I was designing some DSRV missions .. and they did not work. So I looked into doctrine and database .. and I tell you, I'd like to see working mission with DSRV. It is not possible in my opinion.
DSRV redocking for sure must be made manually in the mission (distance trigger). There is no such feature in the DSRV doctrine itself.
DSRV also does not seem to have sensor which can read target's depth, so it can't get close in 3D (only in 2D). Also the launch procedure was pretty risky, as you mentioned.
I've tried some modifications to both database and doctrine, with much better results, but I lost it in HD breakdown and I was lazy to do that all again. I hear some DSRV redesign is planed in future versions of LWAMI.
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