@article {Medagoda2016,
	title = {{Mid-water current aided localization for autonomous underwater vehicles}},
	journal = {Autonomous Robots},
	volume = {40},
	number = {7, SI},
	year = {2016},
	pages = {1207{\textendash}1227},
	abstract = {Survey-class autonomous underwater vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid-water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Current Profiler mode of the DVL during descent, along with data from other sensors, the method discussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Mapping (SLAM) and on descents up to 3km deep with the Sentry AUV.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1007/s10514-016-9547-3},
	author = {Medagoda, L and Williams, S B and Pizarro, O and Kinsey, J C and Jakuba, M V}
}
@article {Valentine2010,
	title = {{Asphalt volcanoes as a potential source of methane to late Pleistocene coastal waters}},
	journal = {Nature Geoscience},
	volume = {3},
	number = {5},
	year = {2010},
	pages = {345{\textendash}348},
	abstract = {Every year, natural petroleum seepage emits 0.2{\textendash}2 Tg of oil to the ocean1. Significant oil seepage can build large underwater mounds, consisting of tar deposits with morphologies similar to volcanic lava flows, known as asphalt volcanoes2, 3. Such events are typically accompanied by large fluxes of the greenhouse gas methane4, 5. Marine sediments from the Santa Barbara basin, California, contain a record of elevated methane concentrations6, anoxia and tar deposition7 during the Pleistocene epoch that had been attributed to dissolution of methane hydrates. However, the region is known to have exhibited oil seepage in the past7. Here, we document the discovery of seven extinct asphalt volcanoes off the coast of southern California. The morphology of the deposits and geochemistry of samples taken from the two largest structures supports their classification as asphalt volcanoes, derived from a common source. We estimate that the two structures resulted from seepage of 0.07{\textendash}0.4 Tg of oil, accompanied by the emission of 0.35{\textendash}1.8 Tg of methane. Radiocarbon dating of carbonate deposits entrained with the asphalt indicates formation of the volcanoes between 44 and 31 kyr ago. The timing and volume of erupted hydrocarbons from the asphalt structures can explain some or all of the documented methane release and tar accumulation in the Santa Barbara basin during the Pleistocene.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle), HOV Alvin (Human Occupied Vehicle)},
	issn = {1752-0894},
	doi = {10.1038/ngeo848},
	url = {http://dx.doi.org/10.1038/ngeo848},
	author = {Valentine, D L and Reddy, C M and Farwell, C and Hill, T M and Pizarro, O and Yoerger, D R and Camilli, R and Nelson, R K and Peacock, E E and Bagby, S C and Clarke, B A and Roman, C N and Soloway, M}
}
