c 28 feb 17 - teledyne marine support/seabotix/tec… · 3.2.5.5 playback tab ... section 1:...

Title: Revision: Revision Date:

SmartFlightTM C 28 Feb 17

Document Number: DOCS-161

© 2015 Teledyne SeaBotix Inc., All Rights Reserved

User’s Manual Proprietary Notice: Words and logos marked with ® or ™ are registered trademarks or trademarks of their respective owners. No license under any copyright, trademark, patent or other intellectual property right of Teledyne SeaBotix.Inc or any third party are granted by implication in connection therewith. This Document is being furnished in confidence by Teledyne SeaBotix Inc. This Document and the information disclosed herein are proprietary data of Teledyne SeaBotix Inc. Neither this Document nor the information contained within shall be used, reproduced, or disclosed to third parties without the express written authorization of Teledyne SeaBotix Inc. Use of this Document for other than the intended purpose is strictly prohibited. Head Office: Teledyne SeaBotix Inc., 9970 Carroll Canyon Rd Suite B, San Diego, CA 92131 USA +1 (619) 450-4000

This page intentionally left

blank

DOCS-161 SmartFlightTM Operators Manual Rev C 28 Feb 2017 Page 1 of 70

Table of contents Purpose ......................................................................................................................................... 4

Safety Symbols ..................................................................................................................................... 4

Potential Hazards .................................................................................................................................. 5

Section 1: Requirements and Optional Overview ............................................................................. 7

1.1 Required and optional equipment for SmartFlightTM ........................................................ 7

1.2 Minimum System Requirements ................................................................................... 12

1.3 Installation ..................................................................................................................... 12

1.3.1 Software Packages ....................................................................................................... 12

1.3.2 Software licensing ......................................................................................................... 12

1.3.3 Teledyne SeaBotix User Interface (UI) Installation and Setup ...................................... 13

1.3.4 GSS 2000330 CPU ....................................................................................................... 13

1.3.5 CPU Com Port Configuration Setup.............................................................................. 14

1.3.6 SmartFlightTM Configuration Setup ............................................................................... 20

1.3.7 Setup ............................................................................................................................ 28

Section 2: System Components ...................................................................................................... 29

2.1 Basic System Configuration .......................................................................................... 29

2.2 SmartFlightTM ROV Basic Configuration ....................................................................... 30

2.3 SmartFlightTM Configuration Showing Optional Sensors ............................................... 31

2.4 SmartFlightTM Configuration Showing Crawler .............................................................. 32

Section 3: Operating the Teledyne SeaBotix SmartFlight TM User Interface ................................... 33

3.1 Introduction to the SmartFlight TM User Interface .......................................................... 33

3.2 SmartFlightTM UI Mission View ...................................................................................... 33

3.2.1 The ROV & Topside Data ............................................................................................. 35

3.2.2 Heads Up Display (HUD) .............................................................................................. 36

3.2.2.1 Man Overboard (MOB) ................................................................................................. 37

3.2.2.2 Clear Trail ..................................................................................................................... 37

3.2.2.3 Center On ..................................................................................................................... 37

3.2.2.4 Pan ............................................................................................................................... 37

3.2.2.5 Measure ........................................................................................................................ 37

3.2.3 Graphical Vehicle Status ............................................................................................... 38

3.2.3.1 Compass Rose ............................................................................................................. 39

3.2.3.2 Depth and Altimeter Gauges ......................................................................................... 40


3.2.3.3 Text Display .................................................................................................................. 40

3.2.3.4 ROV External Lighting System (ELS) Status ................................................................ 40

3.2.3.5 ROV Thruster Graphic .................................................................................................. 40

3.2.3.6 Camera Angle ............................................................................................................... 41

3.2.3.7 Communication Status .................................................................................................. 41

3.2.4 SmartFlight TM Control Menu ......................................................................................... 42

3.2.4.1 Station Keeping ............................................................................................................ 42

3.2.4.2 Sonar Nav ..................................................................................................................... 42

3.2.4.3 Waypoint Following ....................................................................................................... 42

3.2.4.4 Minimum Distance ........................................................................................................ 43

3.2.4.5 Auto Heading ................................................................................................................ 43

3.2.4.6 Auto Depth .................................................................................................................... 43

3.2.4.7 Altitude Following .......................................................................................................... 43

3.2.5 Navigational Tools Menu .............................................................................................. 43

3.2.5.1 Waypoints Tab .............................................................................................................. 44

3.2.5.2 Marker Tab ................................................................................................................... 45

3.2.5.3 Man Overboard Tab (MOB) .......................................................................................... 46

3.2.5.4 Logging Tab .................................................................................................................. 47

3.2.5.5 Playback Tab ................................................................................................................ 48

3.2.5.6 Charts tab ..................................................................................................................... 48

3.2.5.7 Position / Declination .................................................................................................... 49

3.2.5.8 Mission Tab .................................................................................................................. 49

3.2.6 Sonar and Sonar Tracking Screen ................................................................................ 50

3.3 SmartFlightTM UI Diagnostics ........................................................................................ 51

3.3.1 Topside Section ............................................................................................................ 51

3.3.2 vLBV Section ................................................................................................................ 51

3.4 SmartFlightTM UI Configuration ..................................................................................... 53

3.4.1 GPS Serial Input ........................................................................................................... 54

3.4.2 GPS Serial Output ........................................................................................................ 54

3.4.3 USBL Serial Input ......................................................................................................... 54

3.4.4 HUD (Heads Up Display) Text ...................................................................................... 55

3.4.5 Default Waypoint Values ............................................................................................... 55

3.4.6 Default Safety Zone ...................................................................................................... 55

3.4.7 ROV Trail ...................................................................................................................... 55


3.4.8 Topside Trail ................................................................................................................. 56

3.4.9 USBL History ................................................................................................................ 56

3.4.10 Displayed Units .............................................................................................................. 56

3.5 Resizing the UI / General Keyboard Shortcuts ............................................................. 57

3.5.1 Application Shortcuts .................................................................................................... 58

3.5.2 Mission View Shortcuts ................................................................................................. 58

3.5.3 SmartFlightTM Shortcuts ................................................................................................ 58

Section 4: Mission Planning ............................................................................................................ 59

4.1 Operating Using Mission Waypoints ............................................................................. 60

Section 5: Fault Isolation & Operator Tips ...................................................................................... 63

5.1 Procedure for returning the system to regular vLBV operation. .................................... 63

5.2 Diagnosing Communication Errors ............................................................................... 64

Terms and Abbreviations .................................................................................................................... 65

LIMITED WARRANTY ........................................................................................................................ 69

RETURN AUTHORIZATIONS ............................................................................................................ 70


Purpose The purpose of this manual is to provide SmartFlightTM operators with a clear understanding of the proper and safe operating procedures. It is a valuable reference tool and should be thoroughly reviewed prior to the operation of the ROV with SmartFlightTM. If any part of this manual regarding the use of the ROV, the User Interface Software, or any additional components of the system is unclear or not thoroughly understood please contact Teledyne SeaBotix Inc. or any authorized distributor for more detailed information. Before operating the ROV with SmartFlightTM, it is important to read this manual thoroughly to understand the proper use and precautions required for its safe operation. Throughout this manual information of special interest is highlighted with the following symbols. Be sure to read and understand each of these important messages. Safety Symbols

Indicates a hazardous situation which, if not avoided, will result in death or serious injury.

Indicates a hazardous situation which, if not avoided, may result in death or serious injury.

Indicates a hazardous situation which, if not avoided, can result in minor or moderate injury.

Indicates a situation which if not avoided could result in data loss or equipment failure.

Notes: to assist the operator.


Potential Hazards Although the ROV is a safe and reliable tool when used and cared for properly, there are certain inherent safety hazards associated with the operation of the ROV that should be reviewed and avoided. Teledyne SeaBotix Inc., and its distributors, associates, and affiliates, cannot be held liable for any damages, injuries, losses or problems whatsoever resulting from negligent operation, or a ROV system that has been altered or modified without the prior written consent from Teledyne SeaBotix Inc.

Thruster Propellers Keep the propellers clear of obstructions at all times. Do not put fingers or other objects near the propellers at any time. Be careful with any loose clothing, jewelry, etc.

Three Jaw Grabber High closing force, (2.5 bar/36.5 psig)! Keep clear of the jaws when testing.

