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Cobra-Tac User's Guide

page 54

RD Instruments

8.0 Specifications

NOTE.

The specifications and dimensions listed in this section are subject

to change without notice.

Table 3:

Navigation Specifications

Velocity range

7.5m/s

Minimum Altitude

0.5 meters

Maximum Altitude

30 meters

Precision

0.5cm/s (at 5 meters altitude, 1m/s)

Along Track accuracy (BT)

0.2%

0.1cm/s of the water velocity relative to the Doppler

Along Track accuracy (WT)

0.2%

0.1cm/s of the water velocity relative to the Doppler

Water Layer Precision

5 cm/s

Ping rate

4 pps

Table 4:

Standard Sensors

Temperature (mounted on transducer)

Accuracy: 0.2

C + 1

c/w

Range: -5

to 45

Resolution: 0.05

Tilt

Accuracy:

0.5

Noise: 0.35

rms

Range:

Compass (fluxgate type, includes built-in field calibration feature)

Accuracy:

@ 60

magnetic dip angle, 0.3G total field

Noise: 0.5

rms

Altitude

Altitude Accuracy: 2%

Resolution: 4%

Depth accuracy: 0.25% full scale

Table 5:

Transducer and Hardware

Beam angle

Beam width

1.4

(1 way)

Configuration

4 beam, convex

Internal memory

32MB

Communications

RS-232. ASCII or binary output at 1200 to 115,400 baud.

Summary of Contents for Cobra-Tac

Page 1: ...Cobra TacTM Autonomous Navigation and Mapping Console User s Guide P N 956 6000 00 May 2004 RD Instruments Acoustic Doppler Solutions ...

Page 2: ......

Page 3: ...2 3 Mark Navigation Mode 18 4 2 4 Survey Navigation Mode 20 4 2 5 Turn Cobra Tac Off 21 5 0 Cobra Tac Operation 22 5 1 Using the Control Switches 23 5 2 Understanding Cobra Tac Displays 24 5 2 1 Diver Navigation Indicator 24 5 2 2 Pitch and Roll Indicator 24 5 2 3 Leg Directional Indicator 25 5 2 4 Depth and Altitude 25 5 2 5 Low Battery Warning 25 5 3 Event Marking Function 26 5 4 Home Function 2...

Page 4: ...ry Warning 25 Figure 9 Marking a Location 26 Figure 10 Menu Screen 27 Figure 11 Navigation Menu 27 Figure 12 Set Up Option 28 Figure 13 Waypoint Navigation Select Mission Screen 29 Figure 14 Waypoint Navigation Display 30 Figure 15 Lane Width 31 Figure 16 Grid Navigation Options 31 Figure 17 Mark Location 32 Figure 18 Navigating to a Marked Location 33 Figure 19 Free Navigation Screen 34 Figure 20...

Page 5: ...les Table 1 Operator Control Switch Functions 23 Table 2 Spare Parts 52 Table 3 Navigation Specifications 54 Table 4 Standard Sensors 54 Table 5 Transducer and Hardware 54 Table 6 Environmental 55 Table 7 Power 55 ...

Page 6: ...NOTES ...

Page 7: ...ver swims with Cobra Tac The Doppler s input is received by the navigation computer which calculates position speed heading and distance to the next programmed way point The position pro vided by the Doppler is a true position over the seafloor and therefore does not have errors introduced by currents or drift The error rate in this system is less than 3 to 5 based on circumstances see 2 0 Accurac...

Page 8: ...ac uses a non hazardous rechargeable NiCad battery Operation life is 7 to 8 hours of continuous use The battery is charged through an external connector on the battery The UTILITY menu provides a battery health indicator in the operators display Battery Charger The Smart Charger is a variable input voltage charger that automatically adjusts for the input voltage from 100 to 240 volts Recharge time...

Page 9: ... Cobra Tac is supplied with the mapping software Surfer This software allows the user to display in a graphical and pictorial sense all the data collected by the Cobra Tac NOTE For more information on using CobraWare and a short tutorial on using Surfer see the CobraWare User s Guide BATTERY CONTROL SWITCHES DISPLAY I O and POWER CONNECTOR Figure 1 Cobra Tac Top View BATTERY LATCH POWER CABLE BATT...

