Xeos Rover-X User manual

Rover-X User Manual
Surface Iridium Satellite Beacon with GPS Location
Version 1.0
January 2023

Rover-X User Manual Version 1.0 2
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Contact Us
Email
[email protected]
Phone
[phone]
Fax
[phone]
Website
https://xeostech.com/
Specifics
This manual version is written with respect to Rover-X firmware build 11743. If you wish to
acquire the latest firmware for your device, contact [email protected]
Version History
Version No.
Date
Description
1.0
Jan 2024
Original Document
Regular checks for the latest manual are suggested. Be sure to check Xeos Technologies’
manuals page to compare versions and download the latest version.

Rover-X User Manual Version 1.0 3
Table of Contents
Overview......................................................................................................................................... 5
Preliminary Setup............................................................................................................................ 5
Outside Diagram......................................................................................................................... 5
Setting up an Iridium Account.................................................................................................... 6
Quickstart........................................................................................................................................ 7
Rover-X Operation .......................................................................................................................... 8
Using the Magnetic Switch......................................................................................................... 8
Operational Tips......................................................................................................................... 8
Installation.................................................................................................................................. 8
Messages from the Rover ............................................................................................................... 9
Version ....................................................................................................................................... 9
Unlock......................................................................................................................................... 9
Position Message ..................................................................................................................... 10
Compressed Binary Position (Type GC) ............................................................................... 10
ASCII Position (Type AG)...................................................................................................... 11
Default Message (Type DM)..................................................................................................... 11
Watch Circle Parameters (Type WC)........................................................................................ 12
Communicating with the Rover-X................................................................................................. 13
Sending Commands Using XeosOnline .................................................................................... 13
Setting up to Send ............................................................................................................... 13
Sending Commands via Email .................................................................................................. 14
Command Format................................................................................................................ 14
The Unlock Code.................................................................................................................. 15
Sending the Command ........................................................................................................ 15
Xeos Beacon Bluetooth App..................................................................................................... 15
The Rover-X’s Scheduler ............................................................................................................... 16
Rover-X Tasks ........................................................................................................................... 17
Rover-X Timer Modes............................................................................................................... 18
Default Timer Settings.............................................................................................................. 19
Timer Command....................................................................................................................... 20
Changing the Timers................................................................................................................. 20

Rover-X User Manual Version 1.0 4
Watch Circle.................................................................................................................................. 21
The Rover-X’s Sensors................................................................................................................... 22
Tilt Sensing ............................................................................................................................... 22
Bluetooth ...................................................................................................................................... 22
Commands Summary.................................................................................................................... 23
Deployment of the Rover.............................................................................................................. 23
Maintenance................................................................................................................................. 24
Batteries ................................................................................................................................... 24
Choosing Batteries............................................................................................................... 24
Adding/Replacing Batteries................................................................................................. 24
O-Rings ..................................................................................................................................... 25
Recovery and Storage .............................................................................................................. 26
Troubleshooting............................................................................................................................ 27
Self-Test Failure Codes.................................................................................................................. 29
Appendix A: Technical Specifications ........................................................................................... 30
Appendix B: Supplemental Messages........................................................................................... 31
System Information Message................................................................................................... 31
Switch Response....................................................................................................................... 31
Appendix C: Engineering Diagram ................................................................................................ 32
Appendix D: Raw Iridium Information.......................................................................................... 33
Iridium Doppler position .......................................................................................................... 33
Global Positioning System........................................................................................................ 34
Warranty, Support and Limited Liability....................................................................................... 35

