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Seafloor EchoBoat 240 User And Technical Manual

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EchoBoat™ 240
User and Technical Manual
Seafloor Systems, Inc

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Summary of Contents for Seafloor EchoBoat 240

  • Page 1 EchoBoat™ 240 User and Technical Manual Seafloor Systems, Inc...
  • Page 2 Contents Introduction ......1.1 System Overview ......... 1.2 Terms And Acronyms .
  • Page 3 7.3 Service ..........76 7.3.1 Propeller Replacement .
  • Page 4 Mavlink Driver Control ........41 SmartCast GUI Layout .
  • Page 5 102 Alignment Pin ......... . 77 103 RCU 2x Screw Locations .
  • Page 6 Introduction System Overview Welcome to the Seafloor Systems EchoBoat™ 240 manual. This document provides an overview of the key features and functionalities of our cutting-edge Uncrewed Survey Vessel (USV) designed for hydrographic surveying and marine mapping applications. The EchoBoat™ 240 offers advanced hydrographic surveying capabilities, autonomous operation, flexible payload options, and real-time data viewing.
  • Page 7 Voltage - Alternating Current Information Information banner is to notify useful information for operator. Caution Caution banner is provide important information that if disregarded may result in accidental misuse or damage to the system. Important Alert Important Alert is to provide important information that if disregarded may prove harmful to personnel or equipment.
  • Page 8 System Specifications Survey Speed 2 knots (1m/s)* Top Speed 4knots (2m/s) Length 7.87ft (2.4m) Width 2.95ft (0.9m) Draft 1ft (0.3m) Air Draft 4.3ft (1.32m) Hull Material High Density Polyethylene (HDPE) Hardware 316 Stainless Steel Weight (Base Boat) 350lbs (158.75kg) Payload 200lbs (90.7kg) Trailer Towing Weight 555lbs (251.7kg)(Base Boat and Trailer)
  • Page 9 200lbs (90.1kg). Seafloor assumes no responsibility for the loss of boats, instruments, damage to property, or any injury or fatality associated with the utilization of its products or any products that may be included or utilized in conjunction with Seafloor products.
  • Page 10 Safety Battery Safety Please read through these instructions carefully before you operate the EchoBoat™ 240. Important Alert Danger to life from electric shock. Contact with uninsulated or damaged parts can result in severe physical injuries. • Avoid touching contacts. • Do not undertake any repair work whatsoever on the Power 24-3500 EchoBoat™ 240 batteries. •...
  • Page 11 • Do not charge any type of battery on or near any flammable materials including in or near your vessel. • Never leave batteries unattended while charging. Batteries on charge MUST remain under constant observation so that you may react quickly should any problems arise. •...
  • Page 12 System Operation What’s Included Item Quantity Description Image* EchoBoat™ 240 EchoBoat™ 240 USV EchoBoat™ 240 Custom made for Trailer EchoBoat™ 240 Power 24-3500 Fast Charger for Charger EchoBoat™ 240 Paired to EchoBoat™ Shoreside Antenna 240 Antenna To power Shoreside Shoreside PoE Antenna To be used with 10ft Ethernet...
  • Page 13 DB9 Adapter port Table 3: What’s Included *Please note that images provided are for illustrative purposes only and may not precisely represent the delivered product. Seafloor Systems reserves the right to modify any product at its discretion.
  • Page 14 System Overview Drawings Figure 1: EchoBoat™ 240 System Overview...
  • Page 15 Figure 2: EchoBoat™ 240 Bottom View...
  • Page 16 Figure 3: EchoBoat™ 240 Front View...
  • Page 17 Figure 4: EchoBoat™ 240 Side View...
  • Page 18 Figure 5: EchoBoat™ 240 Internal View...
  • Page 19 Figure 6: EchoBoat™ 240 Internal View With Equipment...
  • Page 20 Figure 7: Electronics Panel Rear View...