Lighting Each light head is capable of outputting 1080 lumens. Do not look directly into the lights when testing or during system operation. If operating with divers, instruct them to avoid looking directly at the ROV, because the operator may turn on the lights at any given time. It is best to always keep the ROV in the divers peripheral view.

Electrical Shock The ROV operates at high voltages that can cause injury and/or death. Keep the Surface Power Supply plug away from water. Check all plugs for the presence of water prior to connecting.


If the tether is cut, chafed, or otherwise damaged, do not operate the ROV. Do not open or tamper with any of the ROV electronics or connections while the power is on.

Equipment Cooling The ROV is a water cooled device. DO NOT operate in air for more than 15 minutes, damage may result. The SPS3020EH is an air cooled power supply; ensure adequate air flow for proper cooling. Testing Each ROV system is carefully manufactured to ensure long term safe operation. Prior to shipment, every ROV is tested for proper operation, including pressure testing to full operating depth. Should a defect be found, contact Teledyne SeaBotix Inc. or an authorized distributor immediately! Design and Documentation Changes Teledyne SeaBotix Inc., reserves the right to make changes to the specifications of the ROV its firmware and User Interface software and/or alter any documentation at any time, without notice. Connectors Connectors used on and in the ROV system are primarily plug style connectors. Rotation or lateral movement on the connections when mating/un-mating can cause damage to the connectors.

NOTE: This is a rapidly evolving product, and as a result, the images in this manual are representative of the screen displays only! Please contact Teledyne SeaBotix Inc. for a copy of the latest revision of this manual.


Section 1: Requirements and Optional Overview 1.1 Required and optional equipment for SmartFlightTM The purpose of the system is to automate search operations of the ROV freeing the operator to concentrate on sensor data for detection of objects. The SmartFlightTM system by Teledyne SeaBotix Inc. is composed of multiple components. Some of which are mandatory for operation, and the others are options that expand the capabilities of the system and equipment.

Req’d or Optional Device Benefit

Required Computer running the Teledyne SeaBotix User Interface software

Software required to access the features referred to as SmartFlightTM UI and/or Teledyne SeaBotix UI.

Required USBL Tracking (i.e. Micron-Nav by Tritech Inc.)

Required for positional reference information allowing the software to control the ROV.

Required Teledyne SeaBotix Inc. SmartFlight™ Bottle

The SmartFlight™ Bottle interface’s between topside control equipment and the electronics suite of the ROV. The SmartFlight™ Bottle has critical components required by the software to enable it to communicate with and control the ROV.

Required Option*

Altimeter (i.e. Micron Altimeter by Tritech Inc.)

This device allows the operator to set a desired altitude (height above bottom). The intended benefit is twofold: 1. Maximized sonar range for detection. 2. Preventing sediment lift which interferes with video observation. *NOTE: If the DVL Option is not selected, an Altimeter is required to give the system height above bottom data.

Optional* DVL Doppler Velocity Logger

Adding a DVL to the system allows the software greater control over heading between tracking updates. With USBL tracking, the period between updates can be as short as 0.5 seconds and as long as 10 seconds. The DVL will pass continuous velocity vector data to the SmartFlight™ Bottle providing for a smoother track. *NOTE: If the DVL option is installed, the Altimeter is not required. The height above bottom is an automatic feature of the DVL.

Optional Multi-Beam Sonar (i.e. Gemini by Tritech Inc.)

This optional device when added to the system will allow the SmartFlightTM operator to maintain a fixed standoff range from a detected target. This allows the operator to concentrate on the ROV video for interrogation and identification of the target.


Required Component

SmartFlightTM Bottle P/N EBA004

This unit is mounted under the flotation module of the ROV, aft of the E-Bottle connection point. The connectors are oriented towards the port side of the ROV.

Do Not press on the face of the depth and temperature sensor. This can damage the sensor.

Required Component

Tracking Transponder

Part of SN018 Tracking System 10m This unit is mounted on the float of the ROV aft of the top tether shackle attachment point. The connectors are oriented towards the front of the ROV.

Do Not Drop: Fragile components are enclosed in the housing that may be damaged if the unit is dropped.

Do not over-tighten the connectors: The connectors are made of plastic and designed for low-torque installation. Excessive torque on the locking sleeve of the connector can damage the connector.

Depth & Temperature Sensor

DVL Data Port

E-Bottle Connection

Altimeter Connection


Required Component

Tracking Dunking Transducer with Mount not shown

Part Number TMK-002/TMK-003 Tracking System 10m


Required Equipment

Precision Products Vector V102 Hemisphere GPS

Teledyne SeaBotix P/N AC042


*Required Optional Sensor

Tritech Echosounder P/N SN044


The unit is shown as mounted. The blue section is the transmit/receive window and must be oriented towards the bottom of the ROV.

The altimeter is not required if the DVL option is installed.

Optional Sensor

Gemini Multi-Beam Sonar P/N SN319


This portion must be oriented towards the bottom of the ROV Unit

AUX

Connection

Main Connection

Transmitter

Receiver Section

Speed of Sound Sensor

Front View

Rear View

Power & Data

Connection

Top


Optional Sensor DVL

i.e. ROWE Technologies


In addition to measuring movement of the ROV in reference to the bottom, the DVL will also measure the height of the ROV above the bottom. If this option is installed, the Altimeter option is not required.


1.2 Minimum System Requirements i7 64 Bit Processor or equivalent CPU, with 4GB Ram, and a >120GB Solid State Drive. Running WINDOWS 7 ProTM. 1.3 Installation Installation is a complex process requiring electronic connections, mechanical installation, software installation and integration. As such it is recommended that this process be performed by the factory or by a factory trained technician. If you have any questions please contact Teledyne SeaBotix Inc. at (619) 881-1183 or visit our website: www.teledynemarine.com/seabotix 1.3.1 Software Packages SmartFlight TM software resides in 2 locations, the topside computer located in the INC, and within the SmartFlight TM Bottle located on the ROV. Both sets of software can be installed by an operator. The topside computer will run the SmartFlight TM user interface (UI) application. This is a program written to run on the Windows operating system, and, as such, installs in the same way as any other Windows program is installed. The SmartFlight TM Bottle software will come preinstalled. However, if an update is required, new software, denoted by having a .run file extension, can be installed from within the topside user interface. Each update of the software provided by Teledyne SeaBotix Inc. will be delivered as a ZIP file. This ZIP file will contain the following:

1. This document 2. The Teledyne SeaBotix UI Windows install package named to the convention

seabotix_installer_rX.XXXX.exe where X.XXXX is the software version. 3. A text file describing the changes in this release; README.txt.

1.3.2 Software licensing The Teledyne SeaBotix UI software is a user license. This software can be installed on any computers owned by the customer without additional fees or requesting a license. All other software is one use only.


1.3.3 Teledyne SeaBotix User Interface (UI) Installation and Setup The Teledyne SeaBotix User Interface (UI) provides navigational visualization, control input, data recording, and an array of diagnostic capabilities. The user interface is responsible for running and maintaining all SmartFlightTM topside processes. Once the SmartFlightTM UI is installed and started, it will attempt to establish communications with the subsea system. When communications are established, the SmartFlightTM UI will display the ROV’s current status and the system will be ready for operations. For specific Teledyne SeaBotix UI operation details see Section 3 of this manual. To install the UI double-click on the seabotix_installer_rX.XXXX.exe file included in the release and follow the prompts.

1.3.4 GSS 2000330 CPU The GSS 2000330 CPU is responsible for running all SmartFlight TM related applications. Upon power up, the CPU will start all of the subsea applications and begin the initialization period. The CPU will establish communications with the ROV devices and topside during this process. At completion of initialization period, the system will enter run mode and the system is ready for deployment.


1.3.5 CPU Com Port Configuration Setup STEP 1 – Log Nav Hub Com Ports Via Seanet Nav

A. Open Seanet Nav I. Right Click on Seanet Nav icon in system tray. Click “Open Seanet Nav.”

B. Select Utilities->Com Setup I. Toggle Com Ports and log the types accordingly under “Cur. Comm Ports”

II. Com Port Table - Fill in Current Ports in column “Cur. Comm Ports”

NOTE: Changes in this procedure are only for comm ports 6 thru 13.


