Autonomous Underwater Vehicle

flowchart TB
  n0["system<br>Autonomous Underwater Vehicle"]
  n1["actor<br>Mission Control Station"]
  n2["actor<br>Surface Support Vessel"]
  n3["actor<br>USBL Tracking System"]
  n4["actor<br>Ocean Environment"]
  n5["actor<br>Launch and Recovery System"]
  n6["actor<br>Satellite Network"]
  n0 -->|Mission plans, telemetry, sensor data| n1
  n2 -->|USBL fixes, acoustic commands| n0
  n3 -->|Position fixes via acoustic ranging| n0
  n4 -->|Pressure, temperature, currents| n0
  n5 -->|Physical launch/recovery, charging| n0
  n0 -->|Position reports via Iridium SBD| n6