VideoRay SeeByte Reacquire and Identify CoPilot User manual

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CoPilotRIOperator'sManual,2.00.00
CopyrightNotice
Thismaterialiscopyrightprotected.Nomaterialmaybereproducedortransmittedinanyformorbyanymeansforanypurpose
withoutexpressedwrittenconsentofVideoRayLLC.
Copyright©2016,VideoRayLLCTheGlobalLeaderinMicroROVTechnology

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CoPilotRIOperator'sManual,2.00.00
TableofContents
Copyright
TableofContents
AboutthisDocument
HowtoGetHelp
ProductOverview
Features
Capabilities
QuickStartInstructions
SafetyFirst
SystemComponents
PreDivePreparations
DiveOperations
PostDiveOperations
TechnicalInformation
Requirements
Specifications
Glossary
EquipmentGuide
ROVSystem
Sonar
DVL
GPS
SoftwareGuide
NavigationChartDisplay
WaterColumnDisplay
FlightStatusPanel
FlightControlsPanel
MANUALMode
StayCommand
VelocityControls
AUTOHOVERMode
AUTOFLYMode
ClickandGo
GotoWaypoint
SurveyPlan
CRUISEMode
MarkersPanel
StatusIndicators&Alarms
OperationsSupportTools
GPSControls
RecordingControls
ChartControls
ViewControls
SonarControls
UserPreferences
VideoRayCockpitIntegration
Override
CompassDeclination
CompassCalibration
ROVGPSFilter
SoftwareManagement
SoftwareInstallation
SoftwareUpdates
FolderStructure

Gallery
CoPilotRIOperator'sManual,2.00.00
AboutthisDocument
VideoRayCoPilotRIisaVideoRayPro4accessory.InformationabouttheVideoRayPro4canbefoundintheVideoRayPro4
Operator'sManual.
Thismanualprovidesthefollowing:
anoverviewoftheVideoRayRICoPilothardwareunitconfigurationandconnectivity;
ageneraldescriptionandspecificationofVideoRayRICoPilotpilotinterface;and
operatinginstructionsforVideoRayRICoPilotandequipment.
TargetAudience
ThismanualisdesignedanddevelopedforoperatorsoftheVideoRayPro4MicroROVwithasonarandaDVLwhoarerequiredto
operatetheVideoRayremotelyoperatedvehicle(ROV)systemsusingVideoRayRICoPilot.
DocumentConventions
Severalsymbolsareusedthroughoutthisdocumentationtoaddemphasisandtoassistinrelocatingimportantinformation.The
followingtabledescribesthesesymbolsandtheiruses.
SYMBOL DESCRIPTION
TheDangericonisusedtoindicatethereisapotentialriskofpersonalinjuryordeath.Extracareshouldbetakento
understandtherisks,andallpersonnelshouldexercisecaution.Itmayalsobeappropriatetowarnothersinthe
immediatevicinity.
TheCautioniconisusedtoindicatethereisapotentialriskofdamagetotheequipmentorsurroundingproperty.
Personnelshouldreceivetrainingintheappropriateproceduresbeforeattemptingtooperateormaintainthe
equipment.
TheDoNoticonisusedtoindicatethatanactionoractivityshouldNOTbeperformed.
TheNoteiconisusedtohighlightaspecificdetailorpointofinformation.
TheTipiconisusedtohighlightasuggestionorrecommendation.
BeyondthisDocument
Thereisnosubstituteforexperienceand/ortraining,especiallywithrespecttotherealpurposeforwhichyouplantousethis
equipment.Weencourageyoutoexploreoptionsbeyondthescopeofthesematerialstoexpandyourknowledgeandskills
necessarytosupportyourapplications.Inadditiontothisdocumentation,VideoRayofferstrainingandtechnicalsupportandhostsa
generaluserdiscussionforumanduserimagegallery.
Wealsorealizethatcollectively,usersofourproductsspendconsiderablymoretimeoperatingoursystemsthanwedoourselves.
Usersalsoencountermorediverseoperatingenvironmentsacrossanextremelybroadrangeofapplications.Wehighlyvaluethis
vastexperiencebase,andinviteandencourageyoutoshareyourexperiencesandsuggestionswithus.Pleasefeelfreetocontact
usbyanyofthemethodslistedbelow.
QualityCommitment
VideoRaystrivestodesign,manufacture,deliverandsupportthehighestqualityproductsandservices,includingthisdocumentation.
Wehavemadeeveryefforttoensurethatthisdocumentationisaccurateandprovidesyouwiththemostuptodateinformation.
Ifyoufindanyerrorsinthisdocumentationorhavesuggestionsforimprovements,eachpagecontainsa"Helpusimprovethis
document"feedbacklinkintheleftmargin(youmustbeconnectedtotheInternettousethislink).
Address 
VideoRayLLC
212EastHighStreet
Pottstown,PA19464
USA