  • Page 21 1. Unused 2. RTK Pass Through 3. Antenna 2 TNC Pass Through 4. Antenna 1 TNC Pass Through 5. AutoNav™ DB9 GPS Input 6. EchoBoat™ 240 Main Power Button 7. EchoBoat™ 240 Voltage Monitor 8. AUX 2 Power Bulkhead 9. AUX 1 Power Bulkhead Electronics Panel Front View Figure 8: Electronics Panel Front View...
  • Page 22 1. AUX 1 Power Switch 2. AUX 2 Power Switch 3. Unused 4. Unused 5. RTK Pass Through 6. Receiver 3pin Bulkhead 7. Antenna 1 TNC Bulkhead 8. Antenna 2 TNC Bulkhead Figure 9: EchoBoat™ 240 Stern Bulkheads...
  • Page 23 1. Unused 2. SmartCast 12pin Bulkhead 3. USB Camera 4pin Bulkhead 4. Onboard Antenna Ethernet Bulkhead Figure 10: EchoBoat™ 240 Bow Bulkheads...
  • Page 24 EchoBoat™ 240 Endurance Chart Figure 11: EchoBoat™ 240 Endurance Chart(Including 200W Sonar) Remote Control Unit (RCU) The EchoBoat™ 240 is controlled by a Taranis Q-X7 Access Transmitter. Information Smart Port SD Card Slot Mini USB Port Dust Cover Figure 12: RCU Bottom View To charge the battery: •...
  • Page 25 To disarm the EchoBoat™ 240: Move SA switch down and hold SH down for 5 seconds. A short alert tone (Beep-) will emit from the AutoNav™, indicating system is disarmed. See Figure 13...
  • Page 26 Earphone port Trainer Port Antenna Hook Stick Stick Page Menu Exit Digital Trim Power LCD Display Figure 13: RCU Front View...
  • Page 27 Remote Control Unit Functions Power Press and hold Release when the fourth loading dot appears - to power on Release when the last loading dot shows - to power off J1/J2 Throttle (Up/Down Steering (Left/Right) J3/J4 Unused Volume Clockwise to turn up Counter-Clockwise to turn down Manual SmartCast (Default Position - Straight Up) Clockwise to spool out...
  • Page 28 Antenna Carrying Bar Module Bay Battery Cover Figure 14: RCU Back View Voltage Tester Information Max voltage of a 2S battery is 8.4VDC. (4.2VDC/Cell) Connecting to a Voltage Tester: 1. Connect the balance cable connector to the voltage tester. 2. Due to the versatile nature of the voltage tester, it may take a few configurations to connect correctly.
  • Page 29 Figure 15: LiPo Voltage Tester 3. The voltage tester will cycle from overall voltage to each cell voltage. 4. It is recommended to check every battery prior to operation. Battery Charging 3.6.1 EchoBoat™ 240 Charging Important Alert Never leave batteries unattended while charging. Batteries on charge MUST remain under constant observation so that you may react quickly should any problems arise.
  • Page 30 3. Connect Fast Charger output cable into the EchoBoat™ 240 charging cable. Figure 16: EchoBoat™ 240 Charging Connectors 4. Connect Fast Charger to AC power. 100-240VAC/50-60Hz. 5. Charging complete when charger switches to standby mode. To Disconnect: 1. Disconnect Fast Charger from AC power. 2.
  • Page 31 3.6.2 Long Range Module Battery Charging Important Alert Never leave batteries unattended while charging. Batteries on charge MUST remain under constant observation so that you may react quickly should any problems arise. Caution Max voltage of a 2S battery is 8.4VDC. (4.2VDC/Cell) Caution Charging LiPo Battery: with E4 Cube Balance Charger 1.
  • Page 32 • Four LEDS will always be on when the battery is fully charged 6. When the battery is fully charged, disconnect the AC power first. Then disconnect the LiPo battery. Technical Data Property Value AC Input 100-240VAC Rated Voltage 2S - 4S Maximum charge current Charge Mode Balance...