C. Exit Seanet Nav by right clicking on icon in system tray.

*If STEP 1 Passes; Close system and continue to “SmartFlightTM Configuration” STEP 2 – Reconfigure Com Ports in “Device Manager”

A. Open “Device Manager” by Right clicking on “My Computer” and selecting “Manager”


B. Right Click and select “Disable” for all Com Ports.

C. Change Com Port I. Select “Port Settings->Advanced”


II. Click on the “COM Port Number” drop down menu III. Change Com Port according to STEP 1 “Com Port Table”

IV. Click “OK” then Click “Yes” on pop up window. If asked to restart, select to restart later.


V. Comm Port configured will be highlighted. Right click and “Enable.”

a) Example shows Com Port 14 assignment change.

VI. Repeat STEP 2, C for all com ports. Com Port Changes Complete.


STEP 3 – Verify Com Ports in Seanet Nav

A. Open Seanet Nav.

B. Select Utilities->Com Setup I. Toggle Com Ports and verify new settings.

II. “Com Port” should match “Type” as per fig below.

C. CPU Com Port Configuration Setup Complete.


1.3.6 SmartFlightTM Configuration Setup STEP 1 - COM0COM Configuration Open Start->All Programs->com0com->Setup Select “Add Pair”. COM30 and COM31. Configure them as per figure below. Click “Apply”

Select “Add Pair”. COM32 and COM33. Configure them as per figure below. Click “Apply”

Close COM0COM.


STEP 2 – SmartFlightTM: GPS and USBL Configuration Open shortcut icon SmartFlightTM SeaBotix UI. Navigate to CONFIGURATION tab, located on bottom of SmartFlightTM window.

A. Under “GPS Serial Input”, change serial port to COM6. I. Configure setting as per figure below. II. Click “Apply Configuration” button. Button will flash green when pressed.

B. Under “GPS Serial Output”, change serial port to COM30(Type Com port manually) I. Configure setting as per figure below. II. Click “Apply Configuration” button.


SmartFlightTM:- GPS and USBL Configuration continued.

C. Under “USBL Serial Input”, change serial port to COM33(Type Com port manually) I. Configure setting as per figure below. II. Click “Apply Configuration” button.

Close SmartFlightTM SeaBotix UI software and reopen.

D. Under the “Diagnostic” tab, click the “Topside” button. I. Verify “Topside GPS” box is colored green, not red.

II. Verify Satellites in Use, more than 0. Satellites should show up in circular graphic.

Leave the SmartFlightTM Teledyne SeaBotix UI software running and open Seanet NAV.

NOTE: If Hemisphere GPS is not currently installed countinue to Step 3.

NOTE: Satellite Lock Indicator may remain RED.


STEP 3 - Seanet NAV Configuration Open Seanet Nav. Right Click on Seanet Nav Icon located in system tray.

A. Com Setup Go to Utilities->Com Setup

B. Add Ship Compass Channel Setup window will open.

Click on “New” and select “Ship Compass” A new line item will appear in the “Channel Setup” window called “Ship Compass.”

C. Baud Rate Settings I. Assign “Ship Compass” to com port COM8. Set Baud Rate to 9600. Select Enable

check box. II. Assign “GPS” to com port COM31. Set Baud Rate to 9600. Select Enable check box.

III. Close Com Setup window.


Seanet NAV Configuration continued.

D. Micron Nav Job Edit I. Select MicronNav->Job->Edit Job II. Modify the Job Setup tab as per figure below.

III. Click “Save Exit”



E. Click “Application->Setup”

F. Click “Setup->Gemini Lan”



G. Un-Check Box Next to “Network Enabled” I. Click “OK”

H. Click “Application->NAV”

I. Close Seanet NAV


STEP 4 - Seanet RemV4 Configuration Open via Notification Area.

A. Remote Channel Setup I. Select ->Settings->Channels

II. Configure Channel Setup as per Figure below.

III. Close Channel Setup window

B. Remote SKV4 Setup I. Select ->Applications->Remote SKV4


II. Click the Configure tab of “AMNAV 90” and select “Output 1.” “Slot 8, Output 1” window will open.

C. Configure Settings in “Slot 8, Output 1” as per figure below.

I. When settings are complete close “Slot 8, Output 1” window.

***Turn off entire system*** SmartFlightTM Configurations Complete. 1.3.7 Setup All of the remaining setup is handled by the Teledyne SeaBotix User Interface (UI) software.

NOTE: If AMNAV 90 is not listed repeat Step 3,H

NOTE: AMNAV 90 Configure tab will remain blank


Section 2: System Components 2.1 Basic System Configuration The block diagram below shows the major component system configuration. The addition of optional features does not affect this block diagram. All optional features are added at the ROV level.

GPS: Not shown.

ROV

URS (Universal Reel System)

SPS3020EH Surface Power Supply

INC300 Series (Integrated Navigation Console)

Dunking Transducer

Water Side Topside Equipment

AC Input

GPS


2.2 SmartFlightTM ROV Basic Configuration

This diagram shows the basic SmartFlightTM configuration. The tracking transponder listens for an interrogation sonar pulse from the Dunking Transducer, and then it replies. This allows the software to determine range and bearing to the ROV. When that data is coupled with GPS position data, it allows the software to determine Lat/Long or UTM position of the ROV as referenced from the GPS received position data.

E-Bottle

Sensor Nav

Board

Heading, Depth & Temp

Sensor

SmartFlight™ Bottle

Backplane

Tether


Camera


2.3 SmartFlightTM Configuration Showing Optional Sensors In this diagram, optional equipment data paths have been shown.

If the altimeter option is not equipped, power for the Tracking Transponder is supplied from the E-Bottle of the ROV. If the altimeter option is selected, power for the Tracking Transponder is passed thru the Altimeter via a serial cable connection from the Aux port of the Altimeter which is connected to a serial input port on the SmartFlight™ Bottle of the ROV.

E-Bottle

Camera

Sensor Nav

Board

Gemini Sonar

optional

Doppler Velocity Log

optional


Sensor


Backplane

Altimeter optional


Tether


2.4 SmartFlightTM Configuration Showing Crawler

In this diagram, the crawler has been added to the backplane. In order to function the crawler you will need to connect it to the backplane with the two cables provided with the system. Once they are attached you will need to configure the crawler in the “Port Manager” program shown below. The Port Manager program configures the system for SmartFlightTM or Crawler modes. These modes will be discussed in Section 5 of this manual.

E-Bottle

Sensor Nav

Board


Sensor


Backplane

Tether

Camera

Crawler


Section 3: Operating the Teledyne SeaBotix SmartFlight TM User Interface 3.1 Introduction to the SmartFlight TM User Interface This document is intended to describe the basic operation of the Teledyne SeaBotix Control and Navigational User Interface, herein referred to as the SmartFlight TM UI. Each section briefs the details of the SmartFlight TM UI display components and their functions. It is assumed that the operator is familiar with the use of basic desktop software and modern computer operating systems used with the Teledyne SeaBotix SmartFlight TM UI. The SmartFlight TM UI is designed to run on a Windows platform. This section provides a detailed look at the SmartFlight TM UI display buttons and functions beginning with an overview of control locations on the SmartFlight TM UI. Followed by resizing and screen manipulation within Mission View. And finally Mouse and keyboard shortcuts are also included in this section. 3.2 SmartFlightTM UI Mission View At start up, the SmartFlight TM UI display will default to the Mission View display screen. The Mission View display contains a grid overlaying a graphical interpretation of the surveyed area. The right hand portion of the screen contains the sonar and video views. The bottom tabbed menu allows immediate access to mission control and management. A mission is a defined path for the vehicle to navigate autonomously. The buttons and menus required to start a mission are illustrated in the mission section of the tabbed navigation menu. A more detailed look at these and complimentary attributes are covered in detail later in this manual. The left hand column of the Mission View screen displays the Graphical Vehicle Status proceeded by the SmartFlight TM control menu for precision vehicle control. Located across the top of the map are vehicle path and tracking buttons to measure and observe the vehicle's history trail during travel. The Heads Up Display shows vehicle location and grid size. This display is split between the top and bottom of the screen. Located below the zoom display buttons, the tabbed Navigational Tools Menu allows for precise mission planning and position control. The four buttons across the bottom control the main screen display; Mission View, Data View, Configuration, and Diagnostic. For maximum use of the screen display, the Data View button is not displayed in the default menu. This button is easily accessed via a keyboard shortcut, covered later in this document. The Navigational Tools Menu can be shown or hidden for more map space. See the keyboard shortcuts section for details on these features.