Email 
[e-mail] GeneralInformationandSales
[e-mail]

TechnicalSupport
Telephone 
+16104583000 Office

+16104583000 Office
+16104583010 Fax
Disclaimer
Thisdocumentisdeemedaccurateatthetimeofitswriting,howeveritisnotalegalcontractandtheinformationcontainedherein
shouldnotbeconstruedtorepresentanyformofcommitment.Thisdocumentaswellastheassociatedproductsandservicesare
subjecttochangewithoutnotice.
OnlineManual
Thefullversionofthismanualisavailableonlineinthefollowingformats:
http://download.videoray.com/documentation/copilot_riforviewingtheHMTLonline.
http://download.videoray.com/documentation/copilot_ri/pdf/videoray_doc_copilot_ri.pdfforviewingthePDFonline.
http://download.videoray.com/documentation/copilot_ri/zip/videoray_doc_copilot_ri.exefordownloadingtheHTMLandPDF
files.

Gallery
CoPilotRIOperator'sManual,2.00.00
HowtoGetHelp
HelpforyourCoPilotRIisavailablethroughseveralchannels.
AllHoursSelfService/CrowdSourceTools
Operator'sManualsandStandardOperatingProcedures www.videoray.com/support/manuals.html
SoftwareDownloads www.videoray.com/support/downloads.html
FrequentlyAskedQuestions www.rovfaq.com
ROVUserForum www.rovinfo.com
GlobalSupport
Email [e-mail]
Phone +16104583000(selectoption1)
Skype videoray.support(byappointment)
RemoteSessions www.videoray.com/support/remotesupport.html(byappointment)
RegionalSupport
VideoRayAuthorizedServiceCentersandDealers www.videoray.com/dealer.html
Training
OperatorTraining www.videoray.com/learnmore/training.html
AdvancedMaintenanceTraining www.videoray.com/learnmore/advancedmaintenancecourses.html
OperationalStrategiesandTacticsSupport
Ifyouneedhelpunderstandinghowtoapplyyoursystemtoaspecificproject,contactVideoRayoryoulocalVideoRaydealer.We
canprovideguidanceorhelpyoufindacertifiedconsultant.

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CoPilotRIOperator'sManual,2.00.00
CoPilotRIOverview
ProductOverview
VideoRayCoPilotRIprovidesthelatestgenerationofSMARTsoftwaretoolsinasimpletouse,pilotfriendlyform.Learningtouse
VideoRayCoPilotRIispainlessandtheintuitivetoolshelpnoviceuserstackleeventhemostcomplexoperations.
VideoRayCoPilotRIautomatestheVideoRayPro4MicroROVcontrolprocess.TheROVcanefficientlymaneuverthrougha
mission,automaticallyreducingtheconsiderationoftheeffectsofcurrents.TheROVcanalsotakebetterqualityvideopicturesdueto
theimprovedstabilitywhenusingVideoRayCoPilotRI.
PilotsnormallycontrolaVideoRayROVusingthrusterinputstonavigateadesiredcourseandspeed.Constantadjustmentsare
requiredtocorrectthecourseandaccountforwatercurrentandtetherdrag.UsingVideoRayCoPilotRI,operatorsareableto
identifyobjectssuitablefortrackingandcanthenmaintainastableheadingandrangetothetargetasdesired,withouttheconcernof
currentandtetherdrag.
DynamicPositioningSystem
ADynamicPositioning(DP)systemallowstheROVtoautomaticallyholdarequestedpositionornavigatetoaselectedlocation.A
DPsystemmimicsautomaticallywhatapilotwoulddoinadjustingthethrusterstokeepthedesiredposition.
ThepilotcaneasilycontroltheROVusingtheDPsystem.Forexample,ifthepilotmaneuversthejoysticktotheforwardsposition,the
ROVwillmoveforwardswhilstautomaticallycompensatingforcrosscurrentsandtethereffects.VideoRayCoPilotRIenablesobject
relativestationkeepingandapproach;thesystemwillmaintainaconstantrangetotargetwhilstkeepingthetargetatthecenterof
thesonarfieldofview.Theusercanthenperformobjectrelativeadvances/retreats(reduceorincreaserangetotarget);orchange
depth/altitudewhilekeepingaconstantdistancefromthetarget.
Features
CoPilotRIprovidesthefollowingfeatures:
Hoverinplace
Pilottoamouseclick
Pilottokeyedincoordinates
Pilottoaseriesofcoordinates(Survey)
Pilotonaheadingataconstantspeedanddepth(oraltitude)(CruiseControl)
Transparentmanualoperation(takeovermanualcontrolatanytime)
Navigationdisplay
GPSintegration
Sonaroverlay
Chartoverlay
Markers
Recording
Offlineplanningofmissions
Capabilities
CoPilotRIenablesthefollowingtypesofoperationalcapabilitiesforyourPro4ROVsystem:
Targetreacquisitionandidentification
Areacoveragesearchpatterns
Transectspipelineswithafixedstandoff
Observationholdstation
Locationmarking