  • Page 33 4. Red LED ring will illuminate when powering on. Figure 20: Main Power Button - Red LED Illuminated 5. Arm the EchoBoat™ 240 with the RCU. (Refer to 3.4) 6. Verify throttle and steering function correctly. 7. Secure all hatches and knobs before launching vessel. Figure 21: Lid Latch...
  • Page 34 If not given enough time, the connection will attempt to initiate and fail. • It is not recommended to use an Ethernet to USB adapter. • If multiple Seafloor Systems vessels are operating in the same zone. Please contact Seafloor Systems to modify Bridge settings.
  • Page 35 1. Right click the WiFi icon on the taskbar. Figure 24: Network And Internet Settings 2. Open Network and Internet Settings. 3. Open Advanced Network Settings. Figure 25: Advanced Network Settings 4. Open More Network Adapter Options. Figure 26: Network Adapters 5.
  • Page 36 7. Change the follow settings: Figure 29: Ethernet Settings • Use the following IP address: – IP address: 192.168.168.4 – Subnet mask: 255.255.255.0 • Leave Preferred DNS and Alternate DNS servers blank. To Login: 1. Search ”Remote Desktop” in the windows task bar and select it. Figure 30: Taskbar Search 2.
  • Page 37 Figure 31: Remote Desktop Connection 4. Click Connect. 5. Password is ”Seafloor”.
  • Page 38 Mission Planner Information Seafloor Systems AutoNav™ requires three NMEA input GPS strings. GPS/GNSS system not provided by Seafloor, will need to be configured to output the required NMEA strings. • GGA, RMC, and HDT at 5Hz with a GP Talker ID(Prefix) at 57600 baud rate. RS232 Protocol with DB9 connector.
  • Page 39 1. Open Mission Planner. 2. Connect to the AutoNav™. Figure 32: COM Port • Choose Mavlink COM port • 115200 baud rate 3. Click PLAN. 4. Find your survey area. 5. Click the circled polygon in the top left and select ’Draw a Polygon’. Figure 33: Polygon Select...
  • Page 40 6. Click on the survey area to define the borders of the survey. Use mouse to drop red polygon points to outline survey area. • Give enough distance for tides. Can also manually drive the EchoBoat™ 240 to desired location and drop polygon points at each extent.
  • Page 41 Figure 35: SimpleGrid Settings 8. Delete the first command, speed change. Figure 36: Delete DO CHANGE SPEED • By deleting it will revert back to default survey speed. 9. Click ’Write’ on the right panel. Figure 37: Write Mission...
  • Page 42 Hypack Information Seafloor Systems AutoNav™ requires three NMEA input GPS strings. GPS/GNSS system not provided by Seafloor, will need to be configured to output the required NMEA strings. • GGA, RMC, and HDT at 5Hz with a GP Talker ID(Prefix) at 57600 baud rate. RS232 Protocol with DB9 connector.
  • Page 43 Figure 38: Add Mobile 4. Under the new Mobile, add Mavlink driver. Figure 39: Add Mavlink Driver...
  • Page 44 5. Device Connection is Serial. Figure 40: Set COM Port 6. Set COM number. Can be verified in Device Manager. 7. Set Baud Rate to 115200. 8. Use the Comport Test to verify data is coming through the selected COM port. Figure 41: COM Test...
  • Page 45 Line Planning: 1. Create the line plan using Hypack’s standard Line Plane Editor. Figure 42: Line Editor 2. Right click every other line and select Reverse Order. Figure 43: Reverse Every Other Line 3. Start Hypack Survey/Hysweep. 4. Mavlink Driver will say Armed or Unarmed. USV must be Armed to Start Mission.
  • Page 46 Figure 44: Mavlink Driver Control • If the status flashes between Armed/Disarmed, it’s a bug. System is Armed. 5. Using the Mavlink Driver, you can toggle Auto mode by selecting Start Mission. Mavlink driver button functionality: • Start Mission – The EchoBoat™ 240 will navigate the current line file. –...
