I. Introduction
Underwater acoustic communication (UWAC) is used for various applications, such as exploring ocean resources or providing a gateway for sensor data [1]. UWAC is also used for sharing information between mobile devices such as autonomous underwater vehicles (AUVs), drifters such as gliders and underwater buoys, and human divers, each requiring either peer-to-peer or network communication capability. For military UWAC applications, covert communication is of interest such that the transmitter and receiver remain undetectable for a possibly nearby interceptor. Here, the objective is to achieve communication with a low probability of detection (LPD). LPD UWAC also reduces environmental impact of acoustic signaling. This is because LPD transmissions are low power and wideband and thus their effect on marine mammals is relatively smaller.