Xeos Technologies Inc. Hades User manual

Hades User Manual
SUBMERSIBLE GNSS / LED FLASHER
Version 1.0
December 2020

Hades User Manual Version 1.0 2
Shipped From
Contact Us
Email
[email protected]
Phone
[phone]
Fax
[phone]
Website
www.xeostech.com
Specifics
This manual version is written with respect to Hades firmware build 6458. If you wish to acquire
the latest firmware for your device, contact [email protected]
Version History
Regular checks for the latest manual are suggested. Be sure to check Xeos Technologies’ manuals
page to compare versions and download the latest version.
Version No.
Date
Description
1.0
Dec 2020
Base document, split from Hades Manual

Hades User Manual Version 1.0 3
Table of Contents
Shipped From.................................................................................................................................. 2
Contact Us....................................................................................................................................... 2
Specifics........................................................................................................................................... 2
Version History................................................................................................................................ 2
Overview......................................................................................................................................... 5
Hades Operation............................................................................................................................. 5
Using the Magnetic Switch......................................................................................................... 5
Operational Tips......................................................................................................................... 6
Installation.................................................................................................................................. 6
Hades Communication.................................................................................................................... 7
RS-232 Connection..................................................................................................................... 7
Diagnostic State..................................................................................................................... 7
NMEA Output............................................................................................................................. 7
Operation............................................................................................................................... 8
1-PPS Output .............................................................................................................................. 8
Xeos Beacon Bluetooth App....................................................................................................... 9
Acquiring Firmware Version ......................................................................................................... 10
Resetting the Device ..................................................................................................................... 10
Restoring Factory Defaults............................................................................................................ 10
Strobe Configuration..................................................................................................................... 11
Strobe Number and Interval .................................................................................................... 11
Underwater Strobing........................................................................................................... 11
Strobe Disable .......................................................................................................................... 12
Semi-permanent Disabling .................................................................................................. 12
Timed Disabling ................................................................................................................... 13
Disabling the Magnetic Switch...................................................................................................... 13
The Hades’ Sensors....................................................................................................................... 14
Water Sensing .......................................................................................................................... 14
Light Sensing............................................................................................................................. 15
Tilt Sensing ............................................................................................................................... 16
Bluetooth ...................................................................................................................................... 17

Hades User Manual Version 1.0 4
Firmware Updates......................................................................................................................... 18
Updating via Bluetooth ............................................................................................................ 18
Updating via Serial ................................................................................................................... 20
Requirements ...................................................................................................................... 20
Process................................................................................................................................. 20
After Updating –Bluetooth Name ........................................................................................... 22
Troubleshooting............................................................................................................................ 23
Appendix A: Technical Specifications ........................................................................................... 24
Appendix B: Pinouts...................................................................................................................... 25
Appendix C: Engineering Diagrams............................................................................................... 26
Appendix D: Legacy Features........................................................................................................ 27
Magnet On/Off Procedures (Pre-6411) ................................................................................... 27
Warranty, Support and Limited Liability....................................................................................... 28