The Mission View Screen is composed of the following elements described in detail throughout this section: Vehicle & Topside Data Heads Up Display (HUD) Graphical Vehicle Status (GVS) SmartFlight TM Control Menu Navigational Tools Menu Sonar / Sonar Tracking Screen Video Screen


3.2.1 The ROV & Topside Data The ROV is represented on the SmartFlight TM UI with a scaled version of the top down view of the ROV. As the ROV travels, the path is tracked on screen allowing the operator to view and record details of its travel history. The operator can use the tools in the following section to draw a detailed picture of the vehicle's mission.

Topside / Ship Location is noted by a green circle with a green dot in the center represents the ship's location on the map.


3.2.2 Heads Up Display (HUD) The Heads up display (HUD); font in grey and white horizontally superimposed across the screen of the map area. The top left of the HUD display text shows the vehicle name (ROV: 0 00000000 -0 00000000) and boat or platform name (Topside: 0 00000000 -0 00000000) followed by the current location (Latitude/Longitude) in degrees. On the top right side of the HUD the text display shows the cursor/mouse location (Pointer: 0.0002198 -0.0010853) displayed in map coordinates. On the bottom HUD display text left side we see measurements taken. This measurement is form waypoint 1 to the radius of the circle we’ve measured out for safety. Notice on the radius itself it displays a degree in which to follow and a unit of measure until you get to waypoint 1. On the bottom right of the HUD, the map's grid measurement is displayed. This measurement informs the operator on how big the map scale is, in meters/feet. You can adjust the scale (meters or feet) in the Configuration View which we discuss later in this manual.


3.2.2.1 Man Overboard (MOB) At the top left of the HUD is the Man Overboard (MOB) this is a special shortcut feature to mark the vehicle's current location on the map. Unlike markers which record only position, the MOB records both attitude and position of the vehicle at the point of being activated. The Man overboard appears on the SmartFlight TM UI displays as a solid red triangle beneath the vehicle. The triangle points in the direction of the vehicle's heading when the MOB was created. Once created, the location data for the MOB marker is located in the MOB tabbed menu section. If enabled, the data will display on the map. See the MOB tab section of the Navigational Tools menu for details.

3.2.2.2 Clear Trail The vehicle's traveled path is also referred to as a bread crumb trail. To reset the bread crumb trail, select the Clear Trail button from the top center screen. Clear Trail is not a map clearing function. To clear the map select clear mission from the function control menu. 3.2.2.3 Center On The Center On button keeps the vehicle or topside in view at all times while selected. If the vehicle is selected in the drop down menu and the “Center On” button is green, when the vehicle tries to move off the visible screen area the monitor will reposition it back to center. 3.2.2.4 Pan Selecting Pan allows the ROV operator to scroll across the map area. For example; the operator wants to see the targets location, so long as the “Center On” button is not on (green) then you may drag the map area around until you find the targets location. If the “Center On” button is selected the ROV will remain in the center of the map view. 3.2.2.5 Measure The measure button changes the mouse mode to measure. With this feature the operator can sample the distance and heading between two selected points. The GPS coordinates of the measured points will display on the bottom left of the screen. To measure, select the measure button. Click the screen with the left mouse button and drag the measurement out. The measurement will stay on screen until the screen is clicked on or the pan button is selected.


3.2.3 Graphical Vehicle Status

The Graphical Vehicle Status is comprised of several essential components in monitoring the ROV. These components are listed in detail in this section below.


3.2.3.1 Compass Rose The compass rose displays heading and direction of the ROV. The green arm indicates the direction in which the operator inputs (Lat / Long). The yellow arm indicates the path in which the SmartFlight TM currently is heading when the USBL and Tacking Transducer are synced. The “P” indicates the numerical pitch and the “R” represents the roll reading display on either side of the compass rose. At the bottom of the picture left to right we see the “Reset Turns” button and “Turns counter”. These buttons reset the turn counter of the tether and count the turns in the tether.

If you ever experience a loss of communication you will see the red NO COMMS display appear as see below. This is usually see upon start up before communications has synced.

P: is Pitch of the ROV. Positive

values are bow up.

R: is Roll of the ROV. Positive values are starboard side up.

Turns displays the number of horizontal turns to (+) port or (-) starboard.

The large numerical display is the ROV’s heading in Degrees to True North.

Allows the operator to reset the turns counter

NOTE: Try to avoid having the tether twists its way back onto the URS (Universal Reel System) this way you can prevent future damage to the tether and it attached components.


3.2.3.2 Depth and Altimeter Gauges The Altitude and Depth gauge display the ROV's current altitude and depth in meters or feet relative to sea floor when the ROV has bottom lock. The current altitude is displayed with a yellow arrow. Note the dashed 'bread-crumb trail' is yellow with active readings. This displays the history and will remain locked (in gray) at the last recorded altitude when communications or bottom lock is lost.

3.2.3.3 Text Display The text readout displayed beneath the depth and altitude gauges monitors the following values:

• Temperature: The E-Bottle and the water temperature. • Horizontal Gain: The horizontal axis gain value for ROV operation. • Vertical Gain: The vertical axis gain value for ROV operation. • Camera angle: The current angle of the camera from the platform mount.

3.2.3.4 ROV External Lighting System (ELS) Status The ROV's “Light setting indicators” show the output levels, adjustable via the hand controller. The status of each light is displayed by the two rows of four round LEDs. As seen in picture on the next page. 3.2.3.5 ROV Thruster Graphic The “ROV Thruster Graphic” on the next page shows the six thruster angles across the vehicle. Each thruster displays a value in RPM (revolutions per minute). Any red indicator denotes that the thruster has issues.

The yellow arrow

indicates current depth

of the ROV; the bubble

line is historical

depth tracked.

The yellow arrow indicates current altitude of the ROV, the bubble line is historical altitude tracked.


3.2.3.6 Camera Angle The “Camera Angle” shows a graphic representation of the camera angle, and the numeric value of its tilt. Positive values are upwards looking angles (+); negative values represent downward looking angles (-). 3.2.3.7 Communication Status “Communication Status” (COMMS) displays the communications between the Navigational Board in the E-Bottle, Control (CTRL) from the Computer in the INC, Ultra Short Base Line (USBL) position tracking system, and the Operational Control Unit (OCU). Once you turn on the system you must wait for communications to sync first which is displayed by the green bubbles next to the text. Color Codes for Communication Status: Green: Communications good Orange: Communications warning Red: No Communications White: System failure

Light setting Indicators

Text Display

ROV Thruster Graphic

Communications Status Display Panel

Camera Angle


3.2.4 SmartFlight TM Control Menu The SmartFlight TM Control menu is located on the bottom left quadrant of the SmartFlight TM UI screen. This menu contains controls like station keeping, waypoint following, and sonar navigation.

3.2.4.1 Station Keeping The station keeping button halts the ROV travel and holds the current position. This function is useful for visual inspection of targets, holding the ROV in position against both set and drift. As the ROV moves from target to target you must be ready to hit the Station Keeping button before SmartFlight TM reaches it Minimum Distance point. Once the ROV / SmartFlight TM reaches its Minimum Distance point it will hold for a second and then move to the next waypoint in the series. But once you have clicked the Station Keeping button the ROV / SmartFlight TM can be manipulated by the arrow keys allowing the operator to move in steps to port or starboard (right/left arrows) and fore and aft direction (up/down arrows) by increments of 1 meter (3 feet) these values are set in the “Pos Step” block. The heading can also be adjusted by using the rotational arrows, and the ROV / SmartFlight TM will rotate by degree’s according to the value set in the “Hdg Step” block. 3.2.4.2 Sonar Nav (Requires optional imaging sonar) When active, the vehicle will track a preselected sonar target, using image recognition technology. 3.2.4.3 Waypoint Following In waypoint following mode the operator can fly a mission based on waypoints. The waypoints are entered by the operator and can be arranged in any sequence. This mode is useful for searching and interrogation of targets identified or reported by other means i.e. side scan sonar surveys.


