Marine Vehicles with Streamers for Geotechnical Surveys: Modeling, Positioning, and Control**This Research Was Supported by the Ec Wimust Project (Grant No. 645141) and the Portuguese Fct Funding Program [Pest-Oe/Eei/La0009/2011]. The Second Author Was Supported by the Brasilian Navy During His Sabbatical Leave at the Isr/Ist, Lisbon, Portugal.