\index{Real-Time Acoustic Array Processing}
\begin{table}[htp]
\renewcommand{\arraystretch}{1.5}
\begin{minipage}[c]{0.8\textwidth}
  \centering
  \mbox{
  \footnotesize
\begin{tabular}{|r|c|p{0.68\textwidth}|p{0.12\textwidth}|p{0.08\textwidth}|}
\hline
\# & Module Name & Module Description & Author & Size \\ \hline \hline
 
1 & {\bf pBearingTrack} &
Generic array processor module with conventional beamformer, detector and stabilized bearing tracker & 
Schmidt \newline Poulsen \newline Eickstedt &  \\ \hline

2 & {\bf pCBF} & Generic array processor module with conventional
beamformer. Defines \var{MOOS} interface for future advanced
beamformers & Schmidt \newline Poulsen & \\ \hline

3 & {\bf pBTracker} & Detector and stabilized bearing tracker for
single, high-SNR acoustic source. Defines \var{MOOS} interface for
future multi-target trackers. & Schmidt \newline Poulsen \newline
Eickstedt & \\ \hline

4 & {\bf pTrackMonitor} & Interfaces the signal processing modules for
beamforming and beaaring tracking to the \moosivp state variables, e.g
for maneuvering to enhance processing performance or breaking
ambiguities. & Schmidt & \\ \hline

5 & {\bf p1HTracker} &
Single bearing geo-tracker
\newline 
{\em Libraries: anrp\_util, MOOS, MOOSGen, MOOSUtility}
& Eickstedt \newline Schmidt & \\ \hline

5 & {\bf pMBTracker} &
Multi-bearing geo-tracker
\newline 
& Eickstedt \newline Schmidt & \\ \hline

\multicolumn{4}{|c|}{Total unique lines of code} &  \\ 
\multicolumn{4}{|c|}{Total aggregate lines of code} &  \\ \hline


  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Real-Time Acoustic array processing modules}
\label{t_acous}
\end{table}

