ABE was typically deployed as part of a three-phase ‘nested’ survey
strategy, involving vessel, AUV and ROV, e.g. Yoerger et al. (2007a,b)
and German et al. (2008b). This three-phase strategy was also used
successfully in the recent discovery of the deepest hydrothermal vent system
known on Earth, using the NERC Autosub6000 AUV (Connelly et al.,
2010).