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14

3.1  Map a Mission

3.11 Overview

EcoMapper’s mission planning software, VectorMap, utilizes georeferenced maps to establish waypoints to guide the 

vehicle via GPS signal. In order to plan a mission, you must first have a digital copy of a georeferenced map. If you do 

not possess a georeferenced map file, you may use TerraServer to obtain GPS information. The following image is an 

overview of the primary VectorMap window. If you wish to learn to download maps, please proceed to Section 3.2.

This section assumes you have read and performed the install/update steps outlined in Appendix A.2

Primary Map Area

Task Bar

Tools Panel

Waypoint Tab

Waypoints

Mission Lines

3.1

NOTE

Summary of Contents for EcoMapper

Page 1: ...er Vehicle Description and General Information 1 Safety and Limitations 2 VectorMap 3 Operation 4 UVC 5 Calibration 6 Maintenance and Repair 7 Appendices A C A Install Update Software B Run SonarMosaic C Safety Tow Float ...

Page 2: ... 1 23 Nose 4 1 24 Body 5 1 25 Tail 6 1 26 Safety Tow Float 7 1 27 How the EcoMapper Navigates 7 1 3 Applications 7 1 4 Specifications 8 1 41 Physical Dimensions 8 1 42 Onboard Electronics 8 1 43 Mobility and Endurance 8 1 44 Standard Sensors 8 1 45 Optional Sensors 8 1 46 Derived Parameters 8 Autonomous Underwater Vehicle ...

Page 3: ...n to complete its programmed course Throughout the course the vehicle constantly steers toward the line drawn in the mission planning software VectorMap essentially following a more accurate road of coordinates instead of transversing waypoint to waypoint When equipped the vehicle also uses a Dopplar Velocity Log DVL to increase its underwater navigation accuracy Upon completing its mission the ve...

Page 4: ... the front of the vehicle with the tail section on your right The transport handle is located on top of the carbon fiber hull on the opposite side of the fixed buoyancy weights and pinger which are located on the bottom of the hull The aluminum tail section of the vehicle houses the vehicle s motor and connects to the control fins and propeller The WiFi and GPS antennae are housed in the clear pla...

Page 5: ...B B C C 1 23 Nose The nose cone contains all of the vehicles external water quality sensors It also contains the depth sounder pressure sensor and compass Water quality sensors are housed inside the screw on protective nose cone on the front of the AUV and are field replaceable A pressure sensor detecting the depth from the surface and an altimeter a depth sounding sonar that detects the vehicle s...

Page 6: ...d adjust its buoyancy to correspond with water density influenced by salinity Although pressure influences density you cannot trim the vehicle based on pressure A location pinger is also located on the weight track of the vehicle which sends a high frequency signal that can be detected by a special receiving unit in the event that the AUV is lost Optional side scan sonar is located to the rear of ...

Page 7: ...n operate in a sacrificial capacity In the event that the aluminum is scratched the zinc corrodes instead of the aluminum Four control planes are operated independently to influence pitch roll and yaw The vehicle s two bladed propeller is located at the rear of the vehicle inside a Kort nozzle All fins and the propeller are field replaceable 1 2 Zinc Patches Control Planes Propeller Kort Nozzle Ko...

Page 8: ...s a GPS signal on the surface While a DVL equipped vehicle is on the surface it also uses GPS to navigate However when it dives it does not switch to dead reckoning If the vehicle is within approximately 300 feet of the bottom it will use its DVL to bottom track with an array of sonars Depending on the individual vehicle DVL equipped AUVs emit six to ten sonar beams which reflect from the bottom T...

Page 9: ...t electric WiFi Communication Range 200 m 1 43 Mobility and Endurance Maximum Depth 200 ft 200 m with deep water sensors Control Four independent control planes Speed 1 4 knots maximum of 2 knots on surface Locomotion Two bladed propeller Battery Endurance 8 hrs at 2 5 knots 1 44 Standard Sensors YSI Conductivity and Temperature Sensors Depth from Surface YSI Depth Sensor Height from Bottom Depth ...

Page 10: ...Underwater Vehicle 2 Safety Limitations and Capabilities 2 1 Safety 10 2 2 Limitations and Capabilities 11 2 21 Environment 11 2 22 Depth 11 2 23 Navigation 11 2 24 Velocity 11 2 24 Endurance 11 2 25 Deployment 11 ...

Page 11: ...all mission close enough to recover the vehicle via manual WiFi connection in the event that the map has faulty coordinates Always perform a pre launch check off of control fins and propeller before deploying the vehicle Always ensure that the vehicle has the proper weight and balance in the water before releasing the vehicle at deployment Failure to do so may sink the vehicle due to lack of buoya...

Page 12: ... will travel exactly where the user programs it to travel regardless of obstruction However safety rules are in place and can be selected to ensure that the vehicle is not lost in the event of an unplanned collision The AUV operates on basic GPS principles that allow for very effective navigation However GPS cannot penetrate water therefore the AUV does not receive any directional information when...

Page 13: ...12 ...

