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These days, the demand on searching underwater area by using underwater sensor network becomes higher. However, we cannot apply terrestrial network protocols directly for this challenge because of the high attenuation and absorption of water that affect radio and optical waves. In underwater environment, especially, it is important to save redundant control messages required to establish and maintain the network at maximum. In this paper, we propose an integration method between localization and routing which were discussed separately so far by simply extending control packets exchanged for localization. The target of this work is efficient setup of the network. Finally, we show the effectiveness of the proposed method by computer simulation.