3.2.4.4 Minimum Distance Minimum distance is the setting that is used to set a standoff range from a target. When set, and operated in SmartFlight TM mode, the ROV will approach no closer to the selected target than the value entered for Minimum Distance. Remember if you want to stop the ROV before it continues on mission you must click “Station Keeping” otherwise the SmartFlight TM UI will carry on as instructed. 3.2.4.5 Auto Heading Sets the current compass heading for the autopilot to hold the ROV / SmartFlight TM on. 3.2.4.6 Auto Depth Sets the current depth / altitude for the autopilot to hold. 3.2.4.7 Altitude Following (Requires optional Altimeter) It changes the setting from depth following to altitude following holding the ROV / SmartFlight TM at a set height above the sea floor. This must be active in order to fly off bottom. 3.2.5 Navigational Tools Menu The Navigational Tools Menu has eight tabs available for mission creation, management, and observation. The tabs are and contain specific details for Waypoints, Markers, Man Overboard (MOB), Logging, Playback, Charts, Mission and Position/Declination. Each one of these tabs will be discussed in detail through this section. You can move any tab by clicking and dragging it to a desired location, as well as any waypoint, marker, or MOB you add to the menus. In the Navigational Tools Menu: (adjusting tabs); notice in the pictures below, that mission tab has been moved in the left picture to the current location in the right picture. Just clicked and dragged to desired location.


Navigational Tools Menu: (adjusting waypoints, markers, and MOB); notice in the pictures below, that the first waypoint is now between the fourth and fifth waypoint. Just clicked and dragged to desired location. By doing this you can manipulate when the SmartFlight TM system will search a certain area or item in that area.

3.2.5.1 Waypoints Tab

A waypoint is a marker that designates the path of the ROV. The waypoint tabbed menu displays the characteristics of the waypoint's location and activity. The tabbed menu offers the general customizations of the Navigational Tools Menu, as well as attributes specific to waypoint creation. In order to edit the fields place the mouse over the field you intend to edit and double click, the field will highlight and become available to edit. The fields are described in detail below.

- Name: Names the waypoints / marking identifiers and can be given a unique identifier by editing the name field. Just double left click to edit field.

- In Mission: Tells the operator if the waypoint is designated to be in the mission or not by checking the box. If box is checked waypoints are wanted in mission. If box is unchecked waypoints are NOT desired for mission.

- UTM or Lat / Lon: This is the actually UTM or Lat / Lon for the waypoint. It can be changed from UTM, Degrees Decimal Minutes, Degrees Minutes Seconds, or Decimal Degrees in the Configuration View which will be discussed later in this manual.

- Display Range and Bearing: Selecting this box will enable or disable the range and bearing of the waypoint from the ROV.

- Down: The depth of the ROV depending on “Down Mode” setting. - Down Mode: By clicking the box in the Down Mode menu, the status is modified from

Depth (default) to Altitude. The reference now holds the waypoint from a distance to the floor or to the surface.


- Speed: The percentage of speed the ROV is traveling to meet a target waypoint. - Tolerance (Minimum Distance): Tolerance is the threshold for which the ROV must

meet before changing course for another waypoint in its mission. Remember station keeping must be clicked before tolerance is met.

- Zone Enabled: Enabling a zone by checking the box, adds a circle around the waypoint

- Zone Radius: The radius of the circle you want around the waypoint for the vehicle to remain within.

- Zone Color: We have a general color scheme in the Configuration View which will be discussed later in this manual.

- Zone Opacity: Here you can adjust the pigment of the cycle you want around the waypoint.

- Delete: Remove a waypoint by clicking the red X in the delete column.

NOTE: Tolerance has a 1m minimum range.

3.2.5.2 Marker Tab

A Marker is a reference tool to mark locations on the map for the operator's convenience. Markers have no impact or relevance to the vehicle's travel or the mission and will not clear with the mission. To add a Marker, right click on the screen and select add marker. Markers are normally green and turn blue when selected. To delete, right click and select delete. The marker tab contains data for Markers currently set on the map. Clicking the enable box in the display range/bearing column will populate the absolute heading of the Marker to the ROV's position. In order to edit the fields place the mouse over the field you intend to edit and double click, the field will highlight and become available to edit. The fields are described in detail below.

- Name: Names the marker identifiers and can be given a unique identifier by editing the name field. Just double left click to edit field.

- UTM or Lat / Lon: This is the actually UTM or Lat / Lon for the marker. It can be changed from UTM, Degrees Decimal Minutes, Degrees Minutes Seconds, or Decimal Degrees in the Configuration View which will be discussed later in this manual.

- Display Range and Bearing: Selecting this box will enable or disable the range and bearing of the marker from the ROV.


- Down: The depth of the ROV depending on “Down Mode” setting. - Down Mode: By clicking the box in the Down Mode menu, the status is modified from

Depth (default) to Altitude. The reference now holds the marker from a distance to the floor or to the surface.

- Zone Enabled: Enabling a zone by checking the box, adds a circle around the marker - Zone Radius: The radius of the circle you want around the marker for standoff / safety. - Zone Color: We have a general color scheme in the Configuration View which will be

discussed later in this manual. - Zone Opacity: Here you can adjust the pigment of the cycle you want around the

marker. - Delete: Remove a marker by clicking the red X in the delete column.

3.2.5.3 Man Overboard Tab (MOB)

Man Overboard (MOB) is a special marker which saves attitude and position when activated. Select the MOB tab to view location and configuration for MOB markers placed during a mission. Like waypoints, the MOB markers can be enabled or disabled and will display their status to the left of the grid screen. The specific Man Overboard attributes are below.

- Name: Names the MOB identifiers and can be given a unique identifier by editing the name field. Just double left click to edit field.

- UTM or Lat / Lon: This is the actually UTM or Lat / Lon for the MOB. It can be changed from UTM, Degrees Decimal Minutes, Degrees Minutes Seconds, or Decimal Degrees in the Configuration View which will be discussed later in this manual.

- Display Range and Bearing: Selecting this box will enable or disable the range and bearing of the MOB from the ROV.

- Down: The depth of the ROV. - Roll: The roll of the ROV (x-axis) when MOB is placed. - Pitch: The pitch of the ROV (y-axis) when MOB is placed. - Yaw: The ROV's rotational value when MOB is activated. - Created: The timestamp when the MOB marker was created. - Delete: Removes a MOB by clicking the red X in the delete column.


• 3.2.5.4 Logging Tab

The Logging tab allows the operator to send the collected data to a shared point for storage as well as logs all the data with a date time stamp. Section 1 of the menu contains the Start/Stop Logging button the recorded files are then saved to the directory path shown in the “Save Logs In: window”. You can also browse windows for locations and change the file prefix if you prefer. Otherwise, the files are saved with a date time stamp to better associate the files for playback. Section 2 allows the operator to select a maximum file size, the frame grab rate for video and the use of video compression to keep file sizes smaller. All in the side “Video” tab. In the “Post” side tab you can convert the logs to CVS. The side tab “Mark” enables the operator to add an event marker in the log file to help speed the return to an event that occurred while logging, during playback.

Section 1 Section 2


3.2.5.5 Playback Tab

In Playback the operator can playback a recording by browsing the location of the file or files. Once you click on a file you will notice that the associated file or files are pulled in to the tab as well. So for example you browsed your desktop and found the Sonar file, you double clicked the file to bring it into the Playback tab, noticing that the Telemetry and Video files were pulled in as well. This makes it easy to find associated files. It is recommended to keep all files in one single shared point or folder. i.e.(Desktop/SmartFlight/Recordings). If markers were inserted during logging, the operator can select “Seek to mark”, and the recording will jump to that point of the recording. Also during playback the operator can speed the file up by changing the playback speed located in the bottom right side of the picture above “Playback speed”. 3.2.5.6 Charts tab

The Charts tab allows you to input charts of the area you are working in, onto HUD. This is recommended if you are working in or around any land base references. Otherwise the blue back ground is fine for out to sea operations. In order to place a chart on the HUD you have to import it. Once you have clicked the import button at the top, you may then locate your charts and install them or as it says on the import button you can drag and drop your charts onto the HUD as well. You can store more than one chart on the charts tab also and then by left clicking on the desired chart name,


select “Zoom to Layer” top right of picture above the chart will display or you can use the “Layer up” or “Layer down” buttons as well. To remove a chart from the menu, highlight the desired chart and select “Remove Layer”. All charts have to be in GEOTIFF format. We will discuss making charts later in this manual. 3.2.5.7 Position / Declination