Rover-X User Manual Version 1.0 5
Overview
The Rover-X Surface Iridium satellite mooring location beacon is intended for providing regular
location information on high value assets at the surface, drifting or moored.
Rover-X makes use of the bi-directional, global, real time Iridium Satellite Short Burst Data
(SBD) network in combination with GPS position location. Rover-X’s sleek tubular design and
internal dual Iridium/GPS antennas located at each end allow it to be easily retrofitted into a
variety of surface mounts. Even surface installations which capsize may be able to transmit
location information.
Inside the Rover-X is a 9603 Iridium satellite Short Burst Data core radio transceiver, a
specialized low power Xeos digital controller with GPS and Iridium hardware. After being
activated, the Rover-X is deployed at the surface and begins sending location messages as per
the user settings. The internal battery pack provides over 1500 messages.
Rover-X is intended for surface deployments and should not be deployed in situations which
exceed 100m in depth. Xeos Technologies Inc. (Xeos) manufactures other specific products for
either surface, or subsurface applications to depths of 11,000m.
See xeostech.com for details or call [phone].
Preliminary Setup
Outside Diagram
1
The LEDS of the Rover-X are located here. LEDs illuminate on magnet contact, power-up
and Bluetooth connection
2
The top Iridium and GPS antennae of the Rover-X are located here
3
The magnet switch for turning the Rover-X on and off is located behind the label
4
The 15-digit IMEI of the Rover-X’s Iridium modem and factory serial number is displayed
5
A QR code is available to scan to download the manual on new devices
6
Two sealing O-rings are located in the middle of the Rover-X. This is where the device is
opened to install batteries
7
The bottom Iridium and GPS antennae of the Rover-X are located here, used when
inverted

Rover-X User Manual Version 1.0 6
Setting up an Iridium Account
Rover-X makes use of the Iridium Satellite Systems’ Short Burst Data (SBD) service for the 9603
transceiver. This service is a global (including the Polar Regions), two-way, real-time and email-
based data delivery service with a maximum outbound (from beacon) message size of 340 bytes
and a maximum inbound (to beacon) message size of 270 bytes.
Rover-X end users must set up an approved data delivery account with their preferred service
provider. This can only be done once Xeos has provided the user with an International Mobile
Equipment Identity (IMEI) number, on the label of each device. Each modem has a unique IMEI
that must be registered with the Iridium service provider. Xeos Technologies is one such
provider, able to provide Iridium SBD data service and accounts. Please contact
[email protected] for more information. Each IMEI is capable of being associated with
up to five (5) unique email or IP addresses.
Rover-X makes use of a simple and robust binary protocol as the default outgoing message
format. Any email application can be used to send and receive messages with the Rover-X,
however, the messages from the Rover-X in this format are not human-readable.
XeosOnline is a web-based monitoring system which allows users to view and manage
information from their Xeos beacons on a mapping system, as well as view the messages in a
human-readable format. Sending messages and changing configuration of your devices can also
be completed through this service. XeosOnline also allows for the creation of multiple kinds of
message forwarders which can forward specific (or all) messages to a group of email addresses
in a human-readable form.
See xeostech.com for more information.

Rover-X User Manual Version 1.0 7
Quickstart
Before using the Rover
•Ensure the IMEI of your device is activated through your chosen Iridium
provider and intended message recipients are added to its account
ahead of deployment.
Power-Up
Battery Installation
The Rover-X automatically turns on once all batteries are installed. The device
must be turned off via magnet or battery removal.
Magnet
•Swipe the magnet along the SWIPE ON/OFF HERE label horizontally until
the GREEN LED on the top of the device is shown. The green LED will
flash again while the device completes power-up.
Confirm Transmission
•Turn the device on and place it outside in view of as much of the
sky as possible.
•The unit will transmit power-up messages then one position
every 10 minutes at default settings within 5 minutes of power-up
for one hour.
•Confirm that these messages are being received via email and/or XeosOnline.
Operation
•When deploying the unit, power it up by swiping the magnet.
•Once the unit is confirmed to be on, it is ready to be deployed.
•Turn the Rover-X OFF using the same magnet method as turning ON, with the RED LED
in place of the green.

