“…Besides, there are many researches on data acquisition in multi-node and distributed systems, as well as time synchronization. Most of these systems are in the form of a single bus, and few articles use the combination of inter-integrated circuit (IIC) bus (short distance, high speed) and controller area network (CAN) bus (long distance, multi-node) to achieve high-speed and long-distance data transmission [11,16,17]. Meanwhile, underwater sensor networks have attracted more and more attention, and are widely used in marine environmental monitoring, resource exploration, target detection, tracking, and positioning [18,19].…”