research with an Autonomous Underwater Vehicle: Payload structure and arctic operations. OCEANS - Bergen, 2013 MTS/IEEE, doi:10.1109/OCEANS-Bergen.2013.6608043. Wulff, T., Lehmenhecker, S., Hoge, U. (2010) [...] On their way through the ocean they carry different instruments to measure several parameters from the temperature of the water to the amount of light penetrating the ocean. At the end of a mission the [...] I 115: 253-264. Wulff, U., Wulff, T. (2015). Correcting Navigation Data of Shallow-Diving AUV in Arctic. Sea Technology 56(3): 27-30. Wulff, T., Lehmenhecker, S., Bauerfeind, E., Hoge, U., Shurn, K., Klages