Page 10: ...e refer to this list often 1 4 1 General Handling Guidelines Never set the Cobra Tac on a hard or rough surface The ure thane transducer faces may be damaged Always remove the retaining strap on the I O cable and dummy plug when disconnecting them Failure to do so will break the retainer strap Do not apply any upward force on the I O connector as the I O cable is being disconnected Stressing the c...

Page 11: ...ery or power cable after charging The battery sockets are not wa terproof and must be capped when wet Over discharging damages the battery characteristics Turn the power off when the Cobra Tac is not in use Store the battery in a cool dry location 20 to 45 C Charge stored batteries once every six months Dispose of the used battery properly Do not throw the battery into a fire Disposing a battery i...

Page 12: ...try to swim slowly over these regions If there is air being pulled below the transducer it may block one or more of the beams Try swimming deeper in the water Check if debris has become caught on the transducer faces and is interfering with the beams The bottom has grass weeds brush or other submerged materi als that are disrupting the beams near the bottom try to swim slowly over these regions Th...

Page 13: ...he true heading from the previous posi tion to the waypoint 0 to 359 degrees 3 2 Uploading and Downloading Uploading is the process of transferring files from the computer to the Co bra Tac Downloading is the process of transferring files and data from the Cobra Tac to the computer 3 3 Mission Profile A mission profile is the information stored in the Cobra Tac s memory The mission profile often c...

Page 14: ...to 20 connect the dot waypoints An absolute mission contains absolute waypoints A relative mission contains relative waypoints All waypoint positions in a mission must be the same type The Cobra Tac has four modes that allow a diver to navigate underwater in various ways Missions are for use in the WAYPOINT NAV mode In this mode a diver starts at an initial position swims to waypoint 1 and then wa...

Page 15: ... Cobra Tac Preparing for a Dive Use the following steps to prepare the Cobra Tac for a dive Install battery Turn Power On Set Initial Position and Magnetic Variation Training Mode Use Cobra Tac s training mode to learn how to use each navigation mode Waypoint Navigation Grid Navigation Mark Navigation Survey Navigation Use this area for notes ...

Page 16: ...repare the Cobra Tac for a mission VISUALLY INSPECT THE COBRA TAC HARDWARE CHECK ALL NUTS AND BOLTS ARE INSTALLED BATTERY PACK FRESH BATTERY INSTALLED POWER CABLE AND WATERPROOF CAP CONNECTED HOUSING CHECK FOR CRACKS URETHANE TRANSDUCER FACES CLEAN AND CHECK FOR CRACKS Use this area for notes ...

Page 17: ... User s Guide P N 956 6000 00 May 2004 page 11 4 1 1 Turn Cobra Tac Power On Press both upper switches to turn the power on Select MENU press the upper right switch to go to the main menu Use this area for notes ...

Page 18: ...P c Use SCROLL to highlight the field where data needs to be entered d Use SELECT to choose the data for the field selected 0 9 or N S e Repeat this process from field to field until all information is entered Select ACCEPT to save the data Selecting ACCEPT returns the display back to the NAVIGATION menu SCROLL SELECT ACCEPT CANCEL LAT LONG MAGVAR RECORD 3 2 4 3 0 0 0 0 N 1 1 7 1 2 0 0 0 0 W 1 5 0...

Page 19: ...ighted b Press SELECT c Use SCROLL and enter 250 250 mm s for the training speed d Select ACCEPT You will see TRAINING MODE flashing on the bottom of the display NOTE To exit the training mode turn off power to the Cobra Tac by pressing both the lower switches for 3 seconds NOTE In the training mode you do not need to move The Cobra Tac will simulate a constant speed The heading and tilts are real...

Page 20: ...ition f Activate the training mode see Training Mode page 13 g Start the mission by selecting WAYPOINT NAV on the NAVIGATION menu Press SELECT to select mission 9 created in steps a through d Select ACCEPT then START to begin the mission h As you move toward waypoint 1 mark an event as MAN MADE see Event Marking Function page 26 i Practice navigating to each waypoint and marking events It may be h...