Position / Declination tab if used to help reference your position as in Ships / ROV’s GPS and declination of the ROV’s Compass. As you travel the world this tab will help you quickly configure your ROV’s compass by merely clicking the lookup declination button bottom right hand side of the picture above and then clicking the update vehicle button. 3.2.5.8 Mission Tab

The Mission tab contains a many fields or buttons for naming, loading, clearing, saving, pushing, and pulling these fields / buttons are for mission planning purposes. This tab is used to copy a mission back and forth between the SmartFlight TM UI and the ROV, as well as saving planned missions and retrieving saved missions from a file. Once a mission has been plotted on screen, the “Waypoint Following” button (SmartFlight Control Menu section 3.2.4) will begin the vehicle on its path. For a detailed description of what a mission is and how to use these functions see Section 4: “Mission Planning”


3.2.6 Sonar and Sonar Tracking Screen Here at Teledyne SeaBotix Inc. we pride ourselves in knowing and keeping up with the latest sonar technologies. To date we have incorporated over approximately 30 sensors / sonars into our system per customer preferences and use. As we stated before our system is very modular and can be adapted to fit many different sensors / sonars for your convenience. Please note we have chosen the Gemini sonar for its popularity with our customers not because we recommend it for your specific needs. Gemini Target Tracking The Teledyne SeaBotix UI application supports a variety of target tracking capabilities. The target tracking is handled by the Gemini sonar software incorporated in the SmartFlight TM UI software. This provides bearing and range to the target that is currently being tracked. With this information the user interface provides a geographic position of the target and gives the user the ability to go into sonar navigation mode. As seen below the Gemini Sonar is tracking multiple possible targets in the water represented by the green bots on the sonar image. All the operator has to do is double click any one of those dots and the SmartFlight TM UI software will navigate to that target.


3.3 SmartFlightTM UI Diagnostics In the SmartFlightTM UI software, there are two dedicated diagnostic sections to assist the operator in isolating issues. The two sections are Topside and vLBV each activated working section will have a green box around it.

3.3.1 Topside Section

Topside displays information for the GPS and for the USBL tracking system The GPS section will display the number of satellites seen, and the data quality. The USBL section will display a PPI (Planned Position Indicator) screen showing the relative position of the vLBV based on the bow line on the tracking over the side transducer.

3.3.2 vLBV Section The vLBV section Is broken down into three tabs, Sensors, Motors, and Sonar. Each tab is explained in detail below.

I. Sensors Tab

In this screen the data is displayed from each installed sensor. If a sensor is not installed, or not reading the data information will display dashes.


II. Motors Tab

Data for each thruster is displayed by location. Thrusters displaying dashes instead of data values are faulty, and should be replaced. Another indication of a fault with a thruster would be a reported RPM when the thruster is not operating. Replace that thruster and retest the system.

III. Sonar Tab

If the sonar data is not displaying correctly, or the data appears to start and stop, use this screen and pay particular attention to the Network Quality line. For proper operation of the Gemini sonar, network quality must be 100%. If it is not, verify that the I/O cable for the Gemini is connected to Ethernet Port 1 on the E-Bottle.


3.4 SmartFlightTM UI Configuration While not specifically a diagnostic screen, there are settings in this screen that will benefit the operator / technician when attempting to resolve data issues.

The screen capture above shows the default settings for the GPS Serial Input / output blocks, and the USBL serial input block. Changes in these blocks can interfere with the data transfer between the device and software... These blocks are configured at Teledyne SeaBotix Inc. during production and testing, please call Teledyne SeaBotix Inc. if you should ever have issues.


3.4.1 GPS Serial Input

For the system to get and utilize GPS data to geographically reference the ROV’s location, the serial port must be enabled.

3.4.2 GPS Serial Output

For the system to get and utilize GPS data to geographically reference the ROV’s location, the serial port must be enabled.

3.4.3 USBL Serial Input

This input must be enabled allowing the SmartFlight™ UI software to see and utilize the tracking information from the tracking software.


3.4.4 HUD (Heads Up Display) Text

In this block, the operator can change the color of text displayed in the mission view to make it more legible. The default color is “Seashell.”

3.4.5 Default Waypoint Values

This section is where the operator can set the default values that will be entered for each waypoint as it is added. This makes the Mission Planning process a lot faster.

3.4.6 Default Safety Zone

This section sets the default safety zone values for waypoints.

3.4.7 ROV Trail In this section, the operator is allowed to enable / disable the display of the ROV trail, change the color of the trail, its size, and opacity. If the ROV trail is not displaying, verify that the Enabled button is green.


3.4.8 Topside Trail Ships Trail In this section, the operator is allowed to enable / disable the display of Topside trail, change the color of the trail, its size, and opacity. If the Topside trail is not displaying, verify that the Enabled button is green. 3.4.9 USBL History

This section, allows the operator to enable / disable the USBL History, change the color, its size, and opacity. If the Topside USBL History is not displaying, verify that the Enabled button is green.

3.4.10 Displayed Units

The operator can set the system to output Metric or Imperial, temperature and distance values. By changing the information shown to the right. Left Click on the Position tab, and select the value desired. All values on the Mission View will change to the corresponding value you select.


3.5 Resizing the UI / General Keyboard Shortcuts In general, each button on the SmartFlightTM UI is blue until selected, turning green when clicked. Each component on the SmartFlightTM UI display can be completely collapsed or re-sized. Throughout the SmartFlightTM UI, adjustment points appear as the cursor is moved over the anchor points. These anchor points will highlight yellow and the cursor displays as two arrows. Hold down the left mouse button and drag to re-size. Tabs in menus highlight as sea green when the cursor is over the selection, and display a lighter gray when selected. Tabbed menus can be dragged to rearrange display order.

This screen orientation represents window size settings that would be useful during sonar search or visual identification of a target. Tracking information is still displayed, but sonar and video are enlarged to improve the display

This screen orientation demonstrates the method of reducing the video and sonar windows allowing the operator to concentrate on the tracking/plot information.

This screen, has no display of sonar or video data, and would be useful when flying to a distant target that is beyond sonar and video range.


3.5.1 Application Shortcuts To view a list of the available keyboard shortcuts, press the F1 key. The shortcuts are displayed in a pop up over the map as seen below.

3.5.2 Mission View Shortcuts

3.5.3 SmartFlightTM Shortcuts


Section 4: Mission Planning Mission planning can be a complex and time consuming function that is usually simplified by the collection of data and information prior to beginning.

a. Clarify the scope of the mission: What do you intend to accomplish during the performance of the mission? While this may sound a lot like identifying the objectives portion, scope encompasses actions that may not utilize SmartFlightTM functions, for example, recovery of a localized object utilizing direct operator control of the ROV, or placing a tool or sensor next to an object for testing purposes.

b. Identify the objectives of the mission:

Some examples are: A Search Mission where the system is utilized to search an area for an object or objects where the object/s are known, but location is not clear. In an Identify Mission, the operator would be working to identify visually targets reported by other sources such as side scan sonar data, where course location data is available, bit target identification is required. Or both Search and Identify Mission comprising of both missions.

c. Take equipment limitations into account:

Considerations are: available tether length, safety standoff requirements, wind, wave and tide activities. i.e. The operating area is subject to severe tidal currents, >3 knots, operations must be planned around the slack tide periods for the safety of the ROV.

d. Consider personnel limitations:

Skill level and experience of available personnel are prime items to consider when planning a mission. How much stick time does the operator have? Can he / she operate the ROV and all accessories attached? Does the operator know how to interpret the Sonar Data? If the system goes down can the operator fix the issue without jeopardizing the mission? When available, a chart of the search area will greatly simplify mission planning and give the operator visual clues on the mission.

e. Area of Operations: A chart will act as a visual reference assisting the operator in maintaining the spatial reference. (i.e. Launch point, current ROV location and target location/geometry), Unless the mission is in open water, so whenever applicable make or import a chart of the operation area to use. Charts can be made using Satellite images, side scan sonar data, aerial photographs, nautical charts, or any other map source available. To be imported into the SmartFlight TM UI, they must be in GEOTIFF format.


