\index{Autonomous Communication, Command and control}
\begin{table}[htp]
\renewcommand{\arraystretch}{1.5}
\begin{minipage}[c]{0.8\textwidth}
  \centering
  \mbox{
  \footnotesize
\begin{tabular}{|r|c|p{0.68\textwidth}|p{0.12\textwidth}|p{0.08\textwidth}|}
\hline
\# & Module Name & Module Description & Author & Size \\ \hline \hline
 
1 &{\bf iRemus} &
Backseat driver interface for Remus/Recon vehicles
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Balasuriya &   \\ \hline

2 & {\bf pPlusnetMessages} &
Manages translation of PLUSNet commands from field control to autonomy state,
and conversely translates autonomy state to PLUSNet Status, Contact
and Track  reports. Replaces pNaFCon with full backward compatibility
for PLUSNet messages, and works with both pGeneralCodec/iWHOIModem and
iCommStack.. 
\newline
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& 
Schmidt &  \\ \hline

3 & {\bf pNaFCon} &
PLUSNet process still functioning but  made obsolete by more general
pPlusnetmessages and pGeneralCodec.
Manages translation of commands from field   control to autonomy state,
and conversely translates autonomy state to status reports. Manages
``back-seat driver'' control.  
\newline
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& 
Balasuriya &  \\ \hline

4 & {\bf pMessageSim} &
Used to make initial deploy of vehicle using PLUSNet messages in cases where acoustic
communication is not applicable on surface. Optionally makes prosecute
command as well. Still functional, but made obsolete by functionalities in pLaunch. 
\newline
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
&  
Eickstedt &  \\ \hline

5 & {\bf pSearch} &
State transition manager for  acoustic source tracking
CONOPS. Responsible for managing the transition into the {\em Prosecute
State} in response to a {\em Prosecute Command}. Re-deploys if target
not interceptable.
\newline
{\em Libraries: MOOS, MOOSGen, MOOSUtility}
&  
Eickstedt &  \\ \hline

6 & {\bf pTrackQuality} &
State transition manager for  acoustic source tracking
CONOPS. Responsible for terminating the {\em Prosecute State}. Also
issues re-deploy before vehicle reaches operational limits for all states. 
\newline
{\em Libraries: MOOS, MOOSGen, MOOSUtility}
&  
Schmidt &  \\ \hline

7 & {\bf pTargetOpportunity} &
State transition manager for acoustic source tracking
CONOPS. Transitions autonomously from {\em Deploy} to {\em Prosecute
State}. Monitors
incoming {\em Track reprorts} and issues {\em Prosecute Command} to ownship
if target can be intercepted  
\newline
{\em Libraries: MOOS, MOOSGen, MOOSUtility}
& 
Schmidt &  \\ \hline


\multicolumn{4}{|c|}{Total unique lines of code} &  \\ 
\multicolumn{4}{|c|}{Total aggregate lines of code} &  \\ \hline


  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Autonomous Communication, Command and Control Modules for PLUS-PAS autonomy system.}
\label{t_ac3_plus}
\end{table}

