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SDV-1 "Wrasse"

With the construction of the first Project 710 Class Submarine, a proposal was put forward for a new class of covert diver-delivery vehicle. While Aridistan had experimented with the concept in the past, lackluster technology combined with poor mothership platforms halted efforts. However, with lessons learned and an improved mothership submarine, the idea resurfaced. Recognizing the potential of the concept, development work began at once. The resulting product exceeded all expectations, and enhanced operational capabilities greatly. Aridistani Heavy Industries is proud to present the SDV-1 "Wrasse", a compact yet adept diver delivery vehicle.

Through the use of AIP(air-independent-propulsion), the Wrasse is able to achieve significantly longer ranges and higher speeds than the previous generation of diver vehicles. While originally intended to be deployed from submarine motherships, operational testing showed Wrasse could be effectively deployed by nearly anything that could carry it.

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Controls/Depth Hold: To use the barometric depth hold, enter a negative number on the keypad for the depth you want. To use the terrain-following depth hold, enter a positive number to define how many meters off the seafloor you want to be. If you want to go to the depth provided by the radio-navigation system(see navigation section), make sure you're receiving a valid signal and set the keypad to 0. You can also adjust the depth hold target via buttons on the seat, this is handy for making fine adjustments when docking(without having to look at the keypad).

Stationary controls will automatically engage if your speed is below 4kt. The depth hold, roll stabilizer, and pitch stabilizer all work when stationary, though their effectiveness may be limited. It's not advisable to use the stationary depth hold for large changes in depth, as it will take a long time.



Propulsion: To generate the necessary power for the stationary control motors, the engine will switch from direct-drive to generator-electric when the throttle is below 25%. However, this also consumes much more fuel than direct-drive mode, so be cautious when leaving it in this mode for a long time. If you engage the propulsion brake in direct drive mode, the generator mode will not engage automatically, so pay attention to your battery charge(or throttle down below 25% if you plan to park for a while).



Navigation/Radio: The navigation system allows you to either navigate to a fixed GPS point(entered by keypad) or to coordinates received via radio. To navigate to this location, you can use the autopilot to automatically drive there, or use the compass to manually steer towards it. On the compass monitor, the top number displays your current heading, the middle number displays the heading of your GPS waypoint, and the bottom number displays how many degrees off of this heading you are.

By default, the radio navigation system is configured to work with the Project 710 Class submarine. 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 "SDV Nav Controller" and adjusting the property numbers(you can also adjust radio frequencies this way, on the adjacent 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)

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- Long Range
- 35kt top speed
- 5 Diver capacity
- Autopilot and navigation system
- Stationary controls(roll,pitch,depth hold)
- Terrain following depth hold
- Dockable
- Small size

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Credits:
Compass monitor(heavily modified): https://steamhost.cn/steamcommunity_com/sharedfiles/filedetails/?id=1815902922
Engine Controller: https://steamhost.cn/steamcommunity_com/sharedfiles/filedetails/?id=2416132817

Closing Stuff:
Hi all, hope you enjoy this minisub! It's fun to have a minisub that's properly mini. Compared to all my other ones, that are nuclear, this thing is tiny. Feel free to modify and use this gremlin as you please, but credit if you're going to upload it to the WS. The next minisub will be sealed, to utilize the docking port on the Project 710, but no promises for when that one will be done.

Questions or concerns? You can reach me in the comments section, or at "It_aint_me" on discord.