Gallery
CoPilotRIOperator'sManual,2.00.00
QuickStartInstructions
TheseQuickStartInstructionsarestreamlinedtocoverjusttheessentialsofoperatingyourCoPilotRIsystem.Theyareprovidedto
getyoustartedasquicklyaspossible,whilekeepingyouandtheequipmentsafe.Theycovertheequipmentsetupandbasic
operation,butarenotintendedtoresultinacomprehensivebaseofknowledgeorsetofoperationalandpilotingskills.The
remainingsectionsofthisdocumentationshouldbereferencedforacompleteunderstandingofthefeatures,capabilities,operating
proceduresandmaintenancerequirementsofyourCoPilotRIsystem.
TopicsinthisSection
SafetyFirst
SystemComponents
PreDivePreparations
DiveOperations
PostDiveOperations
SafetyFirst
 Operatingelectricaldevicesinandnearthewatercanbedangerous.Thereisalwaysariskof
drowningorelectrocutioninsuchanenvironment.Reducetheserisksbyusingcommonsenseandobservingsafetyregulationsand
recommendedsafepracticesincludingthefollowing:
Neverhandlepowercordswhileincontactwithwaterorallowpowercordconnectorsorthecontrolpaneltoenterthewater.
Theonlycomponentsthatcansafelybeplacedinwaterarethesubmersible,anyonboardaccessoriesandtether,andonly
aftermakingsuretheconnectionsaresecure.
Alwaystestthesafetycomponents,suchasGFCIswitchesandinterlockdevices,beforebeginningoperations.Followthe
proceduresdescribedinthismanualfor.
Havepropersafetyequipment,suchasPFDs(PersonalFlotationDevices),onhandandmakesureyouknowhowtouse
thembeforeyouneedthem.
Keepfingers,hair,looseclothingandotherobjectsawayfromVideoRay'spropellersandotherpinchpoints.
Monitorweatherandseaconditionsandheedanywarningsoralerts.
Beawareofandfollowanylegalordinancesorregulationsinyourarearegardingoperationofvesselsandunderwater
equipmentinthewater.
Beforesettingupfororcommencinganydive,itisagoodpracticetomakesuretherearenohazardstopeopleortheequipment
onlandorinthewater.Ifthereareotherpeopleinthewaternearby,youshouldadvisethemthatyouaregoingtobeoperatingthe
ROV.Astheowner/operator,itisyourresponsibilitytoensurethesafetyofthosearoundyouaswellasthatoftheequipmentand
nearbyproperty.

HowSafeIsSafeEnough?
Addressingallaspectsofsafetywhileworkinginawaterenvironmentisbeyondthescopeofthisdocumentation.VideoRay
encouragesyoutoparticipateinsafetytrainingappropriateforyourindustryandapplications,includingsuchtopicsasvessel
operations,firstaid,survivalandotherrelevanttopics.
IntroductiontotheSystemComponents
Unpackthesystemandfamiliarizeyourselfwiththecomponents.
ROVSystem
ThebasesystemforaCoPilotRIconfigurationincludestheVideoRayPro4.FormoreinformationabouttheVideoRayPro4,
seetheVideoRayPro4Operator'sManual.
BlueViewImagingSonar
Forwardlookingimagingsonarprovidesextendedvisualrangecapabilities.Possibletargetsofinterestcanbeobservedand
marked,andthesystemcannavigatetothemmanuallyorautomatically.
TeledyneRDIDVL(DopplerVelocityLogger)
TheDVLisusedtokeeptrackofthevehicle'slocationwhileitisunderwater.Itusesanarrayofacousticbeamstotrackits
courseovertheseafloorinalocalcoordinatesystem.
ROVGPSAntenna
TheROVGPSAntennaprovidesamethodtoidentifythevehicle'slocationwithinaglobalreferenceframe.GPSisnoteffective
underwater,sotheGPSAntennaonlyworkswhentheROVisonthesurface.PeriodicGPSfixescansupplementtheDVL
tracking.
Someitemsshownareoptionalandnotincludedwithallmodels.
AdditionalItems
Additionalitemsmaybesuppliedwithyoursystemincludingtools,sparepartsandotheritems.Ifincluded,theseitemsaredescribed
inothersectionsofthisdocumentation.
Someitemsshownmaybeoptionalandnotincludedwithyourconfiguration.
PreDivePreparations
Selectasafeandpreferablylevelareatosetupthecontrolpanel.SeetheOnsiteOperationssectionoftheProjectManagement
Guideformoreinformationaboutsiteselectionandsetup.
Thepredivepreparationsconsistofthreeparts,avisualinspectionbeforesettingupthesystem,settingupthesystemincluding
makingconnections,andpowerontestsofthesystem'ssafetycircuitsandprimaryfunctions.
ConductaVisualInspection
AssumingthisisyourfirsttimeusingtheVideoRay,everythingshouldbeinproperworkingorderandreadytogo,butitisgood
practicetoperformaprediveinspectionbeforeeverydive,evenyourfirst.Ifanyproblemsarenoticed,refertotheDiagnosticsand
RepairsectionoftheMaintenanceGuideandtakeappropriatecorrectiveaction,orcontactVideoRayforassistancebefore
commencingthedive.
1.InspecttheROVandothersystemcomponentstomakesuretherearenovisiblesignsofdamageorlooseorwarnparts.Also
checkforwaterinsidetheROVhullbyholdingitwiththefrontfacingdownwardandlookforsignsofwaterinthemaindome
orlightdomes.
2.Checkthehorizontalthrusterstomakesurethattheshaftsarenotbentandthepropellersarefreetospinandarenotfouled,
looseorbindingonthethrusterguards.Checkthethrustercartridgesealstheyarefilledwithoilandthereshouldbeno
signsofleakingorcontamination.Asmallairbubbleinathrustercartridgesealisacceptable.SeetheMaintenanceGuidefor
warnings,replacementcriteria,examplesandreplacementprocedures.
3.Checktheverticalthrustertomakesuretheshaftisnotbentandthepropellerisnotfouledorlooseorbindingonthefloat