Page 14: ...n Stats 23 3 42 WP Power Details 23 3 43 Tips for Navigation 24 3 44 Waypoint Information 24 3 5 Advanced Mapping 25 3 51 Overlay Multiple Maps 25 3 52 Overlay Missions and Logs 26 3 53 Create a Safe Return Path 27 3 6 Features and Configuration 28 3 61 Take a Screen Snapshot 28 3 62 Configuration and Default Settings 28 3 63 Save and Open Missions 31 3 64 Live Tracking 32 3 65 Video Cameras and B...

Page 15: ... a georeferenced map If you do not possess a georeferenced map file you may use TerraServer to obtain GPS information The following image is an overview of the primary VectorMap window If you wish to learn to download maps please proceed to Section 3 2 This section assumes you have read and performed the install update steps outlined in Appendix A 2 Primary Map Area Task Bar Tools Panel Waypoint T...

Page 16: ...the cross hairs to the Pointer tool Clear All Waypoints Deletes all WPs from the map area Click the icon to prompt the Warning window that asks if you are sure that you want to erase all WPs in the current mission Click Yes to clear all WPs or No to return to the mission You may want to save the mission before you clear all waypoints in case you want to return to plan a similar mission in the futu...

Page 17: ...he next mission line This ensures the most accurate run possible Side Scan Sonar Allows the user to specify the settings of the EcoMapper s side scan sonar throughout the grid See Section 3 34 to learn how to adjust side scan sonar settings Multi Beam Sonar Allows the user to specify the settings of the EcoMapper s multibeam sonar throughout the grid All settings are adjustable by user See Section...

Page 18: ...e 5 Click on the file then click open VectorMap will display the map in the primary screen area Add additional concurrent map files to increase the survey area 1 Click File in the task bar 2 Click Add Map File from the dropdown menu 3 Browse through your system files to locate the desired file 4 Click on the file then click open Add concurrent files as many times as necessary to obtain all maps yo...

Page 19: ...r of the VectorMap window 2 Hover the pointer over New Mission in the dropdown menu 3 Select From TerraServer from the fly out menu This action will produce a window labeled Select Online Data Source to Download You can now choose the type of map with which you would like to work DOQ USGS Digital Ortho Quadrangle Grayscale aerial imagery DRG USGS Digital Raster Graphics Topographic Maps UrbanArea ...

Page 20: ...n decimals 5 Input the longitude coordinate in the fourth box with all known decimals 6 Click OK to generate the map Longitude values in the Western Hemisphere and latitude values in the Southern hemisphere must be negative values If you wish to use latitude longitude bounds 1 Select Specify Latitude Longitude Bounds of Area 2 Input the North South East and West coordinates in the designated boxes...

Page 21: ...Ps For example if you want to fly a mission over a section of river and gather data sets from the surface and from 5 feet deep you can program the first half of the mission with the Reference WP at 0 feet and the second half with the Reference WP at 5 feet Simply change the Reference WP setting when you want the vehicle s behavior to change In order to gather the specific information you want for ...

Page 22: ...en resume its scheduled mission You may wish to use the feature at the end of a mission so that the vehicle will hold its position at a specified point within WiFi range for easy retrieval Thepark WP is designated by a small boxed P as well as a second circle indicating the WP s parking circle If desired you may choose to blow the Safety Tow Float s balloon at a park point to increase visibility b...

Page 23: ...al control should any last minute changes or accidents occur You have two options in the Tools section with which you may place waypoints Place Multiple Waypoints or Place Single Waypoint which perform virtually identical functions but change the display slightly Place Multiple Waypoints draws a line as you move the cursor so that you may track exactly what line the vehicle will take to reach the ...

Page 24: ...points tab you can click the small blue lightning bolt to display power usage details throughout the mission The icon displays information for each WP WP Distance Total Distance WP Time Total Time WP Power Total Power Remaining Power These statistics rely on your vehicle s current battery capacity VectorMap default is full capacity 600 WHr If you wish to change the field which displays your vehicl...

Page 25: ...The first receiving WP at the average survey level The second middle WP at the surface for a GPS fix The third sending WP in line with the far WP at the average survey level Try to check areas of potential obstructions such as bridges A quick visual check of piling locations betters your odds of missing them and similar obstructions If you operate the AUV in a busy watercraft traffic area try to c...

Page 26: ...indow If you used TerraServer to download the first map simply repeat the steps you used to obtain it but select another type that you desire to overlay one of the seven options in the Select Data Source window If you obtained the first map from file please refer to Section 3 22 to learn how to obtain a map from TerraServer Once you download the maps that you intend to use begin to overlay maps us...

Page 27: ...to the desired mission 4 Click on the file 5 Click Open This step is very useful when creating an srp Safe Return Path file as it allows you to simultaneously examine an origin mission and the Safe Return Path Overlay Sonar Files 1 Open the desired map file s 2 Click file 3 Select Add sonar file 4 In the Select Sonar File window browse through your files until you locate the sonar file s you wish ...

Page 28: ...e vehicle The depth sounding sonar on the vehicle is rated to locate a bottom at 300 feet in optimal conditions Should the vehicle travel approximately 300 feet or so from the bottom the log may show a false bottom or an obviously incorrect reading that shows the bottom 1 10 feet from the vehicle instead of 250 feet This effect will be obvious due to a quick jump from deep to shallow in DFB data O...

