Table 1 System parameters for analysis and simulations

Sound speed profile (SSP)

Coppens equation [58]

Depth of shallow water

less than 100m

Temperature (shallow)

22 °C

Salinity (shallow)

35 parts per thousand

Depth of deep water

Between 500 and 1000 m

Temperature (deep)

15–12 °C

Salinity (deep)

35 parts per thousand

Constant b in Eq. (8)

14 dB

Constant β in Eq. (8)

0.5 dB/km

Operating frequency range

10 to 15 kHz

Bandwidth efficiency (α)

1 bps/Hz

Attenuation model

According to Eqs. (24) and (25)

Spreading coefficient

1 for shallow and 2 for deep water

Multipath fading type

Rayleigh or Rician