Figure 4. An overview of the field site off Torrey Pines in San Diego.

(a) The locations of the 5 pingers P1–P5 are shown relative to the local bathymetry. The white box contains a plan view of the measured trajectories of the 16 M-AUEs during the 5-hour deployment. (b) The trajectories of the 16 M-AUE once they had reached the target depth of 10 m. Each trajectory is colored according to the time since deployment.