3.Checktheverticalthrustertomakesuretheshaftisnotbentandthepropellerisnotfouledorlooseorbindingonthefloat
block.Also,checkthethrustercartridgesealfollowingthesameguidelinesusedtocheckthehorizontalthrustercartridge
seals.MakesuretheaccessoryportattherearoftheROVissealedwitheitheraconnectorfromanattachedaccessoryoran
accessoryportterminatorplug.Removalofthefloatblockbylooseningtheretainingscrewmayfacilitatethisprocess.
MaketheConnections
Connectingordisconnectingcableswhilethesystemispoweredonisnotrecommended.
Mostofthecableshavebeenconnectedatthefactory.SeetheappropriatesectionsoftheEquipmentGuidefordetailedinformation
abouteachoftheconnections.
Youwilltypicallyneedtoconnectonlythehandcontroller,tetherandpowercord.
1.ROVAccessoriesConnectionsROVaccessoriesareconnectedtotheROVusingtheROVAccessoryPort,Theconnectors
are"stackable"Thepreferredorderofconnectionisthesonarfirst,thentheDVLandthentheROVGPSantennatotheROV's
accessoryport.Makesuretheconnectionsaresealedusingaterminatordummypluginstalledinthelastconnector.
2.ConnectthehandcontrollertooneoftheUSBportsonthebackofthecontrolpanelordirectlytooneoftheUSBportsonthe
computer.
3.ConnectthefemaleendofthetetherconnectortotheROV.Theconnectorshaveonepinthatisoffsettowardsthecenterof
theconnector.Makesuretheconnectorsareclean,alignthepins,andpushtheconnectorstogetherdonottwistthe
connectors.Securethelockingcollarbyscrewingthehalvestogether,andconnectthestrainreliefcablefromtheROVtothe
braidedstraponthetether.
4.Connectthemaleendofthetethertothecontrolpanel.Whennotinuse,keepthetetherconnectorscleanandprotectedfor
thebestperformanceandreliability.
5.Plugthecontrolpanelpowercordintoaconventionalpowersource(100240VoltsAC,50,60Hz).Powercanbesupplied
throughalandbasedpoweroutlet,generatororbatteryandinverter.SeetheControlPanelsectionoftheEquipmentGuide
forpowersourcerequirements.
PowerOnTests
 Ifthesystemdoesnotpassanyofthefollowingtests,itshouldnotbeuseduntiltheproblemis
identifiedandcorrected.SeetheDiagnosticsandRepairsectionoftheMaintenanceGuideformoreinformation.
TheVideoRayPro4includescircuitsafetycomponent.
TheGFCI(GroundFaultCircuitInterrupter)/CircuitBreaker
TestingtheCircuitSafetyComponents
TesttheGFCI/CircuitBreakerswitch(Thesystemmustbeconnectedtoaworkingpowersourcetoperformthistest.)
1.SettheGFCI/CircuitBreakerswitchtotheOnposition.
2.PressthetestswitchontheGFCI.TheGFCI/CircuitBreakerswitchshouldturnoff.
3.SettheGFCI/CircuitBreakerswitchtotheOnposition.
SetthePowerswitchtotheOnposition.ThegreenPowerOnindicatorlightshouldturnon.IfthegreenPowerOnindicatorlightisnot
on,makesurethesystemisconnectedtoaworkingpowersourceandtheGFCI/CircuitBreakerswitchisturnedon.
StartingVideoRayCockpitControlSoftware
MakesurethesystemisconnectedtoaworkingpowersourceandtheGFCI/CircuitBreakerandPowerswitchesareturnedon.
1.Turnonthecomputerandwaitforthesystemtocompletethebootupprocess.
2.Afterthecomputerhasstarted,startVideoRayCockpitusingthedesktopicon,orbyselectingitfromtheStart>AllPrograms
>VideoRaymenu.
3.WhenVideoRayCockpitstarts,youwillseetheVideoWindow,theControlInstrumentsandtheControlBar.Fornow,youwill
onlyneedtofocusonthevideowindow.SeetheVideoRayCockpitGuidefordetailsaboutusingVideoRayCockpit.