Page 21: ...main screen the marked events will not be saved Initial Position Way Point 1 Way Point 2 Way Point 3 32 43 0000 N 117 12 0000 W 25 meters 000 degrees 25 meters 90 degrees 25 meters 180 degrees MARK 01 MAN MADE MARK 03 NATURAL MARK 02 NATURAL x x x HOME START MARK CANCEL 0 2 1 D A 1 4 0 5 6 4 1 8 9 1 M 0 0 1 WP 5 0 5 DEPTH BELOW SURFACE ALTITUDE ABOVE BOTTOM WAYPOINT NUMBER DIVER NAVIGATION INDICAT...

Page 22: ...tional Indicator and then select LEG NOTE Remember to turn 90 first and then press LEG h The Diver Navigation Indicator arrow will reset to the new direction Also the Range of Leg will reset to zero i As you walk the length of the Lane Width mark an event as MAN MADE see Event Marking Function page 26 j Turn 90 to the left and then select LEG Walk the length of the leg k Turn 90 to the right and t...

Page 23: ...e Cobra Tac power is turned off before returning to the main screen the marked events will not be saved START BEACH LANE WIDTH LEG LENGTH MARK 01 MAN MADE MARK 02 NATURAL MARK 03 MAN MADE X X X HOME START MARK CANCEL 0 0 2 D A 7 4 0 2 6 4 3 4 9 M 5 0 5 DEPTH BELOW SURFACE ALTITUDE ABOVE BOTTOM LEG DIRECTIONAL INDICATOR DIVER NAVIGATION INDICATOR PITCH ROLL INDICATOR Use this area for notes ...

Page 24: ...icator gives the direction and range to the marked location h When you have navigated to the location the screen will show the next marked event Select the event number and use ACCEPT to navigate to the location i Practice navigating to marked events It may be helpful to walk the course in a parking lot j When ready to return to the staring point use the HOME function see Home Function page 26 k S...

Page 25: ... 43 0000 N 117 12 0000 W MARK 01 MAN MADE MARK 03 NATURAL MARK 02 NATURAL x x x HOME HOME START MARK CANCEL 0 1 6 D A 4 0 0 4 8 0 1 9 1 9 M 0 MM 5 0 5 DEPTH BELOW SURFACE ALTITUDE ABOVE BOTTOM MARK NUMBER DIVER NAVIGATION INDICATOR PITCH ROLL INDICATOR Use this area for notes ...

Page 26: ...eady to return to the staring point use the HOME function see Home Function page 26 g Select CANCEL to stop the mission which stops recording Select CANCEL again to return to the NAVIGATION menu Select CANCEL once more to return to the main menu h Turn the power off to the Cobra Tac CAUTION To end a mission back out CANCEL until at the main screen then turn the power off This ensures that the even...

Page 27: ...ge 21 4 2 5 Turn Cobra Tac Off Once you are done using the Cobra Tac press both lower switches to turn the power off NOTE For information on how to download data from the Cobra Tac to your computer see the CobraWare User s Guide Use this area for notes ...

Page 28: ...ware version MENU COBRA TAC SERIAL NUMBER XXXXX VERSION XX XX JUNE 17 2002 07 32 00 BATT LEFT XX XX Figure 3 Cobra Tac Opening Screen To activate the Backlighting for the LCD push the top right switch and the bottom left switch simultaneously at any time the unit is on To turn off the backlight perform the same function with the two switches To turn the Cobra Tac off press and hold both the bottom...

Page 29: ...SCROLL function to highlight a menu or field where data needs to be entered SELECT Use the SELECT function to go to a highlighted menu or choose the data for the field selected 0 to 9 or N S E W START Use the START function to begin a navigation mode or the compass calibration Special Functions To turn the Cobra Tac on press both upper switches for 3 seconds To turn the Cobra Tac off press both lo...

Page 30: ...f a grid with vertical tick marks each indicating one meter of cross track error The numerical value above the Diver Navigation Indicator indicates the cross track error in meters and the symbols on either side of the Diver Navigation Indicator are a redun dant indication of cross track error Right Left On Track ON COURSE TO THE RIGHT CORRECTING OFF COURSE 0 2 1 X X X X M 5 0 5 1 0 2 X X X X M 5 0...

