Range-based cooperative underwater target localization * *The work of the second and fourth authors was supported by Ministerio de Economia y Competitividad” under project DPI2013-46665-C2-2-R.D. Moreno-Salinas is grateful to the “Ministerio de Educación, Cultura y De-porte” for support under “Programa Estatal de Promoción del Talento y su Empleabilidad en I+D+i, Subprograma Estatal de M