Hades User Manual Version 1.0 5
Overview
The Hades is a submersible GNSS receiver and LED flasher, designed to provide position to an
AUV and surface visibility for recovery. It is a main-source powered, integrated remote head
portion of a beacon that does not include Iridium capabilities. Track the asset’s position as it
surfaces and is provided a location by the Hades. The GNSS module also allows the user to track
the path taken by the asset and a velocity at which it is traveling. The GNSS and LED combo
provides a multi-dimensional recovery aid which delivers unparalleled visibility in even the worst
conditions.
A descendant of the Hades beacon, the Hades is fully submersible and has been rated to 7,500m
(11,000 m option available) below surface. The solid-state surface sensor provides a measure of
reliability unavailable in mechanical methods.
See www.xeostech.com for details or call [phone].
Hades Operation
The Hades is designed to run with as little user-input as possible. NMEA operation will begin
approximately 30 seconds after power has been connected, however the time to first fix (TTFF)
can vary, with most cases generating a TTFF of 30 –60 seconds.
Using the Magnetic Switch
While the Hades can be turned on and off by simply removing power, this is not always a feasible
option. The Hades beacon can turned on or off via an external magnet near an internal magnetic
reed switch, and operation can be identified by viewing the LED through the top of the Hades.
To turn the Hades on, press the magnet against the glass ring for a 1/2 second and then remove
it for a 1/2 second. Do this twice, and the Hades will respond by showing a dim LED, then a bright
LED, followed by several flashes (self-test period) before strobing begins normally.
To turn the Hades off, repeat the above procedure with the magnet. Contact with the magnet
will show the bright solid LED, and after two taps, will show a bright LED, followed by a dim LED
before turning off. For Hades using firmware lower than build 6411, see below.
Note: If after turning the Hades ON, the self-test period described above lasts noticeably longer
than 10 seconds, this indicates a SELF-TEST FAILURE. Contact [email protected] if this
occurs.
ON/OFF Magnetic Switch

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Operational Tips
It is important to let all LEDs stop illuminating before initiating another action.
Cycling power for any reason, such as using the magnetic switch or removing the bottom
end cap, will initiate start-up mode.
The beacon requires a good view of the sky for any test. It is necessary that any tests be done
outside of a building, far from potential obstructions.
Installation
When installing the Hades there are several factors that can influence performance.
The Hades’head should be pointing toward the sky.
GNSS performance may suffer if large angles of the horizon are blocked, such as if the Hades
is next to a wall.
Do not use conductive material at the top of the Hades around the glass lens; this will cause
the water sensor to fail.

Hades User Manual Version 1.0 7
Hades Communication
There are four methods of communication associated with the Hades:
1. Locally over the RS-232 connection for diagnostic command and control
2. NMEA output from Hades
3. Pulse per second (1-PPS) output from the Hades
4. Locally with Bluetooth
For local connections, see the Pinouts near the end of this document.
RS-232 Connection
The Hades has a diagnostic RS-232 port with which users can send commands to the Hades for
command and control, as well as receive responses to those commands. Limited NMEA data can
be also be streamed from this port if the diagnostics are off, or full NMEA data can be streamed
if diagnostics are turned on for a limited time.
Port settings for the RS-232 diagnostic port are as follows:
Baud Rate
57.6k
Parity
None
Data Bits
8
Stop Bits
1
All commands sent to the Hades must begin with a dollar sign ($) and end with a carriage return,
line feed, or both.
Diagnostic State
On start-up, diagnostics will be disabled on the Hades, but can be enabled by issuing the
command $diag 1, and disabled with $diag 0 (this also applies when communicating via
Bluetooth, but is handled by the application on connection). The Hades will accept commands
and send appropriate responses in either “diag” state, but not stream more detailed diagnostic
data when diagnostics are off with the exception of some NMEA sentences (GGA and VTG) if that
setting is enabled and running.
NMEA Output
The Hades is outfit with a dedicated serial output line, to provide continuous NMEA-0183 updates
to a connected device. The port settings of this line are:
Baud Rate
9600
Parity
None
Data Bits
8
Stop Bits
1