Rover-X User Manual Version 1.0 8
Rover-X Operation
Using the Magnetic Switch
The Rover-X beacon is turned ON and OFF using a magnet swiped
near an internal magnetic reed switch, and operation can be
identified by viewing the LED through the top of the Rover-X.
To turn on the Rover-X, swipe the magnet along the SWIPE ON/OFF
HERE label horizontally until the GREEN LED on the top of the device
is shown. The green LED will flash again while the device completes power-up. The green LED
also flashes when a Bluetooth connection is established.
Note: If a new LED sequence begins using the red LED after turning the Rover-X on and the
device beeps repeatedly, this indicates a self-test failure. See the section below on failure
codes.
To turn the Rover-X OFF, repeat the above procedure until the red LED is shown.
At any time, the magnet can be placed against the location of the reed switch once to see
which mode the beacon is currently in; green for on, red for off.
Operational Tips
•It is important to let all LEDs stop illuminating before initiating another action.
•Cycling power for any reason, for example by using the magnetic switch to turn OFF/ON or
by removing battery power, will initiate the Startup 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 Rover-X there are several factors that can influence performance.
•The top or bottom of the Rover-X must be pointing toward the sky; white is top.
•Iridium and especially GPS performance may suffer if large angles of the horizon are
blocked, such as if the Rover-X is next to a wall.

Rover-X User Manual Version 1.0 9
Messages from the Rover
There are several messages sent from the Rover-X, depending on setup and conditions. Below
are examples of the most common messages.
Version
The Version message has a summary of the firmware and hardware revision of the device. It
also displays reset information and the IMEI of the device.
Powerup: true, Ascii: Rover-X v1.0-11743. dev:4 Hw:7.1.1 SN=1000
IMEI:300434061233400 Reset Count: 15 Latest Reset Reason: 1
Version
Firmware Version
Product; Major, minor, build of firmware
Hw
Hardware revision, set during assembly
SN
The unit’s serial number
IMEI
The unique number of the device’s Iridium modem
Reset Count
The number of resets since device was built
Latest Reset Reason
Cause of last reset
Unlock
The Rover-X uses unlock codes as a security measure to prevent unauthorized commands. The
Rover-X sends this code automatically in the first Iridium session to keep the user, and
XeosOnline, up to date on this code. Remember that messages are only sent to destinations
that are allowed to receive them.
Any commands which do not include a valid unlock code as the first line will be ignored by the
Rover, but will prompt the unit to reply with a valid unlock code to all provisioned addresses.
See below for more details on the Unlock Code.
Unlock Code: 19235

Rover-X User Manual Version 1.0 10
Position Message
Typical position messages are sent in compressed binary format (Type GC) to save on data
usage and are parsed in XeosOnline. If XeosOnline is not used, ASCII GPS (Type AG) can be used
to read position messages as plain text.
Compressed Binary Position (Type GC)
The default format for positions is compressed to save on Iridium data usage. This binary
format is parsed into a readable format by XeosOnline, placing its full contents in the Message
and Location Logs.
The binary format is stackable and can hold more than one position per Iridium transmission. In
this situation, all recorded positions will be displayed in the Location Log in table form, while
the latest position will be displayed in the Message Log.
Timestamp: 2023-06-20T12:00:35.001Z, Voltage Unloaded: 3.54, BatteryV:
2.62, Mode: Normal, Device Temperature (°C): -63, Message Type: GC,
Latitude: 44.714099,
Longitude: -63.604563, SNR: 45, Bearing: 0, Speed: .2880, HDOP: 24.4
Compressed Position
Timestamp
Date and time in UTC of the latest position reading
Voltage Unloaded
Voltage measurement taken before powering the Iridium modem
BatteryV
Loaded voltage of the power supply; minimum battery voltage
observed during the previous Iridium task
Mode
The timer in the scheduler used when the message was
transmitted
Device Temperature
Temperature read before transmission (not used)
Message Type
Displays the message format being transmitted
Latitude
Latitude of fix, decimal degrees
Longitude
Longitude of fix, decimal degrees
SNR
SNR (Signal-to-noise ratio) of GPS Fix, higher is better
Bearing
Direction of movement determined by device to the nearest 22.5°
Speed
Speed measurement in kilometers per hour
HDOP
Horizontal Dilution of Precision
Each compressed message is 23 bytes in size, with an additional 10 bytes added for each
additional “stacked” position.

