1. Applied Ocean Physics and Engineering Department, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA.
2. Department of Marine Chemistry and Geochemistry, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA.
3. Australian Centre for Field Robotics, University of Sydney, Sydney, New South Wales 2006, Australia.
4. Monitor Instruments Company, Cheswick, PA 15024, USA.