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[detail level 12]

▼Tethys/LRAUV Software Design	The Tethys/LRAUV software design summaries include:
State-Configured Layered Control	This section illustrates how the Tethys/LRAUV State-Configured Layered Control stack behaves during a simple mission that navigates around 4 waypoints 2 times, and occasionally surfaces for GPS updates and satellite communications
Embedded Scripting Language	Under Mission Scripting Requirements, there are several requirments that have pushed us towards adopting an embedded scripting language including:
Universal Data Values and Units	As described in requirement Use "Universal" Data Values, the system will be capable of handling data values in an abstract, "universal" manner, providing for example, the best available value for pressure when "pressure" is requested
Data Slate	As described in requirement Channel communications between software units through a single “slate”, all communication between software units will be performed through a world-readable "slate"
Modularity	Goal is to meet the requirement to Limit the interconnectedness of code to minimize full-system recompiles.
Mission Scripting	Tethys/LRAUV top-level mission syntax
Sequential Nested threads	Post PDR, various multi-treading approaches were tested
Binary Data Storage and Logging	Logging is primarily done behind the scenes, by using DataReader and DataWriter objects within a component
Simulation	The approach we have taken for this vehicle is to provide a core Simulator class that can be used with a simulator interface class to provide simulation in a variety of situations:
▼Tethys/LRAUV Development Plan
Modular Architecture
Simulation
Vehicle control
Dependency-based execution within a computation cycle
Ability to fall-back on abstract alternative to a faulty function input
Missions including sub-sequences, triggers, and re-entrant states
Hardware control
Data transmission and command/control via limited/intermittent/noisy communications channels.
Actuator failure recovery
Assisted script generation
Ship/Shore Side Tools
Hardening
▼Tethys/LRAUV Requirements	The Tethys/LRAUV software requirements are divided in the following sections:
Architectural Requirements
Control and Timing Requirements
Mission Scripting Requirements
Built in Test (BIT) Requirements
Data Storage Requirements
Data Decimation for Transfer Requirements	A key component of the vehicle communications scheme is the ability to transmit subsets of mission data back to shore, either for mid-mission quality control or to provide input for mission changes
System Log Requirements
Data Post-Processing Tool Requirements
Communications Requirements
Simulation Requirements	In the context of this software, "simulation" refers to running a subset of the vehicle software in an environment where vehicle elements outside the purview of the software (actuators, sensors, the physical world) are replaced by artificial substitutes
Todo List