1. Department of Marine Technology, NTNU, 7491 Trondheim, Norway
2. Center for Autonomous Marine Operations and Systems, Marine Technology Center, 7491 Trondheim, Norway
3. Department of Electronic Systems, NTNU, 7491 Trondheim, Norway
4. SINTEF Ocean, 7052 Trondheim, Norway
5. Department of Engineering Cybernetics, NTNU, 7491 Trondheim, Norway