Hades User Manual Version 1.0 8
GNSS updates can include both NMEA sentences and a connection to the GNSS receiver’s PPS pin
(if pin availability allows). Enabled NMEA Strings include:
PSRFEPE
Estimated position errors
GGA
Fix information
GNS
GNSS Fix Data
GLL
Geographical Position-Latitude/Longitude
GSV
GNSS Satellites in View
ZDA
UTC Date/Time and Local Time Zone Offset
RMC
Recommended Minimum Specific GNSS Data
VTG
Course over Ground and Ground Speed
The above sentences may come with Talker IDs of GP (GPS) GL (GLONASS) or GN (Global
Navigation/Multi-constellation).
Operation
The Hades’GNSS receiver will initialize approximately 30 seconds after power-up, provided other
tasks are not currently underway, such as a Bluetooth connection.
If the device has recently submerged but not yet entered Underwater Mode, NMEA will be on,
but not have useful data if the device cannot see GNSS constellations.
The Hades will also output NMEA sentences from the regular diagnostic line. When diagnostics
are on, all sentences are output. When diagnostics are off, only GGA and VTG sentences are sent.
If NMEA is to be turned off immediately, over serial, use the command:
$pwr g 0
To resume NMEA streaming, issue the command:
$pwr g 1
1-PPS Output
1-PPS is a one pulse per second signal which is enabled after the receiver has achieved a position
fix. Using the falling edge of the pulse to indicate the time mark, this time mark is within 1 μs of
epoch and normally within 100 ns. Pulse width is 250 ms.
The 1-PPS output is disabled 5 seconds after the position fix becomes invalid, such as when the
Hades is underwater.

Hades User Manual Version 1.0 9
Xeos Beacon Bluetooth App
Select Xeos products can be configured locally using the Xeos Beacon Android App. This method
of communication requires no disassembly.
The Bluetooth app allows for communication, configuration, logging and firmware updates. A
detailed document on how to use the application can be found here.
See the Bluetooth section for Bluetooth functionality as it pertains to the Hades.

Hades User Manual Version 1.0 10
Acquiring Firmware Version
The $ver command will return a summary of both firmware and hardware versions. This is
useful when verifying if the version in the device is the latest version:
Apollo_NMEA v1.27-6458. dev:6 Hw:3.1-0 SN=274 IMEI: GPS: IRD:
Reset: Count=6, Current=(S), Prev=(cleared)
Version Readout
Firmware Version
Product; Major, minor, build of firmware
Hardware Revision
Hardware revision, set during assembly
Serial
The unit’s serial number
GPS Firmware Version
Firmware version of GPS chip
Iridium Version
Firmware version of Iridium modem (Not Applicable)
Reset Count
The number of resets since firmware was uploaded
Current
Cause of last power off
Previous
Cause of previous power off, not used in Hades
Resetting the Device
In the event the device requires a soft reset, the command
$resetnow
Will restart the device and wipe non-persistent settings (magnet/strobe time disabling,
diagnostic state).
Restoring Factory Defaults
In the event the device requires a restoration of default settings, the command
$factorydefaults
Will restart the device and wipe all settings changed from the original configuration.

Hades User Manual Version 1.0 11
Strobe Configuration
Strobe Number and Interval
There are two parameters available for configuring the Hades’flasher, the period and the pulse
count. At default settings, the Hades’LED will flash twice every ten seconds, each LED pulse lasts
for 50 milliseconds
The period setting determines the number of seconds between flashes, while the pulse count
determines the number of pulses with each flash. Both parameters are set using the following
command:
$strobe [number of pulses] [period in seconds]
The number of pulses can be up to 4, while the period is limited to a maximum 60 seconds. This
command is written as:
$strobe XY
Example
Command
Pulse Number
Strobe Interval
1
$strobe
1
20
2
$strobe
2
50
Sending the commands in Example 1 would set the flasher to pulse once for 50ms every 20
seconds. While Example 2 would set the flasher to pulse 2 times every 50 seconds.
A response from the Hades would be as follows, using Example 1:
Flsh:strS=20;strN=1;strFlshUW=n
Underwater Strobing
By default, the Hades’strobe discontinues flashing once the device is submerged. This can be
changed to flash continuously regardless of submergence by issuing the command:
$StrFlshUw 1
Which yields the following response:
Flsh:strS=20;strN=1;strFlshUW=Y
The opposite setting is restored by sending:
$StrFlshUw 0
Which consequently yields this response:
Flsh:strS=20;strN=1;strFlshUW=n

