Fig. 2
From: Detection efficiency of acoustic biotelemetry sensors on Wave Gliders
Wave Glider SV3 consists of a float and sub connected by a tether. The surface float contains communications, solar panels, batteries and integrated sensors. The sub has wings, a rudder and thruster for propulsion. The photograph shows custom-made steel brackets and plates where the VR2W receiver (forward facing), VR2Tx transceiver (backward facing) and accelerometer were mounted. The front of the vehicle is on the left