Page 29: ... changes may help you more effectively plan the survey 1 Click Tools in the task bar at the top of the VectorMap window 2 Select Configurations This action produces the VectorMap Configuration window The window has several tabs General Buoys not an active feature GUI Graphic User Interface Lawnmower Power Usage DVL Log 3 621 General Under the General tab you can alter a variety of default measurem...

Page 30: ...change 2 Select the desired color from the palette 3 Click OK VectorMap also offers a variety of viewing options To activate an option click the checkbox next to the desired choice or select the appropriate option from the dropdown menu Map Fast Pan Draw Multibeam Range Box Dropdown box Sonar Range Box Pattern Map Double Buffering Show WP Success Select darkness of sonar range box Map Antialising ...

Page 31: ... map Sample Constant The user changeable number in the box reflects how many samples will be averaged to be viewed in the DVL log pane of VectorMap Current Vector Spacing The user changeable number in the box reflect how many averaged samples VectorMap will skip between each one displayed in the DVL log pane Magnitude Representation of Current The user changeable number in the box reflect how many...

Page 32: ... a mission like you would in any other program Always choose Save As the first time you save a mission Click File Select Save As from the dropdown menu In the Save Mission window choose the file directory in which you want to save the mission You may want to place it in the same file as the mission s maps in order to prevent any confusion Name the file in File Name box For a mission file select th...

Page 33: ...torMap should display Path Allows the user to choose to enable this function draw the track or show the data box with information currently being processed by the vehicle Select Path The user will click this button to browse to the vehicle s shared log folder and select the appropriate log for VectorMap to display The vehicle must be in WiFi range for these functions to work Locate Vehicle Searche...

Page 34: ...fix 2 bottom track fix 8 Fix Quality A relative score from 0 to 10 reflecting the degree of certainty in the computed velocity 9 X Speed m s The forward speed of the vehicle 10 Y Speed m s The lateral speed of the vehicle 11 Z speed m s The vertical speed of the vehicle 12 Track Time The time in seconds since the DVL was first started 13 X Distance m The forward distance the vehicle has traveled s...

Page 35: ... development as surface tracking mainly for under ice application and should be used with caution This column is filled with 999 999s when the surface is out of range 35 VtQuality The up looking surface tracking quality This is a quality score for the surface tracking solution A 9 is a 4 beam surface tracking solution A 7 is a 3 beam surface tracking solution A zero is no surface track at all Othe...

Page 36: ...d extensions meaning profile down Both of the pfu and pfd files have the same format but it is important to understand that the cells are numbered consecutively as they move away from the vehicle in both directions For example cell 1 from the pfd file is just below the vehicle while cell 1 from the pfu file is just above the vehicle The up and down cells can have different sizes The minimum cell s...

Page 37: ...ty Beam 1 amplitude Beam 2 amplitude Beam 3 amplitude Beam 4 amplitude Use the cell number and the cell size to compute the distance the cell is away from the vehicle A default blanking distance of 0 25 meters should also be added For example in the data below cell 1 starts at 0 25 meters away from the vehicle and end at 0 65 meters Cell 2 begins at 0 65 meters and ends at 1 1 meters etc The X Y a...

Page 38: ... of the compass C Inside Temp Temperature of the compass DFS Depth ft OR DFS Depth m Depth From Surface DFS is calculated from the pressure transducer DTB Height ft OR DTB Height m Depth To Bottom DTB is calculated from the depth sounder Total Water Column ft OR Total Water Column m Total Water Column is DTB and DFS added together Batt Percent Battery percentage left on the vehicle Power Watts Cur...

Page 39: ...rror State Current Error state of the vehicle which are N No errors E Battery capacity below 10 M Mechanical problem servo not responsive not included in UVC 3 1 Safety rules engaged Sop Over pitch Stl Exceed time limit Sle Leak detected Sfp No forward progress Sed Exceeded maximum depth Sup No upward progress Stf Safety tow float engaged Srp Safety return path engaged and SRP mission started Snd ...

Page 40: ...fer Missions into the AUV Pre Mission 44 4 22 Transfer Missions into the UVC 44 4 23 Transfer Data from the AUV Post Mission 44 4 3 Pre Launch Check 45 4 31 Control Planes and Prop Function 45 4 32 Instruments Compass and Battery Charge 46 4 33 Vacuum Pump 46 4 34 Buoyancy and Balance 47 4 35 Pinger frequency 47 4 4 Launch 48 4 41 Water Deployment 48 4 42 Manual Vehicle Operation 48 4 43 Start Mis...

Page 41: ...hes and lid upwards 2 Push the power switch located in the Comm Box to the On position Power on the AUV 1 Point the remote starter fob at the vehicle you may need to be relatively close 10 feet or less to send the signal 2 Press and hold the smaller of the two buttons firmly for approximately two seconds and release 3 You should see the antenna LEDs light up to confirm that the vehicle is powered ...

Page 42: ...r address 192 168 1 1 This number is also listed inside the Comm Box This action displays the router main page You now must find the specific IP address of your vehicle s in order to connect with Remote Desktop Scroll down the page to the Clients List section and find your EcoMapper e g EM 38 in the Host Name column and its IP address beginning with 192 168 1 1 followed by three additional numbers...

