Fig. 1. Block diagram of the MV-ITP mechanism. AUV, autonomous underwater vehicle.

Fig. 2. Experimental setup.

Fig. 3. Typical cropped images under four different thermohaline gradients.

Fig. 4. Typical waveforms and typical images under nine different thermohaline gradients.

Fig. 5. Histogram of scintillation index for nine thermosaline gradients.

Fig. 6. Typical images under four different bubble rates.

Fig. 7. Typical images under different bubble rates when the temperature gradient is 0.1°C/cm.

Fig. 8. Typical waveforms and typical images under different temperature gradients and different bubble rates.

Fig. 9. Scintillation indices under different bubble rates and different temperature gradients.