An autonomous surface vehicle known as a wave glider, instrumented with a low-power towed hydrophone array and embedded digital signal processor, is demonstrated as a viable low-noise system for the passive acoustic monitoring of marine mammals. Other key design elements include high spatial resolution beamforming on a 32-channel towed hydrophone array, deep array deployment depth, vertical motion isolation, and bandwidth-efficient real-time acoustic data transmission. Using at-sea data collected during a simultaneous deployment of three wave glider-based acoustic detection systems near Stellwagen Bank National Marine Sanctuary in September 2019, the capability of a low-frequency towed hydrophone array to spatially reject noise and to resolve baleen whale vocalizations from anthropogenic acoustic clutter is demonstrated. In particular, mean measured array gain of 15.3 dB at the aperture design frequency results in a post-beamformer signal-to-noise ratio that significantly exceeds that of a single hydrophone. Further, it is shown that with overlapping detections on multiple collaborating systems, precise localization of vocalizing individuals is achievable at long ranges. Last, model predictions showing a 4× detection range, or 16× area coverage, advantage of a 32-channel towed array over a single hydrophone against the North Atlantic right whale upcall are presented for the continental shelf environment south of Martha's Vineyard.