Page 43: ...f 192 168 1 1 XXX with the last three numbers being specific to the vehicle The EcoMapper s computer name e g iver2 7 Click Connect after you enter the necessary information OR The EcoMapper will now prompt you to enter a username and password Username iver Password i Your computer will now display the screen from the EcoMapper s onboard computer Remote Desktop To shorten this process create a sho...

Page 44: ...does not require an entry Computer Name and number of unit e g EM 38 User name iver Password i 8 In the Connection settings section click Save As 9 Name your shortcut and save it to the desktop Your laptop s desktop now has a Remote Desktop icon under the name you gave it in the Save As window Simply double click the icon to automatically connect to the EcoMapper once you establish a WiFi connecti...

Page 45: ...e Manager 2 In one panel open the folder that contains the desired mission in the other panel open the EcoMapper s Missions folder 3 Copy and paste the mission from your laptop into the Missions folder on the EcoMapper 4 22 Transfer Missions into the UVC Now that you have moved missions into the Remote Desktop of the EcoMapper you must load them into the vehicle s operating program the UVC 1 Open ...

Page 46: ...han the estimated mission time 4 31 Control Planes and Prop Function 1 On the UVC main screen click the Go On icon 2 Near the virtual joystick on the right side of the window move the pitch yaw and prop speed scroll bars and visually confirm that each control plane and the prop are operating correctly Also visually confirm that the components are not damaged Do not run the prop at high speeds or f...

Page 47: ...ench counterclockwise Extended Payload EP vehicles have a second vacuum port in the rear of the vehicle 2 Insert the vacuum port and finger tighten the port in place 3 Firmly press the vacuum hose onto the port 4 Create a pressure of 10 inHg with the pump and leave the vehicle to sit for no less than 15 minutes The vehicle may take up to 30 minutes to stabilize 5 If the vehicle exhibits a leak due...

Page 48: ...fficiently buoyant push the vehicle underwater and watch for even rise to the surface If 7 8 oz of weight are placed on top of the AUV it should sink to the bottom of the bulb on the WiFi antenna If the vehicle sinks past this point there is too much balance weight on the AUV and some should be removed If the AUV does not sink to this point it is too buoyant and more weight needs to be added to th...

Page 49: ...Box and reestablish a WiFi and Remote Desktop connection You will drive the vehicle using either scroll bars or virtual joystick Scroll Bars operate by dragging the box or clicking the arrows Top bar Yaw Left Right Steers the vehicle left and right Left bar Speed Increases or decreases vehicle speed in forward or reverse Halfway is neutral above half is forward below half is reverse Bottom bar Rol...

Page 50: ...n Start Mission arrow in the UVC The vehicle will now begin to operate autonomously you may only regain manual control if you click the Stop Mission icon in WiFi range Check the bottom of the main UVC screen to confirm that GPS Altimeter and Compass are receiving information indicated when they are green and immediately exit the Remote Desktop If you are unsure that your map is valid or that an ob...

Page 51: ...n if the vehicle does not make headway If the vehicle is still running its mission connect to Remote Desktop and choose Stop Mission Be careful to avoid the prop and always exercise proper lifting technique when you retrieve the vehicle Remember if the vehicle is easy for you to retrieve either from boat dock or shore the vehicle will also be vulnerable to curious onlookers Always try to meet your...

Page 52: ...less than three different directions If possible after your initial sounding location listen at 90 degree intervals from an imaginary circle around the vehicle s suspected location 8 Pinpoint the vehicle as closely as possible If you have determined that the vehicle is lodged underwater and is not within eyesight you will need to send a qualified diver to retrieve the vehicle If the vehicle is wit...

Page 53: ...52 ...

Page 54: ...Mission 55 5 22 Stop Mission 55 5 23 Load Mission 55 5 3 UVC Functions 56 5 31 Go On Manual Control 56 5 32 Debug 57 5 33 Enable Disable Log 58 5 34 Vehicle Notes 58 5 35 Show Latest Mission 58 5 36 Show Config Configuration 59 5 37 Show Mission and Mission Progress 61 5 38 Instruments 62 5 39 Errors 62 ...

Page 55: ...m tests and checks verify missions upload and download mission data as well as a host of other functions The following section will provide you with background information on how to Operate the vehicle s UVC Upload missions to the vehicle Download data from the vehicle Control safety settings on the vehicle Manually control the vehicle Perform essential pre launch checks 5 1 ...

Page 56: ...you want it and that the vehicle will be able to successfully navigate to its first waypoint once you engage the mission Once you start the mission the vehicle will obtain GPS coordinates and drive straight towards its first WP despite obstructions Be sure the first WP is within line of sight and if you are in a boat that you give the vehicle sufficient room to turn Step by step instructions on ve...

Page 57: ...ns of WiFi range If the vehicle does leave WiFi range under manual control this includes diving the AUV will shut off its drive motor and lock the vehicles control planes in the last commanded position Following such an event a WiFi connection must be reestablished The Manual Mode window prompted by double clicking the Go On contains a variety of live stream information including pitch yaw roll an...