Rover-X User Manual Version 1.0 11
ASCII Position (Type AG)
In ASCII position format, only the most recent fix is sent at each interval, therefore it is most
efficient to have GPS and Iridium intervals equal.
AG, 9.67, 7.78, 0, 1686915004, 44.7466032, -63.3840900, 40.0, 38, 4,
332.9, 21.38, 3, 3.0
ASCII Position
AG
Specifies the message type
9.67
Voltage measurement taken before powering the Iridium modem
7.78
Loaded voltage of the power supply; minimum battery voltage
observed during the previous Iridium task
0
The timer in the scheduler used when the message was transmitted
1686915004
Unix time of the GPS position
44.7466032
Latitude, decimal degrees
-63.3840900
Longitude, decimal degrees
40.0
Altitude (m)
38
Max SNR recorded
4
Number of Satellites used during the fix
332.9
Bearing to the nearest 22.5°
21.38
Speed measurement in (m/s)
3
Time to fix (seconds)
3.0
Highest HDOP used during the fix
Default Message (Type DM)
The default message is transmitted at times when the device has no other data available to
send other than its internal sensor states, where applicable. This could be because the GPS is
not scheduled to run, or another factor has prevented a fix from being acquired. Since this
message is shared across products, some bits will never be set.
Timestamp: 2023-06-21T11:02:05.000Z, Voltage Unloaded: 13.59,
BatteryV: 11.94, Mode: Inverted, isAlarm: true, Device Temperature
(°C): 0, Message Type: DM, Status: 33, No GNSS Position Stored: true
Default Message
Timestamp
Date and time in UTC of the latest position reading
Voltage Unloaded
Voltage measurement taken before powering the Iridium modem
BatteryV
Loaded voltage of the power supply; minimum battery voltage
observed during the previous Iridium task
Mode
The timer in the scheduler used when the message was transmitted
isAlarm
Displays if this is a state warranting an Alarm forward, if applicable
Device Temperature
Temperature read before transmission (not used)
Message Type
Displays the message format being transmitted

Rover-X User Manual Version 1.0 12
Status
A hex readout of the status bits that are enabled. The information
following this value translates this value into sensor and/or GPS
status information.
DM Status Bitmap
Bit
Definition
0
No GPS position Stored to transmit (not scheduled to run at this
time)
1
No GPS Signal
2
GPS Disabled (Not configured to run)
3
GPS Error Handler occurred in fix attempt
4
WS: 0 = Surfaced 1 = Submerged
5
LS: 1 = Light 0 = Dark
6
TS: 0 = Upright 1 = Inverted
7 - 63
Reserved
Watch Circle Parameters (Type WC)
At start-up, any Watch Circle parameters are transmitted, regardless if the system will be used.
This is also the message that is displayed if any Watch Circle commands are used, to keep
XeosOnline up to date on circle status.
Ascii: WatchCircle: ENABLED, Latitude: 44.000000, Longitude: -
63.000000, Radius(m): 10000
Ascii: WatchCircle: DISABLED
Watch Circle Message
WatchCircle
Shows the enabled or disabled state of the watch circle
Latitude
If enabled, the latitude portion of the position of the center of the
watch circle
Longitude
If enabled, the longitude portion of the position of the center of the
watch circle
Radius(m):
If enabled, the radius of the set watch circle

Rover-X User Manual Version 1.0 13
Communicating with the Rover-X
There are 3 ways to communicate with the Rover-X:
1. Over-the-air with XeosOnline
2. Over-the-air with Email SBD messages
3. Locally with Bluetooth
Sending Commands Using XeosOnline
Before using XeosOnline make sure that your account has been set up and your device added to
your organization. Contact [email protected] for more information.
Setting up to Send
•Navigate to the Send Command window.
•From the Home Tab, choose Menu > Send Command
•Select the units you wish to target with commands and move
them over to the right-hand target list using the -> button.
•Type your command(s) into the command box and press send.
Remember to include the dollar sign ($) ahead of each command, and enter each command on
a separate line.
Outgoing messages will appear in the Message Log for the commanded device.

