1. Univ. Lille, CNRS, Centrale Lille, ISEN, Univ. Valenciennes, UMR 8520—IEMN, LIA LICS/LEMAC, F-59000 Lille, France
2. Thales Underwater System France, Sophia Antipolis, 525 Route des Dolines, F-06560 Valbonne, France
3. CINTRA UMI 3288, CNRS/NTU/THALES, Research Techno Plaza, 50 Nanyang Drive 637553, Singapore