Page 58: ...on is not available at this time Video Out This option is not available at this time Labels Out This option is not available at this time The debug window also contains information on the state of servo position and propeller speed Each individual window should contain a value between Yaw Control Plane s Angle YawTop top yaw fin Yaw Bot bottom yaw fin 0 Fin tilted full left 128 Neutral position no...

Page 59: ...ry data 1 Click the small blue dropdown arrow at the bottom left corner of the LogMain window 2 Deselect any of the desired main headings by clicking the checkbox associated with the function 3 To disable more specific logs click the plus sign next to a main heading to view additional log points 4 Deselect any of the desired headings by clicking the checkbox associated with the function 5 34 Vehic...

Page 60: ...elete or alter the comm settings of your vehicle reference the chart below to restablish correct connections NOTE 5 3 AMD Processor COM Port Device Baud Rate 1 5V Spare Sonar 4800 2 Compass 19200 3 Depth Sounder DVL 4800 57600 4 12V Spare Sonde 9600 5 GPS 4800 6 MP08S Battery 19200 7 Smart Motor 9600 8 Servo output 9600 ATOM Processor Com Port Device Baud 5 Sonar Spare 4800 6 Compass 19200 7 Depth...

Page 61: ...mission If any selected safety rule is engaged the vehicle will do one of two things 1 Start the Safety Projected Path mission If this box is checked a vehicle will begin to navigate a safe path defined by the user 2 If the vehicle does not have a Safety Projected Path or cannot navigate to it the vehicle will turn off its motors in an attempt to float to the surface All safety rules can be engage...

Page 62: ...he mission If you decide that you do not want to alter the mission after you make changes the Clear Changes button will reset the mission to its original form Mission Progress You can check your current mission s progress with the Mission Progress button However you can only check the vehicle s headway when you are within WiFi range and the vehicle is running on the surface The Vehicle Information...

Page 63: ... came into the UVC GPS Current Latitude Current Longitude True Heading Magnetic Variation Current Speed Kts Number of Satellites Power Capacity Power percentage left Watts Current Voltage Run Time State charge or discharge Compass Magnetic Heading True Heading Roll Degree Pitch Degree Depth DFS Depth from Surface YSI 6600 These sensors will vary depending on which sensors are installed on your veh...

Page 64: ...tion General Procedures 66 6 22 Wiper Sequence 67 6 22 Temperature and Conductivity Calibration 68 6 23 pH ORP Sensor Calibration 69 6 24 Turbidity Calibration 71 6 25 ROX Optical Dissolved Oxygen Calibration 72 6 26 Chlorophyll Calibration 73 6 26 Blue Green Algae aka Cyanobacteria Phycocyanin PC 6131 Calibration 75 6 27 Blue Green Algae aka Cyanobacteria BGA Phycoerythrin PE 6132 Calibration 78 ...

Page 65: ...rs If your agency does not have SOPs regarding calibration frequency please contact YSI Technical Support for further guidance Repeated use will eventually require all YSI sensors to be replaced although there is not a specific sensor lifetime proper maintenance will greatly increase sensor life From calibration to calibration you may notice the sensors drift from their ideal range You will correc...

Page 66: ...es for all calibrations Leave the vehicle firmly attached in its stand Have all required calibration standards available Attach the specialized AUV calibration cup end cap with drain 1 With the calibration cup attached to the vehicle unscrew counterclockwise and remove the standard black cup end 2 Screw clockwise the AUV calibration cup end including drain and fluid port into the tip of the calibr...

Page 67: ...nsors are designated by an asterisk In order to calibrate most YSI sensors the process will remain the same 1 Fill the calibration cup with fresh water tap water is fine and release the water through the drain or run water over the sensors directly without the cal cup installed 2 Pre rinse the sensor suite with the calibration standard Use just enough to wash the cal cup and sensors entirely Drain...

Page 68: ...issions If the wipers are activated the sonde will freeze the probe readings during the wiping sequence thus pausing probe readings In order to enable the wipe sequence on the optical sensors 1 Open the Advanced menu 2 Select Sensor 3 Select Wipes 4 Enter 1 5 Return to the Sensor menu 6 Select Wipe Interval 7 Enter 5 The Sonde should now wipe 1 time every 5 minutes Before deployment Remove the wip...

Page 69: ...propriate sensors 7 Enter 2 Calibrate 8 Enter the number for Conductivity 9 Enter 1 SpCond Special Conductivity 10 Ensure that the conductivity cell is completely submerged and does not contain any air bubbles 11 The screen will prompt you to enter the value of your standard in mS cm The number in parentheses is the value of the last solution used to calibrate conductivity Press enter to use this ...

Page 70: ...ution used to calibrate pH Press Enter to use this value or input the correct value and press Enter 6 Observe the value of all measured conditions Once the signal has stabilized for approximately 30 seconds press Enter to accept the calibration 7 Drain the buffer from the cal cup 8 Rinse with water and pre rinse with pH 10 buffer then fill cal cup with recommended amount of pH 10 buffer Response t...