Page 31: ... Indicator 5 2 4 Depth and Altitude On the right side of each navigation mode display the Cobra Tac shows the depth in meters from the surface D and the altitude from the bottom A D XX X XX X A DEPTH FROM SURFACE ALTITUDE FROM BOTTOM Figure 7 Depth and Altitude 5 2 5 Low Battery Warning The low battery indicator flashes on the left side of every screen when 25 of the battery is left This indicates...

Page 32: ... then chooses what type of description that will be assigned to this object MANMADE or NATURAL Once the location has been marked the display will default back to the navigation screen 5 4 Home Function Use the HOME function to return to the starting point of the navigation mode In the GRID NAV MARK NAV and SURVEY NAV modes se lecting HOME will return you to your initial position via the shortest r...

Page 33: ... 6 Navigation Menu The following screen is displayed when the NAVIGATION option is se lected from the MENU screen W A YPO IN T N A V M A RK N A V SCRO LL SELECT GRID N A V SET UP SURVEY NAV CA N CEL Figure 11 Navigation Menu Use the SCROLL function to highlight the navigation option and then use the SELECT function to enter that option The CANCEL function allows you to return to the MENU Screen SE...

Page 34: ...wer on and select the desired navigation mode If the power is not cycled the mode will not change 5 6 1 Set Up Option The SET UP option is used to input the geodetic Longitude Latitude start ing position magnetic variation and activates the record function to save positional and hydrographic data in the navigation computer MAG VAR X X X SCROLL SELECT RECORD Y N LA T XX XX XXXX X LONG XXX XX XXXX X...

Page 35: ...SIO N NU M BER XX A CCEPT CA N CEL Figure 13 Waypoint Navigation Select Mission Screen The number displayed always defaults to 00 and the diver uses the SELECT function to choose the mission number that is to be loaded 1 to 9 then uses the ACCEPT function to load that mission The CANCEL function returns you to the previous screen function When you are ready to start navigating enter the water and ...

Page 36: ...ecord a location during the mission use the MARK function see Event Marking Function page 26 Any time the diver wants to return to the starting point use the HOME func tion and when activated Cobra Tac will direct you back using a reciprocal course heading based on the mission profile see Home Function page 26 CAUTION To end a mission back out CANCEL until at the main screen then turn the power of...

Page 37: ...dth The lane width displayed always defaults to 00 and the diver uses the SELECT function to choose the width then uses the ACCEPT function to start The CANCEL function returns you to the previous screen function HOME START MARK CANCEL 0 0 2 D A 7 4 0 2 6 4 3 4 9 M 5 0 5 Figure 16 Grid Navigation Options The diver enters the water pointed toward the beach and uses the START function to begin the s...

Page 38: ...e power is not cycled the mode will not change 5 6 4 Navigating to a Marked Location Select MARK NAV from the NAVIGATION menu and the following screen is then displayed asking for the number of the location the operator is navigating to NOTE The SET UP options must be entered before the Mark NAV mode can be started see Set Up Option page 28 NOTE You must have marked an event in a previous navigati...

Page 39: ...n screen the marked events will not be saved CAUTION To switch modes for example from Waypoint Nav to Grid Nav once a navigation option has been started i e the START button was pushed you must use the CANCEL button to back out until at the main screen and than turn the power off Turn power on and select the desired navigation mode If the power is not cycled the mode will not change 5 6 5 Survey N...

Page 40: ...T MARK CANCEL 3 3 8 D A 4 0 0 4 8 0 RECORDING MISSION Figure 19 Free Navigation Screen CAUTION To end a mission back out CANCEL until at the main screen then turn the power off This ensures that the events are saved If the Cobra Tac power is turned off before returning to the main screen the marked events will not be saved CAUTION To switch modes for example from Waypoint Nav to Grid Nav once a na...