  • Page 47 3.11 SmartCast Operation Figure 45: SmartCast GUI Layout Button Labels: 1. Units: Select the units the system will use; feet or meters. 2. Screen: Displays the current position/depth of the sensor(SVP). 3. Connect: Connect SmartCast software to the SmartCast hardware. 4.
  • Page 48 4. Connect to the Seafloor App. 5. Using the S2 knob (Refer to 3.4), drop the sensor to the desired depth. 6. The current depth can be viewed on the Seafloor SmartCast App. 7. Use the S2 knob to retrieve the sensor back up.
  • Page 49 RCU range. • It is possible to program other fail safe parameters. By default these are all disabled as there is a potential to interrupt the survey plan. Please contact Seafloor Systems if you wish to enable. 3.14 Collision Avoidance Assist (CAA) Operation - Optional Add On CAA operation instructions for EchoBoat™...
  • Page 50 (a) Launch caa status app.exe to view current status of CAA. (b) If CAA is active all status lights will be green. 3. Real-time View: Once active, CAA obstacles can be viewed within Mission Planner. Figure 47: Launching Proximity View (a) Select Mission Planner’s Data screen.
  • Page 51 4. Interpreting Data: The proximity data is divided into 8 sectors around the EchoBoat™ 240. (a) CAA Obstacles As Proximity Zones (b) CAA Obstacles As Map Indicators (c) CAA Obstacles With Proximity Figure 48: Different Options To Monitoring Obstacles In Mission Planner 5.
  • Page 52 – Verify that the Throttle Trim is centered. Calibrate if necessary, refer to 6.4. • EchoBoat™ 240 is still powered when the main switch is in the off position. – Contact Seafloor Systems. • EchoBoat™ 240 has a limited turning radius or only turns in one direction.
  • Page 53 Troubleshooting Propeller Orientation And Rotation If the propellers on a EchoBoat™ 240 are rotating in the wrong direction, it will cause the boat to move in circles when attempting to go forward. Similarly, installing the wrong propeller will also lead to same issue.
  • Page 54 Figure 51: CCW Prop AutoNav Errors Common Errors: If the Autonomous Operation is not behaving as expected, open and connect to Mission Planner. The HUD will show errors. • EKF3 waiting for GPS config data – No GPS input. Check GNSS output. Use a Null Modem if needed. •...
  • Page 55 Fuse Panel 5.3.1 Generation 2 Figure 52: Generation 2 - Distribution Fuse Panel Lettered fuses are AT0/ATC. A. 1A - AutoNav B. 20A - SmartCast C. 40A - Inverter D. 5A - PC E. Unused F. Unused Numbered fuses are MIDI. 1.
  • Page 56 5.3.2 Generation 1 Figure 53: Generation 1 - Distribution Fuse Panel Lettered fuses are AT0/ATC. A. 1A - AutoNav B. 20A - SmartCast C. 40A - Inverter D. 5A - PC E. 40A - PowerCube F. 5A - Water Pump Numbered fuses are MIDI.
  • Page 57 1. Remove the charger. Verify error has cleared by powering on the EchoBoat™ 240, if not move onto next steps. 2. Power down. 3. Remove ALL fuses and power on the EchoBoat™ 240. If cleared, one by one install a fuse per power up until error is shown. 4. If error is still present, contact Seafloor Systems.
  • Page 58 In case an over-/undertemperature has occurred: 1. Wait until the battery has returned to it’s operating temperature -4°F to 140°F (-20°C to +60°C). 2. Power on the EchoBoat™ 240. 3. If error is still shown, contact Seafloor Systems. SmartCast Start...
  • Page 59 Collision Avoidance Assist (CAA) To verify the CAA is scanning objects correctly: 1. Launching Foxglove Studio: This can be done by searching for it in your Windows Taskbar application launcher. Figure 56: FoxGlove Studio 2. In Foxglove Studio, in the Open data source section, select Open connection Connect to a live robot or server.
