Summary of Contents for LIQUID ROBOTICS Wave Glider SV3
- Page 1 Customer Training Guide Pre-Launch Wave Glider® SV3 Customer Training Guide Pre-Launch Wave Glider® SV3 Part Number 08033 Revision A June 2016 08033 Rev A...
- Page 2 Customer Training Guide Pre-Launch Wave Glider® SV3 Customer Training Guide Pre-Launch Wave Glider® SV3 Copyright © 2016 LRI, Inc. Legal Notices Confidential and proprietary information. Valid license or other authorization from LRI, Inc. required for possession, use or copying. Trademarks LRI®, LRI, Wave Glider, Wave Glider Management System, WGMS, and SHARC are worldwide trademarks of LRI, Incorporated.
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Page 3: Table Of Contents
Customer Training Guide Pre-Launch Wave Glider® SV3 Table of Contents Chapter 1. Definitions ......................1 Chapter 2. SV3 Pre-Launch Checklist..................2 Date: Auto filled ........................2 Tech(s): ..........................2 Payload(s): ..........................2 Ship/Op Area: ........................2 Glider Name: Auto filled ......................2 Organization: ........................ - Page 4 Customer Training Guide Pre-Launch Wave Glider® SV3 G1, G2, G3 - General Purpose Expansion Port Connectors ............... 11 D1 - Debug Port Connector ........................ 12 Domain_Name=Host, Node=1: Auto filled ................12 Domain_Name=Thrudder: Auto filled ..................12 Domain_Name=Bat: Auto filled ....................12 Domain Status: ........................13 Chapter 7.
- Page 5 Customer Training Guide Pre-Launch Wave Glider® SV3 Water speed readings: Auto filled ..................26 Obstacle Avoidance Status: Auto filled ................26 RDF beacon tested w/receiver: ...................27 Check alarms: ........................27 Chapter 11. Comments ......................27 Chapter 12. Technician Signature ..................27 Chapter 13. Save & Submit .....................28 Chapter 14.
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Page 6: Chapter 1. Definitions
Customer Training Guide Pre-Launch Wave Glider® SV3 Chapter 1. Definitions This checklist is designed to provide trained personnel with a framework for preparing a wave glider for autonomous operation. Simply filling out this form does not insure that a wave glider is ready for launch. The Pre-Launch checklist can be found on the OBSP under: Checklist<... -
Page 7: Chapter 2. Sv3 Pre-Launch Checklist
Customer Training Guide Pre-Launch Wave Glider® SV3 Chapter 2. SV3 Pre-Launch Checklist Date: Auto filled Date of inspection. Tech(s): Name of individual(s) responsible for Pre-Launching the Wave Glider. Payload(s): Types of payloads and sensors connected to the system. Ship/Op Area: ... -
Page 8: Chapter 3. Software Information
Customer Training Guide Pre-Launch Wave Glider® SV3 Location: Auto filled Auto filled with the system GPS coordinates. Chapter 3. Software Information Auto filled Auto filled report of wave glider name, Serial Number (SN), Software Version and Production Build. Chapter 4. -
Page 9: Virtual Relay: Auto Filled
Customer Training Guide Pre-Launch Wave Glider® SV3 Note: If you do not see a vehicle on WiFi, you can turn it on with SV3 Commands WiFi ON/OFF = SV3 Commands - Services - wirelessAccesPoint - Com channel Cell/Iridium - WIFI On - WIFI Off Virtual Relay: Auto filled ... -
Page 10: Chapter 5. Configuration
Customer Training Guide Pre-Launch Wave Glider® SV3 within parentheses indicates which vehicle it is on [e.g. Res. Tracker 4510 (SV3-017) or Res. Tracker 5730 (Quick Silver)]. Etc. Note: All trackers can have individual names. It is the responsibility of the operator to name the trackers appropriately. -
Page 11: Drybox/Ccu Wgms Name
Customer Training Guide Pre-Launch Wave Glider® SV3 Tracker WGMS name: See Tracker telemetry received. This should be the name that appears within the Wave Glider Management System (WGMS). Drybox/CCU WGMS name: Name of CCU in WGMS, also the physical label on the CCU. Float name: ... -
Page 12: Vehicle And Tracker Op Area Defined
Customer Training Guide Pre-Launch Wave Glider® SV3 Vehicle and tracker op area defined: WGMS – Click vehicle icon – Click Operation Polygons – Check to see if the appropriate Polygon is enabled. Note: 11/11/2015 If two operational polygons (Inclusion) are enabled the smaller polygon should give one alarm. -
