Eric Timmons, Massachusetts Institute of Technology, Electrical Engineering & Computer Science, Cambridge, MA, United States, Benjamin Ayton, Massachusetts Institute of Technology, Cambridge, United States, Richard Camilli, Woods Hole Oceanographic Inst, Woods Hole, MA, United States, Brian Williams, Massachusetts Institute of Technology, Aeronautics and Astronautics, Cambridge, MA, United States and Falkor 101218 Science Team, R/V Falkor, Schmidt Ocean Institute, Palo Alto, United States