Rover-X User Manual Version 1.0 14
Sending Commands via Email
E-mail commands can also be used to communicate with the Rover-X when it is above water.
These commands are sent as email attachments. Commands can configure the Rover-X
remotely in the same way as commands sent by XeosOnline.
To receive commands from the Iridium network, the device in use must have a clear view of the
sky. If the device is unable to communicate with the Iridium network, commands will remain
queued for five days.
Command Format
Creating the file
To create an SBD command, open a new file in a text editor (ex. Notepad) and save it using the
.sbd extension. Make sure the Save as type option is set to All Files to achieve this.
Command Structure
Commands must be structured in the following way:
1. Each command MUST have a dollar sign ($) before each command.
2. The unit’s unlock code in the following format: $unlock XXXXX
where XXXXX is the unit’s five digit unlock code.
3. A list of commands, one command per line.
4. Must end in carriage return and line feed (new line).

Rover-X User Manual Version 1.0 15
The Unlock Code
The Rover-X uses unlock codes as a security measure to prevent unauthorized commands. The
unlock code is generated when first programmed, or it can be changed manually via Bluetooth
or Iridium. The unlock code is sent out to all provisioned addresses associated with the Rover-
X’s IMEI in a plain text message at boot.
Any commands which do not include a valid unlock code as the first line will be ignored by the
Rover-X, but will prompt the unit to reply with a valid unlock code to all provisioned addresses.
When using XeosOnline, unlock codes are generated automatically for all outgoing commands
and should not be included. XeosOnline will also automatically update if a new unlock code
should be generated. SBD commands over e-mail must include an unlock code.
Sending the Command
To send your sbd command, create a new email message with the following fields:
To:
[email protected]
Subject:
Your device’s IMEI
Body:
Empty
Attachments:
Your .sbd file
A confirmation will be immediately returned from the Iridium Gateway from the address
[email protected] indicating that your message is now in the message queue. It will
be delivered to the device during its next Iridium check.
Commands can be sent from any email address, but responses will be returned only to email
addresses on the unit’s forwarding list.
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 Rover-X.

Rover-X User Manual Version 1.0 16
The Rover-X’s Scheduler
The frequency at which each task in the Rover-X is executed depends on the Rover-X’s current
mode. Each mode corresponds to conditions interpreted by the Rover-X’s logic. The following is
a simplified diagram showing when each mode is invoked at the default settings.

Rover-X User Manual Version 1.0 17
Rover-X Tasks
The Rover-X’s behavior is based on multiple timed tasks. Understanding how these tasks
interact is necessary to properly use the Rover-X in the field. There are three major timed tasks:
GPS
The Rover-X will search for the GPS constellation and get a location fix based on this interval.
Any successful GPS fixes will be queued for the next Iridium (SBD) transmission.
The Rover-X’s internal clock will also be set and adjusted based on the GPS network. The GPS
interval will execute before the SBD interval if they are scheduled for the same time.
SBD (Iridium)
The Rover-X will attempt to communicate with the Iridium Gateway based on this interval. If
the Rover-X successfully registers with the Iridium Satellite Constellation, Rover-X will transmit
any messages queued to be sent to the user. Once this is finished it will receive any queued
messages from the Iridium network, implement them, and respond, provided the proper unlock
code is received with those commands.
Iridium also employs a retry scheme, in the event queued messages are not successfully
transmitted. For each scheduled Iridium task, two retries are possible if necessary:
•Two minutes after the scheduled Iridium task ends, if a message was not sent.
•Five minutes after the first retry task ends, if a message still has not been sent.
•If a message still has not been sent after both retries, it is queued for the next regularly
scheduled Iridium task.
TLT
The tilt sensor of the Rover-X will take regular readings to determine the orientation of the
device. If the Tilt function is enabled in the Switch menu, consecutive inversions prompt the
device to transition to the Inverted alarm mode, or out of that mode if readings show the
device has returned to an upright position.
The tilt sensor is also used to choose the correct GPS and Iridium hardware to use when either
of these tasks run, regardless of the Tilt alarm setting.

