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We have developed a low-cost approach for accurately measuring short-term vertical motions of the seafloor and maintaining a continuous long-term record of seafloor pressure without the requirement for costly ship time. We equipped the University of Hawai‘i Liquid Robotics Wave Glider with an integrated acoustic telemetry package, a dual-frequency geodetic-grade global positioning system (GPS) receiver, meteorological pressure sensor, processing unit, and cellular communications. The Wave Glider interrogates high accuracy pressure sensors on the seafloor to retrieve their pressure and temperature data. We correct the seafloor pressure measurements using sea surface kinematic GPS location and atmospheric pressure data collected by the Wave Glider payload. By combining the concurrent seafloor and sea surface observations, we demonstrate the capability to provide timely, continuous, and high-accuracy estimation and monitoring of centimeter-scale vertical seafloor motions.