access protocols; decoding; digital radio; radio receivers; radio transmitters; underwater acoustic communication; JANUS digital underwater communication standard; NATO CMRE; NATO Centre for Maritime Research and Experimentation; legacy equipment; message specification; multiple access acoustic protocol design; radio transmitter; signal encoding specification; sophisticated decoder; sophisticated receiver; Acoustics; Convolutional codes; Encoding; Protocols; Receivers; Robustness; Standards; Interoperability; JANUS; Protocols; Stan-dards; Underwater Communication;
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