VideoRayCockpitscreenwithsimulatedvideoimageyourimagewilllikelybedifferent.
TestingtheSystem'sFunctions
ThenextstepistoensurethattheessentialfeaturesoftheROVarefunctioningproperly.Usethehandcontrollertoperformthe
followingtests.SeetheHandControllersectionoftheEquipmentGuideformoreinformationaboutusingthehandcontroller.

Testthethrusters
Forthenexttwosteps,donotoperatehorizontalthrustersoutofwaterformorethan30secondstoavoidoverheating
orprematurewearofthecartridgeseals.
1.Gentlymovethejoystickforwardandbackwardandleftandrightthehorizontalthrustermotorsshouldturnthepropellers.
Releasethejoystickitwillreturntocenteronitsown,andthepropellerswillstopturning.
2.RotatetheDepthControlknobtheverticalthrustermotorshouldturnthepropeller.ReturntheDepthControlknobtocenter
toceasetheverticalpropellerrotation.
Testthelights

Forthenexttwosteps,donotleavethelightsonbrightformorethan30secondswhiletheROVisoutofwaterto
avoidoverheating.
1.PressandholdtheLightsBrightbuttontoincreasetheintensityofthelightsthelightsshouldgetbrighter.
2.PressandholdtheLightsDimbuttontodimthelightsthelightsshoulddim.
Testthecamerafunctions
1.PressandholdtheCameraTiltUpbuttonthecamerashouldtiltupsmoothlythroughitsentirerange.
2.PressandholdtheCameraTiltDownbuttonthecamerashouldtiltdownsmoothlythroughitsentirerange.
3.PressandholdtheCameraFocusInbuttonthecamerashouldfocusinsmoothlythroughitsentirerange.
4.PressandholdtheCameraFocusOutbuttonthecamerashouldfocusoutsmoothlythroughitsentirerange.
Ifamanipulatororotheraccessoriesareattached,theseitemsshouldbecheckedatthistime.
GoodAdvice
Thetimetocatchsmallproblemsbeforetheybecomebigproblemsisduringtheprediveinspection.
DiveOperations
Afterallofthepredivechecksandtestshavebeencompletedsuccessfully,youarealmostreadytocommencethedive.But,thereis
onemoreissuetoaddressthatcouldaffecttheperformanceoftheROV.TheROVisdesignedtobeoperatedinanearneutrally
buoyantconfiguration,sothelaststepbeforelaunchingyourVideoRayistocheckthebuoyancy.Formostoperations,thebuoyancy
isoptimalwhenthetopofthefloatblockisevenwiththewatersurfaceandtheROVislevel.IftheROVistobuoyantorheavy,the
verticalpositionmaybehardtomaintainorcontrol.
BuoyancyCheckandAdjustment
Todetermineifthebuoyancyiscorrect,lowertheROVandatleast3meters(10feet)oftetherintothewater.YoucanlowertheROV
bythetetheritwillnothurtthetetherbecausethereisKevlarinit.ObservetheROVinthewateritshouldnotbefloatingtoohighor
sink.Itshouldalsobefloatinglevelandnottippedtoonesideorpitchedupordown.IftheROVfloatstoohigh,youwillneedtoadd
someballastweights.IftheROVsinks,youwillneedtoremovesomeballastweights.IftheROVisnotfloatinglevel,youcanchange
thelocationsoftheweights.
Thebuoyancycanbeadjustedbyopeningtheskidpodsandaddingorremovingthesuppliedballastweights.Toopentheskid
pods,turntheROVupsidedown.Unhooktheretainingoringontheendofthepod,andliftuponthepod.Theweightscanbeadded
toorremovedfromtheslotsbyhand.Formostoperations,theweightsshouldbeevenlydistributed.
Buoyancywillneedtobeadjustedforuseinfreshwaterversussaltwateranddependinguponwhetheraccessoriesareused
withtheROV.
CommencetheDive
OncethebuoyancyhasbeenadjustedtheROVisreadytolaunch.Loweritintothewaterandoperatethecontrolstomaneuverit.
StartwiththeROVonthesurfaceandpushthejoystickforwardslightlytomaketheROVmoveforward.Movethejoystickto
theleftorrighttomakeitturnleftorright.GetafeelforhowagiletheROVis.
ObservethevideodisplayaswellastheROVtobecomeacquaintedwiththecamera'swideanglelensanditsaffectondepth
perceptionunderwater.
OnceyoufeelcomfortablewiththehorizontalmaneuverabilityoftheROV,rotatethedepthcontrolknobtodivetheROV.Tilt
thecameradownasyoudivesoyoucanseetowardsthebottom.RotatethedepthcontrolknobtobringtheROVbacktothe
surface.Tiltthecameraupasyousurfacesoyoucanseetowardsthesurface.
Changethelightssettings,andadjustthecamerafocus.Ifyouhaveamanipulator,tiltthecameradownsoyoucanseeitand
openandclosethejaws.
AsyougetfamiliarwithmaneuveringtheROV,youcanstarttoobservesomeoftheonscreendisplaysincludingthedepth,
heading,camerasettingsandotherdata.
Foryourfirstdives,practiceuntilyouarecomfortableoperatingthecontrolswithoutlookingatthemandyouareabletocontrolthe
ROVwithsomeprecision.
SeetheHandControllersectionoftheEquipmentGuideforcompleteinformationaboutusingthehandcontrollerandseethe
PilotingsectionoftheOperationsGuideformoreadvancedtipsonpilotingthePro4.