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Strobe Disable
Semi-permanent Disabling
Some users may prefer to disable the Hades’strobe regardless of environment. To disable the
regular operation of the strobe, issue the following command:
$switch B 0
Which will prompt the following response on the diagnostic port:
Switch: Y = ULG, N = TB
User Enable / Disable Settings: (Switch)
e.....UnderwaterMode(U): YES
e..............Light(L): YES
e................GPS(G): YES
e......Tilt Activate(T): no
e.............Strobe(B): no
To re-enable the strobe, issue:
$switch B 1
Which will yield the same response in the affirmative for the Strobe feature:
Switch: Y = ULGB, N = T
User Enable / Disable Settings: (Switch)
e.....UnderwaterMode(U): YES
e..............Light(L): YES
e................GPS(G): YES
e......Tilt Activate(T): no
e.............Strobe(B): YES
With this feature, the strobe will not pulse according to its settings according to the $strobe
command. The strobe will only illuminate if the magnetic reed switch is acted upon, as the LED is
the visual aid used to indicate the Hades’power status.
Using the $switch method to disable the strobe is saved in memory. This means the strobe will
remain in a disabled state through resets unless commanded otherwise.

Hades User Manual Version 1.0 13
Timed Disabling
If there is a need to disable the strobe temporarily, $StrDisbl can be used to disable the feature
in the following ways:
$StrDisbl 1
Disables the Strobe for 1 hour
$StrDisbl 0
Enables the Strobe immediately (Default strobe setting is ENABLED)
$StrDisbl 1 6h
Disables the Strobe for 6 hours
The Maximum time the strobe can be disabled is 24 hours ($StrDisbl 1 24h) which would yield
this response:
Strobe disabled for 1d00:00:00
Disabling the Magnetic Switch
To avoid inadvertent triggers of the magnetic switch, $MagDisbl can be used to disable the
feature in the following ways:
$MagDisbl 1
Disables the Magnetic Switch for 1 Hour
$MagDisbl 0
Enables the Magnetic Switch (Default switch setting is ENABLED)
$MagDisbl 1 6h
Disables the Magnetic Switch for 6 hours
The maximum time the magnetic switch can be disabled is 24 hours ($MagDisbl 1 24h) which
would yield this response:
Magnet disabled for 1d00:00:00

Hades User Manual Version 1.0 14
The Hades’ Sensors
Water Sensing
The Hades’water sensor is used to detect a change
from underwater to surface. The sensor measures
capacitance between the antenna and electronics head,
based on the dielectric constant of either air or water.
The Hades’water sensor will make continuous checks
as to its surfaced state. Once submerged, the device’s LED will no longer flash (by default).
Once the water sensor measures that the Hades is above water, strobing of the LED will resume,
provided the area is dark enough. At no point will the Hades discontinue NMEA streaming,
though there will only be valid data at the surface.
The Hades’water sense mechanism is programmatically set to operate optimally in salt water
environments. To operate the device in fresh water, the water sense threshold value must be
increased to trigger a water sense surfacing event.
To change the water sense threshold, use the following commands in order:
$engmode 2009
$wsthresh X
Where Xis the new value of the threshold.
The water sense reading has to be lower than the threshold number when submerged, and
higher than the threshold number when surfaced for surfacing to take place. Fresh water
environments can vary in the reading given, therefore testing should be done ahead of fresh
water deployments to ensure proper operation.
The water sense reading can be interrogated via a Bluetooth connection via the $wsr command.

Hades User Manual Version 1.0 15
Light Sensing
The Hades’light sensor measures illuminance every 15 seconds. If the light level is below the set
threshold, the strobe will begin flashing according to its Strobe settings.
The light sensor can be disabled so the Hades treats the environment as permanently dark, or
permanently light using the following command:
$switch L 0
Which will yield this response for the Light feature:
Switch: Y = UGB, N = LT
User Enable / Disable Settings: (Switch)
e.....UnderwaterMode(U): YES
e..............Light(L): no
e................GPS(G): YES
e......Tilt Activate(T): no
e.............Strobe(B): YES
Care must be taken when disabling the light sensor; upon disabling, the LED will take on the
characteristics based on the last light sensor reading. It is suggested to reset the device after
disabling the light sensor if permanent strobing is desired.