  • Page 60 Figure 58: Connecting To CAA 6. The default panel configuration or the last used panel configuration will be shown with active LiDAR data. 7. Resetting FoxGlove Studio Panel Configuration: To set standard panel configuration or if panel settings were changed please import the configuration file to fix: (a) Click the selection menu at the top left of the Foxglove Studio Application.
  • Page 61 Figure 60: LiDAR Only FoxGlove Panels Figure 61: Full CAA FoxGlove Panels (a) 3D View Panel: The red arrows show the forward direction that CAA is viewing. This panel can be used to view the 3D environment in different ways. i.
  • Page 62 ii. Proximity Zones: The proximity zones are populated with the nearest obstacles from around the EchoBoat™ 240. iii. Interpreting lidar obstacles: A. The values in lidar obstacles are in centimeter distances. B. A value of 9999 indicates that there is no obstacle seen by CAA for that zone. C.
  • Page 63 CAA is not operational if the EchoBoat™ 240 is not receiving correct LiDAR data. If LiDAR data is not showing up or the viewing angle is incorrect. Check the cabling and mounting of the LiDAR. Please contact Seafloor Systems to remote assist if a cabling or mounting issue was not found.
  • Page 64 Configuring Procedures RCU Receiver Binding Procedure Archer R8 Pro Binding: Registration is only required if the RCU or Receiver (RCVR) was replaced. Skip to step 7 to bind for either receivers. If you are changing RCU and know the REG ID, you can skip the registration process by changing the new RCU REG ID.
  • Page 65 ii. On the Archer R8 Pro, hold down the receiver button while powering up the Archer R8 Pro. See figure 67. Figure 67: Archer R8 Pro • It is suggested to disconnect the main cable to remove power and reconnect when power is needed.
  • Page 66 4. Quick press ’Menu’ on the RCU. Figure 70: RCU Model Select Screen 5. Quick press ’Page’ to switch to SETUP Page 2/12. Figure 71: RCU External RF 6. Using the ENT knob, scroll down to EXTERNAL RF. See figure 71. 7.
  • Page 67 Figure 73: R9 Stab OTA • It is suggested to disconnect the main cable to remove power and reconnect when power is needed. iii. On the RCU, ’Waiting...’ will be replaced with the model name. iv. Press Enter to confirm, registration complete. v.
  • Page 68 RCU Calibration Procedure Calibrations should only be initiated if the EchoBoat™ 240 demonstrates a delayed response or excessively quick response, while the remainder of the joystick throw remains unchanged. Information All calibrations must be done in the correct order. Please refer to 3.4 to familiarize yourself with the RCU controls.
  • Page 69 Figure 79: Start Of Calibration 7. Once calibration is complete, screen will cycle back to start of calibration page. 8. Press Exit twice to exit back to main screen. AutoNav™ Radio Calibration Procedure 1. Power on the RCU. 2. Power on the AutoNav™. (AutoNav™ can be powered via vessel or USB port.) 3.
  • Page 70 Figure 81: Radio Calibration Steps 8. Select Calibrate Radio. (a) Power Warning (b) Radio Cal Instructions Figure 82: Pop Ups 9. Move all joystick to their min and max positions. 10. Move all switches to each position. Be sure to arm and disarm. 11.
  • Page 71 Figure 83: Radio Calibration Verification 12. Select Click when Done. Figure 84: Click When Done 13. A page will popup indicating the new min and max values. Press OK. (Refer to Figure 83) ESC Calibration Procedure 6.4.1 Generation 2 1. Calibrate one ESC at a time. 2.
  • Page 72 4. Arm the EchoBoat™ 240. (Refer to 3.4) 5. Open the stern electrical panel to access the ESCs. Figure 85: Generation 2 Electrical Panel 6. Must be able to see LED. Figure 86: ESC LED Location 7. Power off each ESC via it’s power switch.
