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Measurement while drilling (MWD) systems perform in-situ monitoring of the drill string and surrounding earth.  Measurements made by  MWD systems include azimuth and inclination of the drill string, but may also include borehole pressure, force and torque acting on the drill bit, drill speed, vibration, and shock. Measurements made by MWD systems are used to guide rotary steering tools (RSTs) allowing for faster, more accurate, and safer drilling.