Reprint Series NURC-PR-2009-004 Receiving and transmitting acoustic systems for AUV/gliders Alain Maguer, Rodney Dymond, Piero Guerrini, Luigi Troiano, Vittorio Grandi, Alberto Figoli, Claudio Olivero, Alessandro Sapienza, Stefano Fioravanti, John Potter December 2009 Originally published in: Proceedings of the 3 rd International Conference and Exhibition on Underwater Acoustic Measurements: Technologies and Results, 21-26 June, 2009, Nafplion, Greece.