Sonobuoy is a disposable device that collects underwater acoustic information and is designed to transmit signals collected in a particular area to nearby aircraft or ships and sink to the seabed upon completion of its mission. In a conventional sonobuoy signal transmission and reception system, collected signals are modulated and transmitted using techniques such as frequency division modulation or Gaussian frequency shift keying. They are received and demodulated by an aircraft or a ship. However, this method has the disadvantage of a large amount of information being transmitted and low security due to relatively simple modulation and demodulation methods. Therefore, in this paper, we propose a method that uses an autoencoder to encode a transmission signal into a low-dimensional latent vector to transmit the latent vector to an aircraft or vessel. The method also uses an autoencoder to decode the received latent vector to improve signal security and to reduce the amount of transmission information by approximately a factor of a hundred compared to the conventional method. In addition, a denoising autoencoder, which reduces ambient noises in the reconstructed outputs while maintaining the merit of the proposed autoencoder, is also proposed. To evaluate the performance of the proposed autoencoders, we simulated a bistatic active and a passive sonobuoy environments. As a result of analyzing the sample spectrograms of the reconstructed outputs and mean square errors between original and reconstructed signals, we confirmed that the original signal could be restored from a low-dimensional latent vector by using the proposed autoencoder within approximately 4% errors. Furthermore, we verified that the proposed denoising autoencoder reduces ambient noise successfully by comparing spectrograms and by measuring the overall signal-to-noise ratio and the log-spectral distance of noisy input and reconstructed output signals.