Page 71: ... a 1 point procedure Ensure that the sensor is activated and the sonde is reporting all necessary values under the Sensor and Report menus 1 Rinse with water and pre rinse with calibration solution 2 Open the Calibrate menu 3 Select ISE 2 ORP 4 The screen will prompt you to enter the value of your standard If you use Zobell solution enter the correct temperature correction found on the bottle The ...

Page 72: ...ing all necessary values under the Sensor and Report menus 1 Rinse with water and pre rinse with 0 NTU standard then fill the cal cup with recommended amount of 0 NTU standard typically deionized or distilled water with no suspended solids 2 Open the Calibrate menu 3 Select Optic T Turbidity 6136 4 Select 2 Point 5 The screen will prompt you to enter the value of your standard Always use the 0 NTU...

Page 73: ...vironment 3 Wait approximately 10 minutes to allow temperature and air pressure to equilibrate 4 Open the Calibrate menu 5 Select ODOsat 6 Select 1 Point 7 The screen will prompt you to enter the current barometric pressure in mm of Hg mm of Hg 25 4 x inches of Hg 8 NOTE Use uncorrected true laboratory barometric readings only Weather service readings are corrected to sea level To uncorrect weathe...

Page 74: ...s function The following section explains how to prepare the recommended solution If you wish to simply zero out the instrument you may proceed to the 1 Point Calibration section Preparation of Dye Standard for Chlorophyll Sensor Performance Check The Rhodamine WT standard can photodegrade quickly after preparation Calibrate the chlorophyll sensor no more than 24 hours after preparation YSI uses R...

Page 75: ...ams Input 0 and press Enter 6 Observe the value of all measured conditions Once the signal has stabilized for approximately 30 seconds press Enter to accept the calibration 7 Drain the standard from the cal cup and rinse with water 8 Fill the cup with the recommended amount of Rhodamine WT standard 0 5 mg L from previous steps Temperature is known to have an inverse relationship with the intensity...

Page 76: ...on If you wish to simply zero out the instrument you may proceed to the 1 Point Calibration section If you will calibrate and check the sensor using a known count of PC containing BGA cells you may proceed to the 2 Point Calibration using BGA PC Counts Preparation of Dye Standard for BGA PC Sensor Calibration For dye calibrations YSI recommends using a Rhodamine WT solution The dye does not necess...

Page 77: ...pen the Calibrate menu 3 Select BGA PC cells mL 4 Select 2 Point 5 The screen will prompt you to enter the value of your standard Input 0 and press Enter 6 Observe the value of all measured conditions Once the signal has stabilized for approximately 30 seconds press Enter to accept the calibration 7 Drain the standard from the cal cup and rinse with water 8 Fill the cup with the recommended amount...

Page 78: ...with the solution containing a pre determined amount of PC containing cells 9 The screen will prompt you to enter the value of your standard in cells mL Input the determined value of your solution and press Enter 10 Observe the value of all measured conditions When they have stabilized for approximately 30 seconds press Enter to accept the calibration 11 Drain the standard from the cal cup and rin...

Page 79: ... If you will calibrate and check the sensor using a known count of PE containing BGA cells you may proceed to the 2 Point Calibration using BGA PE Counts Preparation of Dye Standard for BGA PE Sensor Calibration For dye calibrations YSI recommends using a Rhodamine WT solution The dye does not necessarily increase the accuracy of the sensor it is used as a check of the sensor s function The Rhodam...

Page 80: ... Open the Calibrate menu 3 Select BGA PE cells mL 4 Select 2 Point 5 The screen will prompt you to enter the value of your standard Input 0 and press Enter 6 Observe the value of all measured conditions Once the signal has stabilized for approximately 30 seconds press Enter to accept the calibration 7 Drain the standard from the cal cup and rinse with water 8 Fill the cup with the recommended amou...

Page 81: ...ith a solution containing a pre determined amount of PE containing cells 9 The screen will prompt you to enter the value of your standard in cells mL Input the determined value of your solution and press Enter 10 Observe the value of all measured conditions When they have stabilized for approximately 30 seconds press Enter to accept the calibration 11 Drain the standard from the cal cup and rinse ...

Page 82: ...sk to the top graduation with pure water 3 Mix well This solution contains 100 mg of Rhodamine WT per 1000 mL of water 100 mg L 4 Transfer exactly 1 0 mL of the solution prepared in the above step 100 mg L to a 1000 mL volumetric flask and then fill to the top graduation with pure water 5 Mix well to obtain a solution that is 100 µg L 0 10 mg L in water 1000 1 dilution of original concentrate 6 St...

Page 83: ...he standard from the cal cup and rinse with water 8 Fill the cup with the recommended amount of Rhodamine WT standard from previous steps 9 Observe the value of all measured conditions When they have stabilized for approximately 30 seconds press Enter to accept the calibration 10 Drain the standard from the cal cup and rinse with water 3 Point Rhodamine Calibration The 3 point rhodamine calibratio...

Page 84: ...l remain level throughout the calibration and provides room to turn the vehicle when necessary Orient the vehicle with the antenna perpendicular to the ground 1 Enter the vehicle s Remote Desktop via WiFi connection Refer to Section 4 1 to learn how to establish a WiFi connection and connect to the vehicle s Remote Desktop 2 On the Remote Desktop double click the Compass icon You will access the c...