Hades User Manual Version 1.0 16
Tilt Sensing
The Hades’tilt sensor takes an accelerometer reading every 15 seconds when enabled (disabled
by default). If the Hades is tilted beyond its threshold, the Hades not will strobe until returning
to an upright position. The Hades does not stop running NMEA while inverted.
To activate the Hades’tilt capability, use the command:
$switch T 1
Which will yield the response in the affirmative for the Tilt feature:
Switch: Y = ULGTB, N =
User Enable / Disable Settings: (Switch)
e.....UnderwaterMode(U): YES
e..............Light(L): YES
e................GPS(G): YES
e......Tilt Activate(T): YES
e.............Strobe(B): YES

Hades User Manual Version 1.0 17
Bluetooth
The Hades has integrated Bluetooth hardware to facilitate local communication with the user for
configuration, flash memory dumps and firmware upgrades via the Xeos Beacon Android App.
The Hades’Bluetooth will advertise after a successful self-test pass using a Bluetooth name set
at the factory. By default, advertisement will only run for the first 5 minutes after power-up
and/or reset. After this time, the device will need to either be reset, or the Bluetooth power-on
command ($btpwr 1) must be sent to the device over the RS-232 port for Bluetooth to resume
advertising.
If the Bluetooth power-on command is received, the Hades will always advertise its name for
connection (except when in underwater mode) until the Bluetooth power-off ($btpwr 0)
command is received. If the Bluetooth was commanded on, Bluetooth will also advertise while
the device is off.
Since the Bluetooth in the Hades shares the same antenna as GNSS, connection can be
interrupted if NMEA is engaged.

Hades User Manual Version 1.0 18
Firmware Updates
Hades can be updated using the Xeos Beacon Bluetooth App. This application requires an
Android device to operate. It is important to disable NMEA ($pwr g 0) while doing so as the
integrated antenna is required.
Hades can also be updated using their diagnostic Serial Port.
Updating via Bluetooth
Connect to the device using the Bluetooth App while the device is on by selecting its name from
the menu when it appears. You will be brought to the Status Page.

Hades User Manual Version 1.0 19
Navigate to the FWUpdate Page. Here, the build version of your device will be compared with
that offered by the application. If the versions differ, an update can be chosen.
Press Update to begin the process.
The application will upload a new firmware image at 500 bytes per second, showing a progress
bar. Once the upload is complete, reset the device. The device will perform a firmware upgrade
on its next power-up. If the update is interrupted for any reason, simply restart the process.

Hades User Manual Version 1.0 20
Updating via Serial
Using the RS-232 port on the Hades, firmware can be updated.
Requirements
Use of a computer running some version of Windows OS
oSTerm Terminal Emulator Program
A method of powering the Hades
RS-232 to PC cable
Hades firmware package
Process
1. Power the Hades.
2. Connect the RS-232 cable to the Hades’ diagnostic output.
3. Take note of the COM port number in Control Panel → Device Manager
In this case: COM 7
4. Extract the contents of the zipped folder to a location of your choosing:
a. STerm.exe
b. Firmware .bin file
5. Open STerm and connect to the COM port of the Hades using these settings in the bottom-
right corner of the window:
Baud Rate
57.6k
Parity
None
Data Bits
8
Stop Bits
1
6. Click Open Port
7. Commands can be sent to the Hades on the bottom-left. Send a ver command to the device
to confirm communication is established.
All commands to Xeos devices start with a dollar sign ($) but STerm automatically
adds this to all commands.
Aver command will print out the product type and firmware version currently
installed in the device.