercise, followed by a period of up to three years' training, gaining experience with different types of vessel and docking facilities. Following licensing, pilots are required to engage in continuing educational programs. Typically, the pilot joins an incoming ship prior to the ship's entry into the shallow water at the designated "pilot boarding area" via helicopter or pilot boat and climbs a pilot ladder, sometimes up to 40 feet (~12 metres), to the deck of the largest container and tanker ships. As both the ship to be piloted and the pilot's own vessel are usually moving this may be dangerous, especially in rough seas. With outgoing vessels, a pilot boat returns the pilot to land after the ship has successfully negotiated coastal waters. Pilots are required by law in most major sea ports of the world for large ships. Pilots use pilotage techniques that rely on nearby visual reference points and local knowledge of tides, swells, currents, depths and shoals that might not be readily identifiable on nautical charts without first hand experience in certain waters. Legally, the master has full responsibility for the safe navigation of their vessel, even when a pilot is on board. If they have clear grounds that the pilot may jeopardize the safety of navigation, they can relieve the pilot from their duties and ask for another pilot, or, if not required to have a pilot on board, navigate the vessel without one. In every case, during the time passed aboard for operation, the pilot will remain under the master's authority, and always out of the "ship's command chain." The pilot remains aboard as an important and indispensable part of the bridge team. Only in transit of the Panama Canal does the pilot have full responsibility for the navigation of the vessel. In some countries, deck officers of vessels who have strong local knowledge and experience of navigating in those ports, such as a ferry or regular trader, may be issued with a pilotage exemption certificate, which relieves them of the need to take a pilot on board. Compensation The Florida Alliance of Maritime Organizations reported that Florida pilots' annual salaries range from US$100,000 to US$400,000, on par with other US states that