I think one could modify a DPV (like the one Fisheye pictured), with a quick release (similar to those used in gliders). The DPV pilot could then fly the DPV using the concept described in the documents that Charles posted. The DPV can be maneuvered in the pitch and roll axis while under tow ((similar to the two axis control system used on my Weedhopper ultralight). The only control surfaces on that are the rudder and elevator). Charles idea of some type of Christmas tree lighting system would be ideal and cost effective. This way the boat can be stopped or slowed to create some slack in the line prior to release, also keeping the recovery boat on station (this will be important to the DPV pilot). The DPV pilot just has to pull the handle to disconnect the line from the Recovery/Tow vessel to investigate any possible wreckage sighted on the bottom. This would also allow the DPV more bottom time, as you would not be using the motors and batteries until you disconnect from the tow vessel.
Now we just need to install a magnetometer under the DPV, and we can do two searches on each leg of the search grid. Should the magnetometer register a hit, the recovery vessel can come to a full stop, allowing the DPV pilot to remain tethered to the boat and attempt to pin point the source of the mag hit.
Merry Christmas