Table 1.

Simulation parameters.

Parameter	Value
Data Rate	2500 bps
DATA packet length Ldata	1024 bits
Control packet length Lcont	64 bits
Initial energy Ei	1000 J
Transmitter efficiency	0.25
Channel bandwidth	4 kHz
Center frequencies fcontrol, and fdata	25, 20 kHz
Max. transmit power	50 W
Receive and idle-listening power	300 mW (Micro modem) + 500 mW (Processing power)
Number of clusters	4
Energy threshold Eth = 0.70 × Ei	700 J
Vertical link (Relay node→AUV) distance	50 m