These charts are at approximately the same scale and cover the same geographic area. Either chart will benefit the pilot in maintaining spatial reference while operating the system. There are several sources for GEOTIFF data files, or you can create your own using commercially available software. One version that we have tested at Teledyne SeaBotix Inc. is Global MapperTM. This software is available for sale at http://www.bluemarblegeo.com/products/global-mapper.php Import your image file, mark known co-ordinate positions on the image, and export as a geotiff. The chart can then be imported directly into the SmartFlight TM UI to assist the operator in maintaining a geographic reference for the area of operation.

4.1 Operating Using Mission Waypoints Waypoints can be added in two ways. 4.1.1 Adding Waypoints Method 1: Position the cursor at the geographic location of a desired waypoint, right click and select “Add Waypoint”. A marker will appear on the mission display at the desired location. Method 2: Position the cursor anywhere in the mission screen, right click and select “Add Waypoint”. In the “Waypoint Tab” select the Lat/Long column for the new target, and enter the reported position of the target. Entry format for Lat/Long Data:

http://www.bluemarblegeo.com/products/global-mapper.php


Graphic 1 Graphic 2 Graphic 1shows 4 waypoints similar to what might be used in an area search. While numbered ONE thru FOUR, these waypoints may not be the order that would provide the best coverage. With the waypoints entered, the operator can drag and drop to rearrange the order of visiting priority. The first / top waypoint that is added to the mission in the Navigational Tools Menu, “Waypoint Tab” will always be visited first by the SmartFlight TM system. Notice Graphic 2 shows a Z Pattern search that visits each target as a factor of range from the operators’ position, visiting the most distant target first, then working back towards the operator. Remember by unchecking the “In Mission” block the operator can turn off a waypoint without deleting it.

Now that the targets are entered, select the Mission tab in the Mission View Screen and press the “Push Mission to Vehicle” button. This will send the information to the SmartFlight™ Bottle in preparation for starting the mission.


Once the data is transferred to the SmartFlight™ Bottle of the ROV, select Waypoint Following on the SmartFlight™ Menu and the ROV will begin the transit to the green X which will be the top / first target selected in the mission. If for any reason the green X drops, reselect Waypoint Following and it will pick up where it left off or it will start from the beginning of the mission. Once the mission is complete you should only have to click on Waypoint Following to restart mission. If this fails resend mission to the ROV and then click on Waypoint Following. Again green X should appear if it doesn’t SmartFlight™ isn’t working, resend mission again.

Notice green X in above picture. As SmartFlightTM flies to the waypoint, the operator can concentrate on sonar and video data information. Possibly to find an item of suspicion or of interest for later review, search, and / or to prosecute.


Section 5: Fault Isolation & Operator Tips For suspected faults with the ROV, refer to the ROV’s Operators Manual supplied with your system for specifics of fault isolation.

If a fault is isolated to the SmartFlightTM Bottle:

5.1 Procedure for returning the system to regular vLBV operation. Connect and power up the system, open the Port Manager software, Read Current Settings, verify that the SmartFlightTM block is not checked finally press the Configure All button to change the system configuration for regular vLBV and Crawler operations.


5.2 Diagnosing Communication Errors

Use the Comms Status in the SmartFlightTM UI to assist in determining what communications link is not functioning properly.

In this example, the CTRL indicator remains red indicating that this function is not communicating properly with the software.

This error would most likely be caused by a faulty E-Bottle on the ROV.

NAV errors can be either the E-Bottle or the Sensor Nav board mounted to the Backplane of the ROV.

OCU errors are a failure of communications between the mother board in the E-Bottle and the hand controller. The fault could be in either location.

USBL errors can be either the Tracking Controller board mounted in the INC, the dunking transducer, or the tracking responder mounted on the ROV.

NOTE: For USBL to turn green, the system must see a return. If your tracking system is MicronNav, you can accomplish this in air by placing the dunking transducer next to the tracking transponder on the ROV. For all other tracking systems, submerge the ROV until the tracking transponder is fully submerged allowing a path for communications.


Terms and Abbreviations

The following abbreviations and terms are used when discussing any and all Teledyne SeaBotix Inc. Products. BNC Video Input and Output Connectors used by Teledyne SeaBotix Inc.

Bulkhead Connector

Bulkhead connectors are devices for connecting external devices to the ROV’s electronics. It is a physical connector that is mounted and acts as a seal for the housing.

CC Camera Chassis

CSA Crawler Skid Assembly. A sub-assembly of the ROV system allowing the operator to attach the ROV to any relatively flat surface for stability while performing inspections.

DTA Depth and Temperature Assembly DVL Doppler Velocity Log acoustic system for use in underwater navigation ELS External Lighting System Flash Program Operational Program for the ROV

FO Full Fiber Optic data and video. All data to and from the ROV and the video feed from the ROV is transferred via fiber optics.

FOE Fiber Optic Ethernet data. This designation is utilized for systems requiring an Ethernet data link to transfer data from the ROV.

FOV

Fiber Optic Video. This style is used for tethers over 150m in length. The composite video signal from the ROV is converted to fiber optic data in the tether and made available as a composite signal at the MUX hub of the tether reel system.

FSK

Frequency Shift Keying. A method of data transmission utilizing 2.5 channels of RS232 format for command and control of the ROV. Data transmission to an external RS232 device with a remaining simplex channel for data to a device attached to the ROV.

GAK Grabber Attachment Kit. Consists of the parallel jaws, the standard interlocking jaws and the cutter jaws.

GFI Ground Fault Interrupt Circuits designed to detect voltage leaking to ground. These circuits are designed to remove all input voltage whenever the design trip point is reached.

Hardware

All hardware descriptions prefixed with the letter M (M5x15) indicates the fastener is a metric fastener. The 1st number is the diameter in mm (millimeters,) and the 2nd number is the fastener length in mm. Hardware listed at ¼-20 x 1.5 is an imperial fastener. The 1st number is the diameter, the 2nd number is threads per inch and the final number is length. Smaller imperial fasteners are numbered. For example, the seal screw utilized on thrusters, grabbers and the vacuum port is a 10-32 x 3/8. So it is a #10 screw, 32 threads per inch and 3/8’s of an inch in length.

HIA Housed Inverter Assembly Weather resistant DC inverter power supply for ROV systems

Horiz Horizontal. HPDC High Performance Brushless Thruster


ICC Integrated Control Console. This console is used for command and control of the ROV and video display only! It has external data connections for exporting SONAR and tracking to a separate display device.

INC

Integrated Navigational Console. A one unit solution for operators of ROV equipped with SONAR and or navigation systems. The monitor displays both the ROV video and the SONAR/tracking information on a single monitor. It is also equipped with a hard drive and video recording equipment, so that the information can be recorded into a single file on the hard drive.

LBL

Long Base Line systems utilize three or more acoustic transponders on the seafloor to communicate with a beacon on the ROV. By triangulation with the ship (and its GPS), the position of the transponders can be accurately determined and then used to determine the position of the ROV. LBL is the most accurate type of acoustic tracking system but it has several drawbacks including the lengthy time to set up and calibrate the cost of multiple transponders and the ability to only track the ROV when it is within range of all of the seafloor transponders. A variant of this approach is the inverted LBL which uses transponders on surface buoys (each with GPS receivers) instead of ones on the seafloor.

LBV Little Benthic Vehicle

lwLARS Light Weight Launch and Recovery System. A self-contained tether management system with operator controlled automated payout and recovery of the tether and the ROV.

MB Motherboard

MUX Multiplexer. This function is contained in the Pull Out Hub (POH) and converts the fiber data to electrical data prior to the slip ring assembly for use by the operator.

NCC Navigation Control Console. A processor unit and display console developed for display and control of SONAR and Tracking systems. It is used in addition to the ICC.

OCU Operator Control Unit.

OOK On-Off Keying. The simplest method of command and control of the ROV with no additional data channels. Utilizing RS232 duplex from the OCU to the ROV via the Surface Power Supply.

PCA Printed Circuit Card Assembly

Penetrator A Penetrator is used to connect an external device electrically to the circuitry inside the sealed housing. In a penetrator style connection, the cable actually passes into the housing of the unit without a connector.

PIC Programmable Integrated Circuit. Used extensively on the circuit boards to pre-program them for functions as required.

POH Pull Out (multiplexer) Hub. Part of the URS. It contains the MUX as well as the termination point for the tether and the tether whip.