PracticeMakesPerfect
DevelopingtheskillstooperateyourCoPilotRIlikeanexpertmaytakesometime.Practicingonaregularbasisishighly
recommended.
PostDiveOperations
Attheconclusionofyourdive,retrievetheVideoRayandpowerdownthesystembyclosingVideoRayCockpit,shuttingdownthe
computerandturningoffthePowerswitch.MakesuretheROVissecurebeforedisconnectingthetether.Afterdisconnectingthe
tether,keepthetetherconnectorscleananddonotletthemdragontheground.
PropermaintenanceofyourVideoRaysystemensuresalongservicelifeandthatitwillbereadytooperatewhenyouare.Aftereach
dive,youshouldvisuallyinspectthesystemfordamagethatmighthaveoccurredduringyouroperation.
VideoRayCockpitincludesanonlineinteractivePostDivechecklist.SeethePostDiveChecklistsectionoftheVideoRayCockpit
Guide
KeepingtheROVcleanisoneofthemostimportantaspectsofgoodpreventativemaintenancepractices,especiallyafterusingit
insaltwater.IfyouuseyourROVinsaltwater,orwaterwithcontaminants,youshouldfirstrinseit,andthensoakitincleanfresh
waterforatleastonehalfhour.AftercleaningtheROVandtether,theyshouldbeallowedtoairdrybeforebeingputawayfor
storage.
FailuretoproperlymaintaintheROVbythoroughlycleaningitafterusemaydramaticallyreduceitsservicelife.
Debriefing
Congratulations!YouarewellonyourwaytobecominganaccomplishedmicroROVoperator,buttherearestillmanythingstolearn
andskillstomaster.Continuelearningaboutthesystembyreviewingtheadditionalsectionsofthisdocumentationand,most
importantly,practice,practice,practice.
Ifyouencounteredanydifficultiesorhaveanyquestions,reviewtheseQuickStartInstructionsandtheotherdocumentationthat
camewithyoursystem,includingtheEquipmentGuideandMaintenanceManual.Ifyoustillhavedifficultyorquestions,contact
VideoRay.Yoursuccessisoursuccess,andweareheretohelpyougetthemostoutofyourVideoRay.
VideoRaycontactinformationisavailableontheAboutthisDocumentationpage.
ReadytoLearnMore?
Toaccelerateyourlearningandreceiverecognitionforyourknowledgeandskills,VideoRayoffersinpersonclassesandonline
trainingaswellastheMicroROVUserCertificateprogram.Trainingcanbedeliveredatyoursiteandcustomizedtoyourneeds.To
learnmoreabouttheseopportunities,clickonthetraininglinkabovetovisittheVideoRayEducationalResourceswebsite.

Gallery
CoPilotRIOperator'sManual,2.00.00
Requirements
Specifications
CoPilotRIfeaturesandspecificationsaresubjecttochangewithoutnotice.
ProductNews
Seewww.videoray.comforthemostuptodateproductinformation.

Gallery
CoPilotRIOperator'sManual,2.00.00
CoPilotRIGlossary
DPDynamicPositioningthestateofCoPilotRIinwhichthesystemiscontrollingthemotionoftheROV.
DVLDopplerVelocityLoganacousticsensorinstrumentthatcanbeusedtotrackvehiclespeedandrelativedirection.
IdentifyTheprocessofdeterminingtheidentity,natureorsignificanceofatarget.
NudgeBoxAtoleranceindicatoronthescreenthatrepresentstheareaofproximityaroundtheROV.Iftheobjectivelocationis
withinthisnudgebox,theROVisconsideredinposition.
ObjectiveLocationThedesiredlocationtowhichtheROVisbeingguidedmanuallyorautomatically.
ReacquireTheprocessofsendingtheROVtothelocationofatarget,markerorpointofinterest.
TargetAsonarreturnthatrepresentsaknownorpotentialobjectofinterest.
VirtualMachineAnalternateoperatingenvironmentotherthanthenativeoperatingsystemonancomputer.

