@article {Sayers1998,
	title = {{Teleprogramming for subsea teleoperation using acoustic communication}},
	journal = {IEEE Journal of Oceanic Engineering},
	volume = {23},
	number = {1},
	year = {1998},
	pages = {60{\textendash}71},
	keywords = {ROV Jason (Remotely Operated Vehicle)},
	issn = {0364-9059},
	doi = {10.1109/48.659450},
	url = {http://dx.doi.org/10.1109/48.659450},
	author = {Sayers, C P and Paul, R P and Whitcomb, L L and Yoerger, D R}
}