Page 41: ...IB RA TE CO M PA SS CA LI BRA TE D EPT H SCRO LL SELECT CA N CEL Figure 21 Calibrate Menu Once again use the SCROLL function to highlight a selection and then the SELECT function to begin Calibrating the Compass The magnetic field the Cobra TacTM compass detects depends on the local environment Changing the location in which the Cobra TacTM operates especially the latitude changes the magnetic fie...

Page 42: ...le performing the calibration move the Cobra Tac smoothly with no sudden accelerations NOTE We recommend against calibrating the Cobra Tac while on a ship The ship s motion and magnetic fields from the hull and engine will likely prevent successful calibration The built in automated compass calibration procedure requires three rota tions The Cobra Tac uses the first two rotations to compute a new ...

Page 43: ...g the rotations The transducer beam should be at the center of the rotation not the person holding the Cobra Tac e Rotate the Cobra Tac slowly 360 degrees approximately 5 degrees per second f The second rotation requires the Cobra Tac to be tilted 15 degrees in another direction than from the first rotation see Figure 23 Follow the on screen instructions to orient the Cobra Tac correctly When prom...

Page 44: ...procedure over again j If the total error is acceptable press any switch to end the calibration The compass calibration screen will display COMPLETE Use the CANCEL function to return to the UTILITY menu Calibrating the Depth Indicator The atmospheric pressure at the water s surface can change with environ mental conditions The depth calibration procedure allows the Cobra Tac to reference what it r...

Page 45: ...profiles that can be uploaded to the Cobra Tac Select WAYPOINT SETUP from the Utility menu and the following dis play appears MISSIO N SETUP MISSIO N EDIT SCROLL SELECT CA N CEL Figure 25 Waypoint Setup Menu Mission Setup Use the SCROLL function to highlight MISSION SETUP and then the SELECT function to load the selection W P XX BEA RING XXX SCROLL SELECT CA N CEL A CCEPT LO NG XXX XX XXXXW LA T X...

Page 46: ...enu by scrolling and selecting that option The following display will appear W P XX BEA RING XXX SCROLL SELECT CA NCEL A CCEPT LONG XXX XX XXXXW LA T XX XX XXXXN RA NGE XXX EDIT MISSION XX Figure 27 Edit Mission screen The cursor will highlight the mission number first mission number loaded into memory and by using the SELECT function the user can select a differ ent mission number to edit from th...

Page 47: ...e stored in the Cobra Tac s mission profile Event Marks are collected during a dive and are stored in the Co bra Tac s mission profile Delete Records The Cobra Tac internal recorder has limited memory to store records This function allows the diver to delete old records in the field Use the SCROLL function to highlight DELETE RECORDS and then the SELECT function to load the selection The ACCEPT op...

Page 48: ...n and the missions are deleted CAUTION Make sure the mission profile is backed up to a computer before deleting Once deleted the missions can not be recovered NOTE Use CobraWare to download the mission profile DELETE ALL MISSIONS CANCEL ACCEPT ARE YOU SURE Figure 30 Delete Missions Screen Deleting Event Marks This function allows the diver to clear event marks in the field Use the SCROLL function ...

Page 49: ...E Figure 31 Delete Events Screen 5 7 4 Battery Health Indicator When the battery health option is selected the following screen is dis played This gives the diver an indication of how much time is left on the battery Select the RESET function to reset the timer Turn the Cobra Tac power off replace the battery and then turn the power on The timer will reset to 07 00 00 and begin counting down C RES...

Page 50: ...ttery pack in place e Inspect the O ring on the power cable connector battery side When viewed with an unaided eye the O rings must be free of cuts indenta tions abrasions foreign matter and flow marks f Clean and inspect the O ring grooves Be sure the groove is free of for eign matter scratches indentations corrosion and pitting g Lubricate the O ring with a thin coat of O ring lubricant Apply th...

Page 51: ...ack To access the charger socket unscrew and remove the power cord on the bottom of the battery pack Align the charger plug and insert into the charger socket Make sure the connection is good d Connect the battery charger to the AC power source e Turn on the charger Two indicator lights are featured on the charger The green POWER indicator light glows continuously once the charger is connected to ...