Gallery
CoPilotRIOperator'sManual,2.00.00
EquipmentGuide
VideoRayCoPilotRIrequiresthatthePro4ROVisequippedwithaDopplerVelocityLog(DVL)anROVGPSAntennaanda
BlueViewP900Sonar.Thesecomponentsaredescribedinmoredetailinthefollowingsections.
ROVSystem
ThebasesystemforaCoPilotRIconfigurationincludestheVideoRayPro4.FormoreinformationabouttheVideoRayPro4,seethe
VideoRayPro4Operator'sManual.
Sonar
Forwardlookingimagingsonarprovidesextendedvisualrangecapabilities.Possibletargetsofinterestcanbeobservedand
marked,andthesystemcannavigatetothemmanuallyorautomatically.
DVL
TheDVLisusedtokeeptrackofthevehicle'slocationwhileitisunderwater.Itusesanarrayofacousticbeamstotrackitscourse
overtheseafloorinalocalcoordinatesystem.
GPS
TheROVGPSAntennaprovidesamethodtoidentifythevehicle'slocationwithinaglobalreferenceframe.GPSisnoteffective
underwater,sotheGPSAntennaonlyworkswhentheROVisonthesurface.PeriodicGPSfixescansupplementtheDVLtracking.

Gallery
CoPilotRIOperator'sManual,2.00.00
SoftwareGuide
ProgramStartupProcedure
CoPilotRIsoftwarerequiresthatVideoRayCockpitbeoperating.FormoreinformationaboutthePro4andVideoRayCockpit,see
thePro4Operator'sManual.
ToaccesstheCopilotRIoperatingenvironment,makesureVideoRayCockpitisrunningandtheROVisoperating,thenclickonthe
CoPilotbuttonontheVideoRayCockpitcontrolbar.
ThiswillstartaVirtualMachine,whichwillappearonthesecondmonitorbydefault.Onthe"desktop"ofthevirtualmachine,thereis
aprogramiconfortheCoPilotRIprogram.DoubleclicktheCoPilotRIicon(orrightclickandselect"Open")tostartCoPilotRI.
InterfaceOverview
TheVideoRayCoPilotRIinterfacepresentstheuserwithanoverviewoftheROV'sstatusanditspositioninthenavigationchart.The
overalllookofthepilotinterfaceisdesignedtobeeasytoreadandintuitivetouse.
TheVideoRayCoPilotRIinterfaceconsistsofthefollowingsections:

TheVideoRayCoPilotRIinterfaceconsistsofthefollowingsections:
NavigationChartDisplay
WaterColumnDisplay
FlightStatusPanel
FlightControlsPanel
MarkersPanel
StatusIndicators
AlarmIndicators
OperationalSupportTools
Eachofthesesectionsaredescribedinmoredetailinthefollowingpages.
NavigationChartDisplay
Thenavigationchartdisplayisthemainpanelinthepilotinterface.ItallowstheusertomonitorthepositionoftheROVinrealtime.It
isalsopossibletousethenavigationchartdisplaytogeneratepilotcommandsfortheROVbyselectingcoordinatelocationswitha
mousewheninanAutoFlymode.Forexample,wheninAUTOFLYClickandGomode,aleftbuttonmouseclickinthisdisplay
generatesanewpositionrequestfortheROV,andarightbuttonmouseclickgeneratesanewheadingrequest.Thebackgroundof
theNavigationChartDisplaycanbeeitheragridorachart.Asonarimageoverlaycanalsobedisplayedfortargetrecognitionand
locationdetermination.
ThenavigationchartdisplaysaplanviewoftheROVandthesurroundingarea.TheROVpositioniscalculatedbyVideoRayRI
CoPilot'snavigationsystemtheaccuracyofwhichdependsonthefrequencyandqualityoftheabsolutenavigationfixes.The
displayisalwayscenteredontheROV,soitwillappearasifthegridorchartismovingundertheROV.
Bydefault,magneticnorthisuponthescreen.TheROVwillrotateinthecenterofthescreentoreflectthecurrentROVheading.

