© The Author(s) (Society for Underwater Technology) Posted on May 17, 2013 by SCG DR Copyright Holders: © The Author(s) (Society for Underwater Technology) Self-archiving policy Conditions Accepted version: ? Published version: √ Remarks: Papers in the form in which they were published (final PDF form) are allowed to be made available in this repository. (verified by Bo Siang via email) Verification Date: 25.09.2013