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acoustic algorithm amplitude analysis angle approximately array bandwidth beam beamforming bottom cable carbon Center channel coefficients components configuration connector deck depth Digital Signal Processor display dive docking Doppler EBSS Enriched Air Nitrox equation equivalent air depth error estimate fiber fiberoptic field filter frequency function Grabbit hydrophone IEEE input interface internal wave large floating structures layer least squares linear located matrix measured meters method modal mode modules motion neural network noise ocean operator optical output parameters performance phosphorites platform pressure processor range real-time resonances response robot samples seawater sensor ship shown in Figure signal processing simulation sonar spectral structure surface Table target techniques thruster TOPEX/POSEIDON tracking umbilical cable underwater values vehicle velocity VLFS waveguide wavenumber weight wire WSSR