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Simulation, Data Acquisition Error/Fault Movement Data.Control Layer …

- - - - Fuel
      - Battery
    - - Bathimetric
      - Magnetic
      - Geo
        
        Decision Layer
    - - Sensors (Perception Layer)
    - - Objective Coordinates
      - Mission Area Tagging
      - Docking Coordinates (USV)
      - Direct Path Tagging
        
        Multi Way-Point
        
        Single Way-Point
  - - - Delete Tasks
        
        TASK PLANNING
        
        Order Tasks
      - Get Tasks
        
        Decision Layer
  - - - Sonar Raw Data
        
        Total Perception
        
        SITUATIONAL AWARENESS
        
        Create Analyze Functions
        
        Send S.A. updates
        
        Analyze Environment
      - Camera Raw Data
      - DVL Raw Data
      - Density Meter Raw Data
      - Turbidity Raw Data
      - Flourometer Raw Data
      - Resistance Ther. Raw Data
      - Depth Sensor Raw Data
      - PH Raw Data
      - Current Meter Raw Data
      - Altimeter Raw Data
      - Magnetometer Raw Data
      - Corrected Compass Raw Data
      - Gyrometer Raw Data
      - Accelorometer Raw Data
      - Total Weight Raw Data
      - Gravimeter Raw Data
      - Select/Create Payload Type
    - - PATH FOLLOWING
        
        Apply Algorithms
        
        Get Local Path
        
        Follow Local Path
      - ACTUATOR/
        REACTOR CONTROL
        
        Apply Control
        
        Decision Layer
  - - - Decision Layer
- - - - Energy Transfer
      - Data Transfer