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M. Purcell, von Alt, C., Allen, B., Austin, T., Forrester, N., Goldsborough, R., and Stokey, R., New capabilities of the REMUS autonomous underwater vehicle, in Oceans 2000 MTS/IEEE: where marine science and technology meet, vol. 1, Piscataway, N.J.: IEEE, 2000, pp. 147–151.