Page 13: Escalation List Created/Populated
Customer Training Guide Pre-Launch Wave Glider® SV3 Escalation list created/populated: Once a vehicle is on mission, the individuals that are on the populated escalation list will receive alarms created by the Wave Glider. WGMS – Click vehicle icon – Click Lists in left hand column – Click “New” if there is no populated list –... -
Page 14: Solar Power Indicators: > 0.00: Auto Filled
Customer Training Guide Pre-Launch Wave Glider® SV3 (Option 2) WGMS – Hover over battery icon (This will be updated every hour) Note: Minimum battery level for launch depends on weather conditions and Payload type + quantity of Payloads. Weather conditions consist of sea state, current strength/direction, and the amount of sunlight in the given area. - Page 15 Customer Training Guide Pre-Launch Wave Glider® SV3 (Option 2) WGMS – More Commands – Comment Section – Retrieve Power Status – Command Reason (Pre-Launch) – Com Channel (VirtualRelayCell) – Send Vehicle Icon – Vehicle Data Forum – AMPS Solar Input Port Report – (The vehicle will give a report every hour unless requested).
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Page 16: Amps Domains: Auto Filled
Customer Training Guide Pre-Launch Wave Glider® SV3 A good test is to compare the three panels against each other. All three should be giving similar power status readings. Another test that is recommended is to completely cover/uncover each panel. Take readings on each panel while covered/uncovered. AMPS may take a few minutes for values to update. -
Page 17: D1 - Debug Port Connector
Customer Training Guide Pre-Launch Wave Glider® SV3 D1 - Debug Port Connector The Debug Port Connector is the primary maintenance port for the CCU. It is identical to a General Purpose sensor port except that the SPARE1 and SPARE2 lines are dedicated to providing access to the VMC's serial console port. -
Page 18: Domain Status
Customer Training Guide Pre-Launch Wave Glider® SV3 Turning On/Off APU’s: (Option 1) SV3 Commands – Devices – Either G1, G2, or G3 depending on what it's plugged into – Power On Expansion Port (ON) – Power Of Expansion Port (OFF) (Option 2) OBSP –... -
Page 19: Connector Covers Secure
Customer Training Guide Pre-Launch Wave Glider® SV3 Connector covers secure: CCU cable Bridges are secured and Thrudder connector covers are installed. 08033 Rev A... -
Page 20: Drybox Secure
Customer Training Guide Pre-Launch Wave Glider® SV3 Drybox secure: Blue foam is installed. Wiggle test to ensure no movement from CCU/APU/Payloads. Contact info secure: Sticker is installed on the cover/name plate with contact information. 08033 Rev A... -
Page 21: Hull
Customer Training Guide Pre-Launch Wave Glider® SV3 Hull: Inspect hull of float for any damage. Skeg/Fin: Inspect the Skeg for any damage and ensure hardware is secured with Loctite 243. 08033 Rev A... -
Page 22: Chapter 8. Sub
Customer Training Guide Pre-Launch Wave Glider® SV3 Chapter 8. Sub Reference the (Torque Specs for SV3 Fasteners) document for tools needed and torque specs. Hardware secure: Ensure all hardware is secured and torqued to proper value. Umbilical visual inspection: ... -
Page 23: Roll Pins Inserted
Customer Training Guide Pre-Launch Wave Glider® SV3 Roll pins inserted: Ensure there are four roll pins inserted into each knuckle. Check the float knuckle and the sub knuckle. Check for bushing wear while inspecting roll pins as well. 08033 Rev A... -
Page 24: Wings
Customer Training Guide Pre-Launch Wave Glider® SV3 Wings: Inspect each set of wings for smooth movement. There should be no rubbing/binding/sticking. Ensure all hardware is secure with both nut and bolt. Thrudder: Inspect all hardware. Wash with fresh water prior to Rudder checks if it was not cleaned after recovery. -
Page 25: Rudder Range Of Motion
Customer Training Guide Pre-Launch Wave Glider® SV3 Note: If the Thruster is turned on first, you can force the rudder Right, Left, and Center. Rudder Range of Motion: Both the rudder and the thruster are magnetically coupled and should spin freely by hand. - Page 26 Customer Training Guide Pre-Launch Wave Glider® SV3 (Option 2) WGMS – More Commands – Click Comment – Rudder Right, Left, Center – Enter command reason (Prelaunch) – Set Com Channel (Virtual Relay Cell) – Send 08033 Rev A...