Bydefault,magneticnorthisuponthescreen.TheROVwillrotateinthecenterofthescreentoreflectthecurrentROVheading.
Otherviewingmodesareavailable,seethevieworientationsectionoftheOperationsSupportToolsformoreinformation.
TheROVisrepresentedbyabluerectanglewithalineprojectinginthedirectiontheROVheading.Othergeneralinterfaceelements
include:
RedDotsAbreadcrumbtrailofreddotsindicatingthepaththattheROVhastakencanbedisplayed.
RangeandBearingTherangeandbearingfromtheROVtothepositionindicatedbythemousecanbedisplayed.
TurnscountThenumberofturnstheROVmakesoveritsownaxisisdisplayedontheleftsideofthenavigationchart
display.Aclockwiseturnisrepresentedbyapositivevalue,andancounterclockwiseturnisrepresentedbyanegative
value.
Thenavigationchartdisplayisalsoresponsiblefordisplayingheadsupmessagesandautoflightindicators.Theautoflight
indicatorscanhelptheoperatorunderstandwhatthesystemisdoing.
"DPStandby"messageThesystemdoesnothavesufficientsensordatafortrackingandcannotinitiateanautoflightmode.
"Offline"messageTheofflineplanningmodeisactive.TheOfflineplanningmodeallowssurveystobecreatedand
simulated.
RedCrossTheObjectiveLocation,whichindicatesthelocationtowhichCoPilotwillattempttonavigatetheROVwhileinan
autoflightmode.
YellowLineTheObjectiveHeading,whichindicatestheheadingtowhichCoPilotwillattempttoturntheROVwhileinan
autoflightmode.
RedLineConnectsthelocationoftheROV(atthemomentwhenautoflightisinitiated)withtheObjectiveLocationdefined
bytheoperator.
GreenLineConnectsthecurrentlocationoftheROVwiththeObjectiveLocationwhenautoflightisinprogress.Thisline
updatescontinuouslyuntiltheObjectiveLocationisreached.
InPositionToleranceIndicator(NudgeBox)AgrayboxdisplayedaroundtheROV.IftheObjectiveLocationiswithinthis
box,theROVisconsideredInPosition.ThisboxisonlydisplayedwhenthemouseishoveredoverthebluerectangleROV
indicator.
BlueLinesIndicateaplannedsurveyroute.
SurveyWaypointNumbersIndicatethesequenceinwhichthesurveywaypointswillbevisited.
BlueDotsMarkers.
YellowDotSelectedmarker.
NavigationChartDisplayZoomScaleControl
Thenavigationchartdisplayzoomscaleallowstheusertochangetheviewableareaanddisplayedsizeofobjects.Thescaleofthe
viewableareaismeasuredfromthecenteroftheviewtotherightorleftedgeoftheviewablearea.Thescalesaresettopredefined
valuesof2m,upto50,000m(ortheirequivalentvaluesinfeet).
WaterColumnDisplay
Thewatercolumndisplayispositionedontherightsideoftheinterface.Itallowstheusertovisualizethedepth
andaltitudeabovetheseabed(ifavailable)oftheROVinthewatercolumn.TheROVremainsinthecenterof
thedisplayatalltimes.Aleftbuttonmouseclickinthisdisplaygeneratesanewdepth/altituderequestforthe
ROV.Arightbuttonmouseclickhasnoeffectinthisdisplay.
Thewatercolumndisplaycanbeoperatedineitherdepthoraltitudemode.ThisoptionallowstheROVto
remainataconstantuserdefinedvalue.Indepthmode,theROVwillmaintainthespecifieddepthoftheROV
relativetotheseasurface;inaltitudemode,theROVwillmaintainthespecifiedaltitudeoftheROVrelativeto
theseabed.Thedepth/altitudemodecanbechangedbyclickingonthebuttonatthetopofthewatercolumn
display.Forexample,ifthebuttonindicatesthatthedisplayisin"Depth"mode,itwillchangeto"Altitude"when
selected.
WhileinAUTOFLYorCRUISEmode,theusercancontroltheROV'sZaxis(Heave)byleftclickingatthe
desiredobjectivedepthoraltitude.TheROVwillthenascendordescendtothespecifieddepthoraltitude,
dependingontheselecteddisplaymode.
Theseasurfaceisdisplayedincyanandtheseabediconinyellow.Thecurrentdepth/altitudeisrepresented
byanarrowthesamecolorastheROVandtheobjectivedepth/altitudeselectedbytheuserisrepresentedby
anarrowthesamecolorasthetargetwaypointinthenavigationchart.
WaterColumnDisplayZoomScaleControl
ThewatercolumnzoomscaleallowstheusertochangetherangeofviewaboveandbelowtheROV.The
ROVisalwaysatthecenterofthewatercolumndisplay;thewatersurfaceandseabedarealsodisplayedbut
moveaccordingtothecurrentdepthandaltitudeoftheROV.Thezoomscaleoftheviewableareaismeasured
fromthecenterofviewtothetoporbottomoftheviewablearea.Thescalesaresettopredefinedvaluesof
2m,5m,10m,20m,50m,100m,200m,500mand1000m(ortheirequivalentvaluesinfeet).

FlightStatusPanel
TheFlightStatusPanelisdisplayedintheupperleftoftheinterface.Itprovidesrealtimeinformationaboutthepositionand
movementoftheROV.