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The precision of GPS/acoustic seafloor positioning was improved by introducing a hull-mounted onboard system in March 2008, which allows us to conduct acoustic ranging measurements with the vessel sailing along the pre-determined track lines, while the early system before 2008 could only adopt the uncontrollable drifting observation. The continuity of the positioning results due to the transition was first confirmed through the comparison between results from sailing and drifting observations conducted in parallel. Using the data acquired for about 3 years since 2008, the repeatability of the determined position for the sailing observation was evaluated to be about 2 cm in root mean squares in the horizontal component, significantly better than that for the early drifting observation. The improvement of positioning precision probably resulted from the improvement of geometric distribution of acoustic ranging data by controlling the track lines. It was also shown that the sailing observation allows to obtain reliable results with a smaller amount of data. Comparison between the results in different sea regions suggests that positioning precision is better in the region along the Nankai Trough than in the region along the Japan Trench, probably because of the complicated acoustic velocity structure of seawater often observed in the latter. Furthermore, the precision of height determination was also improved, which leads us to expect that vertical crustal movement will be detectable in the future through accumulation of data as well as further technology development. [ABSTRACT FROM AUTHOR]