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SDV-2 "Remora" Minisub

While the previous design of Aridistani SDV was incredibly compact, it proved inadequate for operations outside of the warm costal waters. Furthermore, the unsealed nature meant that the submerged distance(before the divers expire) was rather limited. In light of these revelations, a sealed SDV with capacity for up to 6 divers was ordered.

The Remora, albeit small, is a thoroughbred submarine. It features a ballast tank, life support systems, a periscope/radar mast, and more. It travels at speeds of up to 36kt, and through use of AIP(atmosphere-independent-propulsion) achieves ranges underwater of 250km. It features two docking hatches on the top and bottom, intended for use with a Project 710 class submarine.

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Propulsion:
Remora features a hybrid propulsion setup. When the throttle is below 20% OR the propulsion brake is active, electric motors are used while the engine drives a generator. This is to provide enough electricity to run the stationary control motors. When throttle is above 20%, the engine will directly spin the propeller. In this mode, the engine does not generate as much electricity, make sure you pay attention to your battery(things like the sonar can drain it rather quickly).


Diving/Ballast:
As mentioned earlier, Remora features a ballast tank to assist in diving. The tank will easily fill up to approximately 80%, but will take a while to fill the final 20%. The submarine becomes neutrally buoyant around 60% fill, so don't feel the need to always have the tank full. Blowing ballast can be done from any depth, and consumes ballast air. Ballast air can be refilled when surfaced by using the air compressor switch, found in the passenger compartment.

The depth hold can be used in either a fixed or terrain following mode. Enter a positive number into the depth hold keypad to use terrain follow mode, where the number represents how many meters off the seafloor you want to be. For fixed mode, enter a negative number. If you have docking mode disabled(done via the key button by your left foot), the depth hold will automatically enter terrain following(at 4m above seafloor) mode until it's able to safely get to the depth you requested. If you're receiving a valid RadioNav signal, and you leave the keypad as 0, the target depth will become whatever altitude you're receiving.

At speeds below 6 knots, stationary controls mode will activate. The depth hold will stop using pitch corrections and instead use vertical propellers to control depth. For minor depth adjustments, it's approximately stable, though you may want to engage the pitch stabilizer to assist in keeping it level for big depth changes. Additionally, in stationary control mode, pitch/roll will be assisted by motors as well, to ensure control authority even when very slow.



Navigation:
The map will display your position and your current waypoint position. If you have the RadioNav system on and are receiving a valid signal, your waypoint will become the received coordinates.

By default, the radio navigation system is configured to work with the Project 710 Class submarine(on the 710, make sure to turn encryption ON). If you'd like change some of these settings to fit your needs, it's as simple as using the select tool in the editor, finding the controller "Multifunction Display Controller and radionav" and adjusting the property numbers(you can also adjust radio frequencies this way, on the "SDV radio" controller).
The output frequency for a given channel is simply: Channel Number X Base Multiplier. The composite channels for receiving radio are as follows: 1. GPS X, 2. GPS Y, 3. Alt, 4. Validation Key(if enabled)


Other notes:
If you'd like to spawn the Remora attached to something, you'll need to make sure the connectors spawn in the "on" position. To do this, use the select tool and find this controller:
Likewise, if using the Project 710 class submarine, find this controller(it's right in front of the docking port area). Set the magnet status to "on", but leave the connector as "retracted"

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- 250km range
- Fully sealed with life support
- Airlock
- 6 passengers, 1 operator
- Periscope, radar, and sonar
- 36kt top speed
- Terrain following and stationary depth hold
- Full ballast system

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Compass monitor(heavily modified): https://gtm.steamproxy.vip/sharedfiles/filedetails/?id=1815902922
Engine Controller: https://gtm.steamproxy.vip/sharedfiles/filedetails/?id=2416132817

It's taken me a while, but I finally have a sealed dockable minisub that's actually small! This was a short, but challenging project that reminded me why I enjoy making minisubs so much. Cramming as many features as you can into a small space really makes you think, and when it works out the results are very satisfying. Let me know if you have any questions, and I hope you enjoy using it!