Magnetosonic waves are commonly observed in the vicinity of the terrestrial magnetic equator. It has been proposed that within this region they may interact with radiation belt electrons, accelerating some to high energies. These wave-particle interactions depend upon the characteristic properties of the wave mode. Hence determination of the wave properties is a fundamental part of understanding these interaction processes. Using data collected during the Cluster Inner Magnetosphere Campaign, this paper identifies an occurrence of magnetosonic waves, discusses their generation and propagation properties from a theoretical perspective, and utilises multispacecraft measurements to experimentally determine their dispersion relation. Their experimental dispersion is found to be in accordance with that based on cold plasma theory.