  • Page 73 Figure 87: ESC Power Switch 8. Push the Throttle Control for full throttle. 9. Power on one ESC via it’s power switch. Refer to 87 • Green LED will flash. 10. When red LED flashes move the Throttle Control to full reverse. 11.
  • Page 74 EchoBoat™ 240 must be powered off when programming the ESC. Failure to follow instructions can result in damage to the ESC programmer and ESC. 1. Power off the EchoBoat™ 240. 2. Using your field laptop, open Castle Link. (Application is on the supplied USB Drive or Seafloor Systems website) Figure 89: Castle Link Icon...
  • Page 75 3. Connect the supplied Castle Link Programming cable into the ESC. 4. Connect the supplied Castle Link Programming Cable into your field laptop. 5. Castle Link application will auto connect. Figure 91: Castle Link Connected 6. Select load. Find the programming file on the supplied USB. Figure 92: Castle Link Load Settings 7.
  • Page 76 Figure 93: Castle Link Writing Settings 8. Programming complete. Figure 94: Castle Link Programming Complete 9. Repeat for the opposite side. 6.5.2 Generation 1 ESC Programming 1. Connect the attached ESC ribbon cable into the programming slot on the programming card.
  • Page 77 Figure 95: ESC Programming Card Ports 2. Power on the EchoBoat™ 240. The Programming Card will power on. 3. Using the chart below, match the Items with the Values. Press ’OK’ to save for each Item. Item Value Description Forward & Reverse Mode Auto Calc LiPo Cells 3.2v/cell Low Voltage Cut Off 15°Timing...
  • Page 78 AutoNav™ Accel Calibration 1. Remove AutoNav™ from the HyDrone™. Disconnect all cables. 2. Connect the 3ft (1M) USB A to A cable into communication port of the AutoNav™. 3. Connect the opposite end into the onboard PC. 4. Open Mission Planner. 5.
  • Page 79 Figure 97: Accel Calibration Steps 9. Set the AutoNav™ on a level surface. 10. Select Calibrate Accel(3 axis). You will rotate and hold the AutoNav™ on each axis. Instructions will be present during the process. Bulkheads are always facing backwards(stern). Figure 98: Accel Calibration In Process (a) First is a level surface.
  • Page 80 Figure 99: Accel Calibration Complete 12. Set the AutoNav™ on a level surface again. 13. Select Calibration Level. (See Figure 96)
  • Page 81 Service and Maintenance Maintaining Your Investment Maintaining your EchoBoat™ 240 asset is essential for its reliable performance. Regular maintenance includes routine checks of propulsion system, sensor, and electronics to ensure they are in optimal working condition. Keeping the hull clean as well as verifying the integrity of communication links and power sources, is crucial.
  • Page 82 Figure 101: Prop Shaft With Alignment Pin 4. Install new prop, make sure alignment pin is installed. Verify it is the correct side and orientation. Figure 102: Alignment Pin 5. Put anti-seize on the threads and install the M6 nyloc. 7.3.2 RCU RTC Battery Replacement Replace the RTC battery when you receive ”Battery Warning: RTC Battery Low”.
  • Page 83 Figure 103: RCU 2x Screw Locations 3. Remove the module bay cover. 4. Remove the battery cover. (Figure 14) 5. Disconnect the battery.
  • Page 84 Figure 104: RCU Final Screw Locations 6. Locate the additional two Phillip screws and unscrew them. 7. Carefully split case of the RCU. Figure 105: RCU RTC Location 8. Locate the RTC battery(circled red) and remove it. 9. Replace it with a new CR1220 battery.
  • Page 85 10. Carefully put the two case halves together. Verify the module bay pins (circled yellow in Figure 105) slide through the slot (Figure 14). 11. Screw in the four Philip screws. 12. Connect the battery. 13. Install battery spacing foam. 14.