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Page 27: Fixed Heading Test (Spin)
At Liquid Robotics (Hawaii) the WG is set on the sequential course that it will be running while on mission. The glider is then rotated in a circle to view the Thrudder operating while targeting the first initial WP. -
Page 28: Octopus Cable 01: Auto Filled
Customer Training Guide Pre-Launch Wave Glider® SV3 Buoy Release Mechanism: (Option 1) OBSP – Operate – Float Recovery Device – Arm Device – Deploy (Option 2) WGMS – SV3 Commands – Devices – FloatRecoveryDevice – Arm Device – Deploy Note: Have a person ready to catch the float upon deployment or something soft to land in. Ensure that the float comes out on its own. -
Page 29: Ais Status: Auto Filled
Customer Training Guide Pre-Launch Wave Glider® SV3 This resistor is also checking if the Octopus system is working properly. If an OK is not seen on the Pre-Launch the resistor/system could be damaged. If the system is working properly an older version that did not have the chip could be installed. - Page 30 Customer Training Guide Pre-Launch Wave Glider® SV3 (Option 2) WGMS – Vehicle Icon – Vehicle Data Form – Weather Reports To turn ON/OFF the Weather Station in WGMS - SV3 Commands - Devices - airmarWeatherDeviceDriver - Channel Cell/Iridium - Turn Decice On / Off - True = ON/False = Off.
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Page 31: Airmar Gps: Auto Filled
Customer Training Guide Pre-Launch Wave Glider® SV3 UBLOX GPS: Auto filled Ublox is the primary system GPS of a standard wave glider. OBSP – Status – Overall – GPSUblox (Located in the CCU) Airmar GPS: Auto filled OBSP – Status – Overall – GPSAirmarWeather – (Located in the Weather Station) Torpedo GPS: Auto filled ... -
Page 32: Rdf Beacon Tested W/Receiver
Customer Training Guide Pre-Launch Wave Glider® SV3 RDF beacon tested w/receiver: Radio beacon that was used in the past to track Wave Gliders with a Yagi antenna at ranges of 10’s of kilometers in cases where all other communications methods failed. This equipment has been phased out in most applications. -
Page 33: Chapter 13. Save & Submit
Customer Training Guide Pre-Launch Wave Glider® SV3 Chapter 13. Save & Submit This will save/upload the Pre-Launch into the system. 1. CELL: if the vehicle has cell, it will upload to shore (swab - just like the system logs) 2. -
Page 34: Chapter 15. Post Launch Procedures
Customer Training Guide Pre-Launch Wave Glider® SV3 Chapter 15. Post Launch Procedures Clear alarms: WGMS – Health (Green, Yellow, Red, circle) – Click Alarm/Health Icon – Click on ALARM – Enter Comment (Clear for Pre-Launch) - OK Vehicle on mission: ...