Rover-X User Manual Version 1.0 18
Rover-X Timer Modes
Normal Mode (Timer 0)
Timer zero is the default timer mode of the Rover-X and will be used if no other modes below
apply. At default settings, the Rover-X will transmit one position every three hours. The Rover-X
will continue in normal mode uninterrupted until some event prompts another mode, or the
device is turned off.
Start-up Mode (Timer 1)
Start-up mode will begin when the Rover-X is powered on or reset via any method. This mode
will last for a maximum of one hour, but can be interrupted by another mode (ex. Inverted).
Inverted Mode (Timer 2)
Inverted mode begins after the Rover-X has read three consecutive tilt values that cross the
horizontal threshold of the device. The Rover-X then transmits two positions every ten minutes
until the tilt sensor is disabled or the device is no longer inverted.
Low Battery Mode (Timer 3)
The Rover-X will enter Low Battery mode if a string of nine batteries’ voltage drops below the
set threshold. This is triggered by consecutive voltages less than the threshold. This threshold
can also be adjusted but has a default value:
Rover-X
11.5 VDC
Watch Circle Alarm Mode (Timer 4)
A new timer mode not used in the original Rover, the Rover-X will utilize this timer if a watch
circle is set, and the Rover-X collects a position that places it outside of that circle. The Rover-X
will transmit at the rate given for this mode for at least one hour, and any additional time until
the point at which the device re-enters the circle, the circle is edited to place the device inside
again, or the circle is deleted ($clearcircle).

Rover-X User Manual Version 1.0 19
Default Timer Settings
Timer
<T0>
T1
T2
T3
T4
T5
T6
T7
Min-Max
GPS
3h
10m
5m
1d
5m
n/a
n/a
n/a
30s-7d
SBD
3h
10m
10m
1d
10m
n/a
n/a
n/a
30s-7d
TLT
2m
30s
2m
5m
2m
n/a
n/a
n/a
5s-1d
Legend
GPS
GPS position acquisition interval
SBD
SBD (Iridium) transmission interval
TLT
Tilt sensor check interval (if Tilt is enabled)
T0 –T7
Timer mode number
<T#>
Timer currently in use
#s/m/h/d
Interval in seconds/minutes/hours/days
Min
Minimum allowed interval for this timer
Max
Maximum allowed interval for this timer
Timers
Timer 0
Normal
Used if no other modes are triggered
Timer 1
Start-up
Used immediately after power-up or reset (one hour duration)
Timer 2
Inverted
Used when the device is inverted
Timer 3
Low Battery
Used when the device consistently detects low voltage according
to the set threshold
Timer 4
Watch
Circle Alarm
Used when the device has exited its Watch Circle
•The default timer settings of the Rover-X are suitable for most use cases.
•Timers 5, 6 and 7 are not used in the Rover-X.

Rover-X User Manual Version 1.0 20
Timer Command
The $timer command will return the timer intervals all configurable settings in the form of a
table.
•If a value in the table is changed, the response will only be of the row that was modified.
•If more than one value in a row is changed, the row will be transmitted the same
number of times to indicate each individual change.
•If multiple values of multiple rows are changed, each row is transmitted separately.
Changing the Timers
The length of the Rover-X’s various modes cannot be altered. Start-up and Surfaced modes are
fixed at one hour. However, the Iridium and GPS frequency can be changed to suit the user’s
requirements.
The GPS and Iridium interval timers can be set independently of each other. If an Iridium
session is queued but no GPS position is stored, a DM message is sent at this time.
Regardless the method being used to communicate with the Rover-X, timer commands are
always the same format:
$timer SYSTEM TIMER-MODE INTERVAL
Example
Command
Timer Type
Timer Mode
Interval
1
$timer
GPS
0
1h
2
$timer
GPS
2
5m
3
$timer
SBD
0
6h
Example 1 would change the GPS interval of Normal mode to every hour.
Example 2 would change the GPS interval of Inverted mode to every five minutes.
Example 3 would change the SBD message interval of Normal mode to 6 hours.
After sending the commands from both Example 1 and Example 3, the user would receive one
message every six hours containing six GPS fixes. These messages would be sent at
approximately 00:00 UTC, 06:00 UTC, 12:00 UTC and 18:00 UTC.