Good stuff, thanks for the diagram. Cleaning under the glass was very simple, I merely needed a sharp-tipped knife to remove the little caps which cover the screws, and a Philips head screwdriver to remove the 4 screws holding down the glass table. The entire disassemble/clean/reassemble process took only 5 minutes.
For those worried about voiding their warranty, there are no warranty seals or such holding the table, just be careful not to disfigure the screw caps (little black plastic plugs with a "v" on them) when removing them.