The soldier killed during a counter-terrorism training exercise off the Coromandel Peninsula is being described as a 'an outstanding soldier, leader, father, family man, and friend to many”.

Sergeant Wayne Taylor was the member of the Special Operations Force killed during an exercise on Friday morning.

He is survived by his wife and four children.

Wayne joined the Royal New Zealand Infantry Regiment as a member of the Army Reserve in 1993 – joining the Regular Force in October 1997.

He served in East Timor and Afghanistan.

'Many of the Regiment, both RNZIR and NZSAS, will remember him as an outstanding soldier, leader, father, family man, and friend to many, as well as being an all-round top bloke,” says Major General Peter Kelly Chief of Army.

'He was a consummate professional, who was known for his dedication and reliability – always upholding our core values in every endeavour,” says Major General Peter Kelly Chief of Army.

'I know that his family, friends and workmates will be keenly feeling the loss of a husband, father and friend. My thoughts are with them all over the coming days and weeks.”

Wayne's family are being supported by members of New Zealand Special Operations Force and the New Zealand Army.

Police are investigating on behalf of the Coroner.