Page 85: ...el to the ground 9 In the hyperterminal press the ESC key 10 Enter Z 11 Slowly rotate the vehicle 360 degrees through one full rotation 12 Following the rotation the screen should display press the Space bar to end calibrating Compass calibration continued on next page 360 6 3 ...

Page 86: ...vehicle exactly East 90 degrees and press Space 17 Using a handheld compass point the nose of the vehicle exactly South 180 degrees and press Space 18 Using a handheld compass point the nose of the vehicle exactly West 270 degrees and press Space Once you have completed the process check each cardinal direction against the reading on your handheld compass by turning the vehicle to each point and o...

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Page 88: ...ivity 90 7 15 pH ORP 90 7 16 ROX Dissolved Oxygen 91 7 17 Turbidity Chlorophyll BGA PC BGA PE and Rhodamine WT 92 7 2 Vehicle Maintenance and Repair 93 7 21 General Maintenance 93 7 22 Swap the Nose Cone 93 7 23 Zinc Plates 93 7 24 Buoyancy Trim Weights 93 7 25 Storage 93 7 3 Repair 95 7 31 Propeller Replacement 95 7 32 Control Plane Fin Shaft Assembly Replacement 95 7 33 Control Plane Fin Replace...

Page 89: ...d principles of operation refer to the YSI 6 Series Multiparameter Water Quality Sondes User Manual available online at www ysi com 7 12 Short Term Storage YSI defines short term storage as 4 weeks or less To keep your sensors functioning properly pour approximately 1 cm of water distilled deionized or tap into the storage cal cup Do not submerge any of the sensors but leave enough to keep the air...

Page 90: ...gs this may damage the o ring or groove Clean the o rings with water and a mild detergent no alcohol Wipe the o rings dry with Kimwipes or other lint free cloth Apply a very small amount of Teflon stopcock grease to the o rings by putting the grease on your fingers and drawing the rings slowly the grease More grease does not equal better Replace the o ring in the groove Verify that the ring does n...

Page 91: ... in clean water wipe again with swab soaked in clean water and re rinse If these procedures do not improve sensor response time perform the following procedures 1 Soak the probe for 30 60 minutes in 1 molar hydrochloric acid 1M HCL Be sure to observe all recommended safety precautions from the manufacturer 2 Rinse the probe in clean water wipe again with swab soaked in clean water and re rinse wit...

Page 92: ...to replace the membrane assembly without returning the sensor to the manufacturer Leave the new sensor membrane in its packaging until you are ready to install it on the probe 1 Use a 1 16 hex driver supplied in the 6155 kit to remove three screws from the sensor face 2 Retain screws for later use and remove the old membrane assembly 3 Remove the new sensor membrane assembly from its container and...

Page 93: ...sensor surface periodically and wipe any foreign objects from the surface Long Term Storage These optic sensors have no special requirements for long term storage However you may wish to remove them from the bulkhead and replace them with ports to minimize cosmetic degradation If you choose to remove them from the bulkhead simply store the sensors dry in air 7 1 ...

Page 94: ...o keep the air saturated Screw the cup onto the nose until snug Be sure not to cross thread the cup should attach easily to the vehicle In Water Screw the black protective nose cone onto the vehicle until snug Be sure not to cross thread the cup should attach easily to the vehicle 7 23 Zinc Plates Two zinc plates are located on the bottom side of the tail section These plates are used as anodes to...

Page 95: ...e wireless tab is selected enter the username root and password admin Under the Basic Settings tab change the SSID to IVER and click Save Settings 5 Close the Internet explorer and connect to the IVER network 6 Repeats steps 2 through 4 7 Click on Wireless Security tab and select WEP as the Security Mode 8 Enter the password 5086780550 next to key 1 and click Save Settings 9 Close the Internet exp...

Page 96: ...eals may be damaged from the pressure exerted by the bent shaft 1 Leave the vehicle on but ensure you have exited the UVC to prevent any accidental operation of the control planes or propeller 2 In the circular platform at the base of the control plane are two screw holes Completely remove each screw with a 7 64 hex key 3 Once both screws are removed pull the control plane assembly straight up and...

Page 97: ...e vehicle is powered off has a solid platform and is well secured before you perform this procedure Work on a flat surface in order to have a flat section on which to sit the disconnected tail section 1 This step is performed to alleviate suction before you remove the vehicle s tail Remove the antenna by removing the Phillips screws from around its base and gently pulling up Be careful to not dama...

Page 98: ...Appendix A Update Install EcoMapper Software A 1 Install Update the UVC 98 A 2 Install Update VectorMap 98 A 3 Install Update SonarMosaic 101 Autonomous Underwater Vehicle ...

Page 99: ...folders under My Network Places 4 In Remote Desktop copy and paste the new UVC folder onto the desktop 5 Make a copy of the old UVC and store it in a back up location then remove the old UVC s contents from the desktop 6 Cut and paste all contents from the new UVC into the old UVC folder 7 Rename the folder to the current update level A 2 Install Update VectorMap 1 Double click the icon for Vector...

