\index{Topside Network 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 NaFConSim.m} &
MATLAB GUI for generating commnds to nodes in the autonomous undersea network
& Dumortier &  \\ \hline

2 &{\bf pHuxley} &
Front-seat driver interface. Required for publishing of UTM Datum only.
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Balasuriya &   \\ \hline

3 &{\bf pShipsideViewer} &
Situational display
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Benjamin &   \\ \hline

4 & {\bf uNafconMessageViewer} &
Process for displaying messages received from active network nodes.
\newline 
{\em Libraries: MOOS, MOOSGen, MOOSUtility}
& Cockrell & \\ \hline

5 & {\bf pGeneralCodec} &
Generic module for Coding and Decoding of CCL modem messages
\newline 
{\em Libraries: MOOS, MOOSGen, MOOSUtility}
& Schneider & \\ \hline

6 &{\bf pAcommsHandler} & 
Schedules acomms.
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
&  Schneider &  \\ \hline

7 &{\bf pAcommsPoller} & Manages and schedules polling of other nodes
on the modem network. Usually run on topside only, but may be
activated on mobile node for relaying.
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Schneider &  \\ \hline

8 &{\bf iMicroModem} &
Driver process for WHOI micromodems
\newline 
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Grund &  \\ \hline

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


  \end{tabular}
  \normalsize}
\end{minipage}
\caption{MOOS modules for Topside Command and Control of Undersea Network}
\label{t_topside}
\end{table}

