such as the or the Russian Mir submersibles, rely on small active sonar sets and viewing ports to navigate. The human eye cannot detect sunlight below about underwater, so high intensity lights are used to illuminate the viewing area. Navigation Early submarines had few navigation aids, but modern subs have a variety of navigation systems. Modern military submarines use an inertial guidance system for navigation while submerged, but drift error unavoidably builds over time. To counter this, the crew occasionally uses the Global Positioning System to obtain an accurate position. The periscope—a retractable tube with a prism system that provides a view of the surface—is only used occasionally in modern submarines, since the visibility range is short. The and s use photonics masts rather than hull-penetrating optical periscopes. These masts must still be deployed above the surface, and use electronic sensors for visible light, infrared, laser range-finding, and electromagnetic surveillance. One benefit to hoisting the mast above the surface is that while the mast is above the water the entire sub is still below the water and is much harder to detect visually or by radar. Communication Military submarines use several systems to communicate with distant command centers or other ships. One is VLF (very low frequency) radio, which can reach a submarine either on the surface or submerged to a fairly shallow depth, usually less than . ELF (extremely low frequency) can reach a submarine at greater depths, but has a very low bandwidth and is generally used to call a submerged sub to a shallower depth where VLF signals can reach. A submarine also has the option of floating a long, buoyant wire antenna to a shallower depth, allowing VLF transmissions by a deeply submerged boat. By extending a radio mast, a submarine can also use a "burst transmission" technique. A burst transmission takes only a fraction of a second, minimizing a submarine's risk of detection. To communicate with other submarines, a system known as Gertrude is used. Gertrude is basically a sonar telephone. Voice communication from one submarine is transmitted by low power speakers into the water, where it is detected by passive sonars on the receiving submarine. The range of this system is probably very short, and using it radiates sound into the water, which can be heard by the enemy. Civilian submarines can use similar, albeit less powerful systems to communicate with support ships or