Page 100: ...ation you wish to save VectorMap a specific folder on your desktop may be best 5 Click Next 6 Click Next in the Confirm Installation window 7 VectorMap will now begin to install on your computer Make sure that all included items remain in the same folder in order for VectorMap to work properly A 2 ...

Page 101: ...uld run Windows Update to check for any necessary updates to the NET Framework Install any recommended updates to this function 9 Now that VectorMap is installed updated click on the VectorMap icon A licensing screen should display Enter the information provided for you at purchase and click Submit NOTE ...

Page 102: ...the SonarMosaic welcome screen 3 Click the install button and choose a directory if you wish to not use the default 4 Now that SonarMosaic is installed updated click on the SonarMosaic icon A licensing screen should display Enter the information provided for you at purchase and click Submit A 2 ...

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Page 104: ...Appendix B Run SonarMosaic Contents B 1 Description 104 B 2 Running SonarMosaic 104 Autonomous Underwater Vehicle ...

Page 105: ...osaic as instructed in Appendix A 3 Once you have download all data following a sonar mission open SonarMosaic You will process the files by following a few easy steps to quickly convert as many files as necessary You may convert files one at a time or put them all into a queue to process automatically 1 Click File Open 2 You will be prompted by a browse screen to open a 81s sonar file Browse to t...

Page 106: ...f files to be processed After SonarMosaic has processed all requested files a window will appear to notify you of success SonarMosaic outputs three different files upon completion fileName tif Sonar file viewable in any image viewing application and used in conjunction with th elog files in VectorMap fileName TFW Metadata created from processed sonar file logfileNameBD_Corr Log file corrected for ...

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Page 108: ...Pre Launch Checklist 109 C 22 Arm Disarm the Safety Tow Float Power on off 109 C 23 Attach to the EcoMapper 110 C 24 LED and Buzzer Indicators 111 C 3 Post Buoyancy Bag Deployment 112 C 31 Replace CO2 Cartridge 112 C 32 Replace Buoyancy Bag 114 C 4 Maintenance 116 C 41 Checklist 116 C 42 Acoustic Pinger Battery Replacement 116 ...

Page 109: ...nal two situations regardless even if the float disarmed and no safety rule has been triggered 1 If the float is submerged at or below the Limit Depth defined in the user interface Section C 25 the bag will deploy 2 If the float is submerged below the armed depth longer than the time specified as the Time Limit set in the user interface in section XXXX continuously the bag will deploy The buoyancy...

Page 110: ...y charge the float when it is plugged into the antenna mast when the AUV is powered on The EcoMapper will arm the vehicle when the user enters the UVC and starts a mission The Safety Tow Float will disarm automatically when the user finishes the mission and exits the UVC However the user must check Launch Safety Towfloat box or the float will not activate The Safety Tow Float can also be manually ...

Page 111: ...these instructions to install the tow float 1 Attach the STF s connector to the antenna s connect 2 Install the y shaped hardware to the pre drilled holes in the Kort Nozzle using the included four screws 3 Use the zip ties to firmly attach connector cable to the Kort Nozzle support posts and the y shaped connecting posts Attach the cable so that it will not interfere with the control fins or prop...

Page 112: ...ty Tow Float is armed and bag will deploy if an emergency condition is recognized If this light is off the bag will not deploy regardless of condition fully charged The light may begin blinking as it nears the end of a charge Buzzer Half second beep When you arm disarm Safety Tow Float Once per second beep An emergency condition has been recognized and the Safety Tow Float has entered the bag dela...

Page 113: ...ed online An online search for 8 gram co2 or a visit to www midwestsupplies com products should provide the product needed for this application CO2 cartridges are under extreme amounts of pressure Always handle them accordingly do not leave them exposed to intense heat or intense cold Also do not put them in a position that could lead to its puncture Escaping CO2 is extremely cold and will burn sk...

Page 114: ... the cartridge holder back into its position until the cartridge no longer hisses 5 Close the bayonet seal making sure the O ring surfaces are clean and unharmed Pull firmly from both sides of the seal to make sure it is secure ...

Page 115: ... bag you will need to manually re roll and reinsert the bag 1 Ensure that no air is left in the bag by opening the check valve before rolling the bag Open the check valve by pressing the orange ring towards the float body 2 Roll the bag tightly from the unattached end inward ...

Page 116: ...into the check valve once the bag is rolled completely to the float Pull on the tube to ensure it is held firmly in place 4 Push the bag and holster back into the float body taking care to leave no edges of the bag pinched in the O ring ...

Page 117: ...bag will deploy float will beep 60 times prior to deployment 6 Follow instructions in section C 3 to replace the buoyancy bag and CO2 cartidge C 42 Acoustic Pinger Battery Replacement If you check the pinger battery charge level in the user interface and find that their charge is below 3V you should replace them as soon as possible to ensure continued pinger functioning The batteries should last 1...

Page 118: ...13 Atlantis Dr Marion Massachusetts 02738 USA 800 363 3269 or 1 508 748 0366 Website www ysi com ecomapper Email ecomapper support ysi com Item 202107 Drawing A202107 Rev D July 2011 ...

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