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In this paper we demonstrate results of a technique for synchronizing clocks and estimating ranges between a pair of RF transceivers. The technique uses a periodic exchange of ranging waveforms between two transceivers along with sophisticated delay estimation and tracking. The technique was implemented on wireless testbed transceivers with independent clocks and tested over-the-air in stationary and moving configurations. The technique achieved ~10ps synchronization accuracy and 2.1mm range deviation, using A two-channel oscilloscope and tape measure as truth sources. The timing resolution attained is three orders of magnitude better than the inverse signal bandwidth of the ranging waveform (50MHz⇒ 6m resolution), and is within a small fraction of the carrier wavelength (915MHz⇒ 327mm wavelength). We discuss how this result is consistent with the Weiss-Weinstein bound and cite new applications enabled by this technique.