  • Page 86 7.4.3 Monthly • Hull inspection for damage, cracks, or signs of wear. • Check for loose or corroded electrical connections. • Inspect gasket for wear or damage. • Lubricate seals with silicone-based lubricants. • Anti-seize on hardware. • Remove and lube drain plug. •...
  • Page 87 Technical Diagrams Beaufort Sea State Chart Estimating Wind Speed and Sea State with Visual Clues Beaufort Wind Wave Wind Speed Visual Clues number Description Height Calm 0 knots 0 feet Sea is like a mirror. Smoke rises vertically. Ripples with the appearance of scales are formed, but without foam crests. Light Air 1-3 kts <...
  • Page 88 Block Diagrams THRUSTER THRUSTER THRUSTER THRUSTER SERVO SERVO RECEIVER AUTONAV SMARTCAST ONBOARD ANTENNA SHORESIDE ANTENNA CAMERA SHORESIDE PRIMARY SONAR TOPSIDE ANTENNA WITH INTEGRATED SECONDARY ANTENNA TRANSDUCER Figure 107: EchoBoat™ 240 Block Diagram...
  • Page 89 Figure 108: EchoBoat™ 240 Mast Electrical Diagram...
  • Page 90 Figure 109: EchoBoat™ 240 Internal Electrical Diagram...
  • Page 91 Figure 110: EchoBoat™ 240 Below Deck Electrical Diagram...
  • Page 92 Electrical Diagrams Figure 111: Cable A - SmartCast External Cable...
  • Page 93 Figure 112: Cable B - Receiver Box Cable...
  • Page 94 Figure 113: Cable F - Camera...
  • Page 95 Figure 114: Cable G - SmartCast Encoder...
  • Page 96 Figure 115: Cable J - Camera External Cable...
  • Page 97 Figure 116: Cable K - AUX Power Bulkhead Cable...
  • Page 98 Figure 117: Cable L - AUX Ground Bulkhead Cable...
  • Page 99 Figure 118: Cable M - AUX Power to Fuse Panel Cable...
  • Page 100 Figure 119: Cable N/GG - Thruster...
  • Page 101 Figure 120: Cable O - Circuit Protection Enclosure...
  • Page 102 Figure 121: Cable P - Voltage Display Cable...
  • Page 103 Figure 122: Cable Q - SmartCast Internal Cable...
  • Page 104 Figure 123: Cable R/FF - Propulsion Cable...
  • Page 105 Figure 124: Cable S/HH - ESC...
  • Page 106 Figure 125: Cable V - Receiver Internal Cable...
  • Page 107 Figure 126: Cable W - Battery Power Cable...
  • Page 108 Figure 127: Cable X - AutoNav™ Power Cable...
  • Page 109 Figure 128: Cable Y - Equipment Power Cable...
  • Page 110 Figure 129: Cable EE - AutoNav™ GPS Cable...
  • Page 111 Figure 130: Cable JJ - Internal Camera Cable...
  • Page 112 Figure 131: Cable LL/QQ - Thruster Servo...
  • Page 113 Figure 132: Cable MM - Sea Ground...
  • Page 114 Figure 133: Cable NN - Negative Battery Parallel Cable...
  • Page 115 Figure 134: Cable OO - Positive Battery Parallel Cable...
  • Page 116 Figure 135: Cable PP - Battery Charging Cable...
  • Page 117 Figure 136: Cable TT - AUX Cable...
  • Page 118 Mechanical Diagrams Figure 137: Side View Diagram...
  • Page 119 Figure 138: Front View Diagram...
  • Page 120 Figure 139: Top View Diagram...
  • Page 121 Revision History Revision Date Author(s) Description 2.1.2024 Created 2.29.2024 Added Beaufort Sea State Chart 3.7.2024 Added Voltage Tester and RCU RTC Battery Replace- ment 6.17.2024 Revised Support 7.29.2024 Revised Operating Hours 7.14.2025 Added Warranty Addendum...