Trygve Olav Fossum¹, Øystein Sture², Ingrid Ellingsen³, Martin Syre Wiig⁴ and Martin Ludvisen¹, (1)Norwegian University of Science and Technology (NTNU), Department of Marine Technology, Centre of Autonomous Marine Operations and Systemt (AMOS), Trondheim, Norway, (2)Norwegian University of Science and Technology (NTNU), Department of Marine Technology, Trondheim, Norway, (3)SINTEF Ocean, Trondheim, Norway, (4)Norwegian Defence Research Establishment (FFI), Norway