Page 52: ...wn on the chance of sparks CAUTION ABSOLUTELY NO SMOKING SPARKS OR FLAMES AROUND CHARGING BATTERIES Charging gives off hydrogen and oxygen which can explode if ignited 6 4 Battery Tips Recharge the battery after each use Do not over discharge the battery you will shorten the battery life Turn the Cobra Tac off when not in use Store the battery fully charged and recharge the pack for a few hours ea...

Page 53: ... seat the connector b Gently push the cable straight in toward the end cap connector Do not apply any upward force on the connector as it is being connected c Roll the retaining strap over the connector CAUTION When disconnecting or connecting the Cobra Tac I O cable do not apply any upward force on the connector as it is being pulled on off Applying an upward angle as the cable is connected disco...

Page 54: ... low pressure compressed air or soft lint free towels CAUTION The soft thin urethane coating on the transducer faces is easily damaged Do not use power scrubbers abrasive cleansers scouring pads high pressure marine cleaning systems or brushes stiffer than hand cleaning brushes on the transducer faces Inspect the transducer faces for dents chipping peeling urethane shrink age hairline cracks and d...

Page 55: ...ac as shown in Figure 35 b Turn on power to the Cobra Tac c Start the program CTxxxx exe where xxxx the firmware version Click Setup Click the View README TXT button to view the Re adme txt file for details on what is new in this version of firmware d Click Next and follow the on screen prompts e If you are not able to install the new version of firmware contact RDI for assistance TO SERIAL PORT T...

Page 56: ...n Material Authorization please give us the following information What is being shipped include the serial number When you plan to send the shipment What problem s need correction When you need the instrument returned When the Return Material Authorization is issued we will tell you the RMA number Please include this number on all packages and corre spondence Step 2 Ship via air freight prepaid Ur...

Page 57: ...er Service and are used to notify us of your needs in ad vance of arrival so we can provide a faster turnaround When requesting a Return Material Authorization please give us the following information What is being shipped include the serial number When you plan to send the shipment What problem s need correction When you need the instrument returned When the Return Material Authorization is issue...

Page 58: ... Phone 33 0 492 110 930 Fax 33 0 492 110 931 Detailed descriptions of what you are shipping number of pack ages sizes weights and contents The name of the freight carrier Master Air bill number Carrier route and flight numbers for all flights the package will take 6 9 Spare Parts Use the following part numbers when ordering spare parts Table 2 Spare Parts Part Number Description CT 100 Diver Conso...

Page 59: ...lowing ways RD Instruments RD Instruments Europe 9855 Businesspark Ave 5 Avenue Hector Pintus San Diego California 92131 06610 La Gaude France 858 693 1178 33 0 492 110 930 FAX 858 695 1459 33 0 492 110 931 Sales rdi rdinstruments com rdi rdieurope com Field Service rdifs rdinstruments com rdifs rdieurope com Web www rdinstruments com After Hours Emergency Support 1 858 578 0781 ...

Page 60: ...s of the water velocity relative to the Doppler Water Layer Precision 5 cm s Ping rate 4 pps Table 4 Standard Sensors Temperature mounted on transducer Accuracy 0 2 C 1 c w Range 5 to 45 C Resolution 0 05 C Tilt Accuracy 0 5 Noise 0 35 rms Range 15 Compass fluxgate type includes built in field calibration feature Accuracy 2 60 magnetic dip angle 0 3G total field Noise 0 5 rms Altitude Altitude Acc...

Page 61: ...pounds Table 7 Power DC Input 10 to 14 VDC Transmit 16W 35V Battery 12VDC Rechargeable NiCad Pack Battery Life 7 hours Battery Cycle Life The battery is only recommended for 500 charge discharge cycles Battery Charge Temp Charge the battery within an ambient temperature range of 0 C to 45 C Battery Storage Store the battery in a cool dry location 20 to 45 C Battery Shelf Life Two years Charge stor...

Page 62: ...y applies to all goods manufactured by RDI and is included in the Terms and Conditions contained in sales documents of RDI which Terms and Conditions set forth the provisions that govern all sales made by RDI This warranty also applies to all other activities performed by re search design design and development joint development field engineer ing field testing and operation training and is the ON...

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