PSI Power Supply Interface Circuit Board; part of the VPS

QRS Quick Recovery System. A manual system used to ease recovery of the ROV by attaching a plate to the tether and allowing the operator to recover the ROV without handling the tether directly.

RF Radio Frequency


RF Coupler Radio Frequency Coupler Board. Used in non FO ROV’s to couple and decouple data and video to the tether.

RF Demod Radio Frequency De-Modulator. Used in non FO & FOV ROV’s to convert the RF video signal to composite video for display.

RF Mod Radio Frequency Modulator. Used to up and down convert the RS232 data from the OCU and the ROV to RF for data transmission via the tether.

ROV Remotely Operated Vehicle RS232 Electronics interface communications mode

SB Sensor Board. Used to convert the analog data signals from the internal and external ROV sensors to digital format for display and utilization by the “Auto” modes of the ROV.

SBL

Short Base Line systems consist of one beacon on the ROV and three or more hydrophones hanging over the side of the ship, dock, or other surface structure. SBL systems have the advantage of not needing to deploy and calibrate seafloor transponders. It has accuracies and costs that are intermediate to the other two methods.

SBT Standard Brushed Thruster SmartFlightTM Automated controlled hardware and software package

TSA500

Blue View Multi-Beam SONAR. This SONAR device is a multi-beam. It provides a real time image for its full horizontal (450) and vertical (200) aperture. Since the update rate is continuous for the full aperture the strengths of this device are: Search while moving. Higher target image resolution making it easier for the operator to identify targets.

TSS750

Micron Scanning SONAR. This SONAR device is a scanning or searchlight style. It has a maximum range of 100 meters with a vertical beam width of 32 degrees. It has the advantage of being able to search in 360 degrees around the ROV but update rate is range dependent. The system can only display target information for where the acoustic transmitter/receiver is pointed at this time.

SONAR Sound Navigation and Ranging. Teledyne SeaBotix Inc. offers the following. Micron Scanning SONAR. (TSS750) Blue View Multi-Beam SONAR Gemini Multi-Beam SONAR

SPS Surface Power Supply. Converts supply AC power to DC at ~360 VDC for transfer to the ROV via the tether.

SPS3000 3000 Watt Surface Power Supply. Converts supply AC power to DC at ~360 VDC for transfer to the ROV via the tether used on all 6 thruster ROV

SPS3020EH Environmentally hardened 3000W surface power supply for the ROV TJG Three Jaw Grabber TMS Tether Management System


Tracking

Acoustic Tracking Systems Since GPS signals do not penetrate through water, acoustic methods have been devised to allow the operator to know the position of the mini-ROV at all times. This is very helpful for a variety of reasons, including navigating search patterns and re-locating underwater objects. All acoustic tracking systems rely on beacons which can be pingers which emit a sound pulse at a predetermined interval, transponders which emit a pulse in response to a specific acoustic interrogation pulse, or responders whose pulse is triggered via a wire from the surface. The beacon(s) pulse is detected by a hydrophone suspended from the surface and connected to a processor unit or controller which determines range and bearing. There are 3 basic configurations for tracking systems. LBL, SBL & USBL (Refer to each section for further definition.)

uLARS

Un-Manned Launch and Recovery System. A remotely controllable launch and recovery system. Consisting of a tether reel system, surface power supply, a power sheave, and control circuits for remote launch and recovery of the ROV system.

UMB Tether URS Tether Reel System

USBL

Ultra-Short Baseline systems are similar to SBL except that instead of using the three surface hydrophones, a single multi-element hydrophone array is used instead. This makes them the quickest tracking system to set up and the least expensive of the three methods, although their accuracy is not as high. USBL systems have proven to be the most popular acoustic tracking system used on mini- ROVs and several companies now make USBL systems specifically for this platform.

Vert Vertical VGA Video Graphics Array format for video display vLBV Vectored Little Benthic Vehicle

VOB Video Overlay Board. Creates the characters for displaying the video overlay information from the ROV onto the monitor.

VPS Vehicle Power Supply. Converts the ~360 VDC tether supply voltage to the 28 VDC required for the ROV operation.


LIMITED WARRANTY: Seller warrants that all Goods delivered under Buyer’s Order shall be free from defects in material and workmanship, and conform to Seller’s specifications for a period of twenty four (24) months from the date of original shipment. The warranty period for spare parts is ninety (90) days from the date of original shipment. The warranty period for repair work performed on Goods that are not covered by the original warranty is ninety (90) days from the date of return shipment and applies only to that portion of the Goods that was repaired. Seller warrants all Services for ninety (90) days after completion unless otherwise mutually agreed under a separate Service contract. This warranty does not apply to any Goods that, upon examination by Seller, are found to have been (i) mishandled, misused, abused, or damaged by Buyer or Buyer’s customer, (ii) altered from their original state, (iii) repaired by a party other than Seller or a Seller-authorized third party service center without Seller’s prior written approval, or (iv) improperly stored, installed, operated, or maintained in a manner inconsistent with Seller’s instructions. This warranty does not apply to defects attributed to normal wear and tear. Seller, at its sole option, shall either repair or replace defective Goods, or issue Buyer a credit for the original price for Goods which are returned to Seller prepaid within twenty four (24) months from delivery to Buyer and ninety (90) days from delivery to Buyer for spare parts found to Seller's satisfaction to have been defective. In the case of defective Services, Seller shall re-perform such Services. Such repair, replacement, credit, and re-performance by Seller shall be Buyer’s sole remedy for defective Goods and Services. Under no circumstances is Seller liable for recall, retrieval, removal, dismantling, re-installation, redeployment, or re-commissioning of any defective Goods or any costs associated therewith including, but not limited to, any subsea work performed below the waterline, heavy lift operations, or the transportation to or from offshore locations. Consumables obtained from third parties shall bear the warranty of their manufacturer. The warranty period for repaired or replaced Goods or re-performed Services shall be the unexpired portion of the original warranty period. THESE EXPRESS WARRANTIES, INCLUDING THE REMEDIES SET FORTH HEREIN, ARE EXCLUSIVE AND ARE IN LIEU OF ANY AND ALL OTHER WARRANTIES, EXPRESS OR IMPLIED. NO WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE IS INTENDED OR GIVEN. IN THE CASE OF GOODS OTHER THAN THOSE OF SELLER‟S OWN MANUFACTURE, SELLER MAKES NO WARRANTIES, EXPRESS, STATUTORY, OR IMPLIED.


RETURN AUTHORIZATIONS: Buyer’s return of defective Goods to Seller is subject to Seller’s then current return authorization process and procedures. Buyer shall promptly notify Seller of any non-conformance or defects in Goods, and provide Seller a reasonable opportunity to inspect such Goods. Goods shall not be returned without Seller's prior authorization, as evidenced by a Return Material Authorization (RMA) number issued by Seller. Once a RMA number is obtained, Buyer shall return Goods at Buyer’s cost, including transportation and insurance costs and in accordance with instructions issued by Seller. Failure to follow Seller’s return authorization procedures may result in lost Goods, delays, additional service, restocking charges, warranty denial, or refusal of a return shipment. The RMA number must appear on the shipping label and all paperwork associated with the return. Buyer shall identify the model or part number, description, and serial number, if applicable, for each of the Goods returned along with an explanation of the non-conformance or defect. Issuance of a RMA number by Seller does not necessarily mean Seller agrees that returned Goods are defective or covered under warranty, or that Goods will be repaired or replaced at no cost to Buyer. Goods repaired or replaced during the first twelve (12) months of the original warranty period (months 1-12) shall be returned to Buyer at Seller’s expense. Goods repaired or replaced during the remainder of the original warranty period (months 13-24) shall be returned to Buyer at Buyer’s expense. If any Goods returned by Buyer are found not to be defective, Buyer shall be so notified and such Goods shall be returned to Buyer at Buyer’s expense. If the repair or replacement of Goods is not covered by this warranty, such repair or replacement shall not be performed until and unless Buyer issues an Order to Seller authorizing such repair or replacement at Seller’s then-current repair or replacement price. In addition, Seller may charge Buyer for any testing or inspection costs. In no event shall Seller retain or store returned Goods for more than six (6) months.

c 28 feb 17 - teledyne marine support/seabotix/tec… · 3.2.5.5 playback tab ... section 1:...

Documents