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Summary of Contents for RD Instruments Cobra-Tac
- Page 1 Cobra-Tac Autonomous Navigation and Mapping Console User's Guide RD Instruments P/N 956-6000-00 (May 2004) Acoustic Doppler Solutions...
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Page 3: Table Of Contents
3.3.4 Missions ..............................8 3.3.5 Event Marks ............................8 Quick Start Guide ..........................9 Preparing for a Dive ..........................10 4.1.1 Turn Cobra-Tac Power On ......................11 4.1.2 Set Initial Position and Magnetic Variation ..................12 Training Mode ...........................13 4.2.1 Waypoint Navigation Mode .......................14 4.2.2 Grid Navigation Mode ........................16... - Page 4 Installing and Removing the Battery ....................44 Recharging the Battery ........................45 Charging Batteries Safely .........................46 Battery Tips............................46 I/O and Power Cable.........................46 Cleaning............................48 Firmware Updates..........................49 Returning a Cobra-Tac for Service ....................50 6.8.1 Domestic Shipments .........................50 6.8.2 International Shipments ........................51 Spare Parts ............................52 Technical Support .......................... 53 Specifications ..........................
- Page 5 List of Tables Table 1: Operator Control Switch Functions................23 Table 2: Spare Parts ........................52 Table 3: Navigation Specifications ....................54 Table 4: Standard Sensors......................54 Table 5: Transducer and Hardware..................... 54 Table 6: Environmental ....................... 55 Table 7: Power..........................
- Page 6 NOTES...
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Page 7: Introduction
The Doppler ve- locity log uses a four-transducer sound head to measure speed and direction over the seafloor as the diver swims with Cobra-Tac. The Doppler’s input is received by the navigation computer which calculates position, speed, heading, and distance to the next programmed way point. -
Page 8: Cobra-Tac Overview
Using its internal compass and pressure (depth) sensor, the Cobra-Tac can also provide heading, alti- tude (above the bottom), and depth (below the surface). An internal re- corder can store information about reference points, predefined waypoints, in-situ defined waypoints (markers), and water currents. -
Page 9: Figure 1. Cobra-Tac Top View
Cobra-Tac. Cobra-Tac is supplied with the mapping software Surfer. This software allows the user to display, in a graphical and pictorial sense all the data collected by the Cobra-Tac. NOTE. For more information on using CobraWare and a short tutorial on using Surfer, see the CobraWare User’s Guide. -
Page 10: Conventions Used In This Manual
• Do not store the Cobra-Tac in temperatures over 75° C. The ure- thane faces may be damaged. • Do not lift or support a Cobra-Tac by the power cable. The con- nector or cable will break. • Do not lift or support a Cobra-Tac by the battery handle. The handle or battery will break. -
Page 11: Battery Guidelines
“Set Up Option,” page 28). • The Initial Position is the absolute (latitude/longitude) position that the Cobra-Tac entered the water. Enter the latitude and lon- gitude as accurately as possible using a Differential GPS or other device. P/N 956-6000-00 (May 2004) - Page 12 Cobra-Tac User's Guide NOTE. The initial position is critical to the accuracy of the Cobra-Tac. Make sure you are entering the position of the Cobra-Tac where it will enter the water. For best results, enter/edit the initial position once you have entered the water using a hand held Differential GPS.
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Page 13: Definitions
A user interacts with the Cobra-Tac through the serial port with a computer and the CobraWare software. Positions Much of the data stored by Cobra-Tac pertains to its position in the water. Cobra-Tac and CobraWare use two formats to display positions or accept positions entered by users. -
Page 14: Initial Position
3.3.3 Waypoints A waypoint is a position in the water that the Cobra-Tac guides a diver to- ward. An absolute waypoint is a latitude and longitude. A relative way- point is a range and bearing from the previous position. -
Page 15: Quick Start Guide
• Install battery • Turn Power On • Set Initial Position and Magnetic Variation Training Mode Use Cobra-Tac’s training mode to learn how to use each navigation mode. • Waypoint Navigation • Grid Navigation • Mark Navigation • Survey Navigation Use this area for notes. -
Page 16: Preparing For A Dive
Cobra-Tac User's Guide Preparing for a Dive Use this section to prepare the Cobra-Tac for a mission. VISUALLY INSPECT THE COBRA-TAC HOUSING CHECK FOR CRACKS BATTERY PACK FRESH BATTERY INSTALLED POWER CABLE AND WATERPROOF CAP CONNECTED URETHANE TRANSDUCER FACES CLEAN AND... -
Page 17: Turn Cobra-Tac Power On
Cobra-Tac User's Guide 4.1.1 Turn Cobra-Tac Power On Press both upper switches to turn the power on. Select (press the MENU upper right switch) to go to the main menu. Use this area for notes. P/N 956-6000-00 (May 2004) page 11... -
Page 18: Set Initial Position And Magnetic Variation
Set Initial Position and Magnetic Variation The SET UP screen is used to set the initial position, magnetic variation, and turn on/off the record function of the Cobra-Tac’s internal recorder. NOTE. The SET UP option must be completed before any navigation function can be started. -
Page 19: Training Mode
NOTE. To exit the training mode, turn off power to the Cobra-Tac by pressing both the lower switches for 3 seconds. NOTE. In the training mode, you do not need to move. The Cobra-Tac will simulate a constant speed. The heading and tilts are real. It may be helpful to walk the course in a parking lot. -
Page 20: Waypoint Navigation Mode
• WP3 = 25 meters bearing 180 degrees NOTE. CobraWare is designed to help you setup waypoints. For this quick start guide, practice using only the Cobra-Tac to enter the waypoints. d. When the waypoints have been entered, select ACCEPT e. - Page 21 ) until at the main screen, CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. MARK 02...
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Page 22: Grid Navigation Mode
Select to stop the mission (which stops recording). Select CANCEL again to return to the NAVIGATION menu. Select CANCEL CANCEL once more to return to the main menu. p. Turn the power off to the Cobra-Tac. page 16 RD Instruments... - Page 23 ) until at the main screen, CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. MARK 03...
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Page 24: Mark Navigation Mode
) until at the main screen, CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. page 18... - Page 25 Cobra-Tac User's Guide MARK 02 NATURAL MARK 01 MARK 03 MAN MADE NATURAL Initial Position ° ′ 32 43.0000 N ° ′ 117 12.0000 W DIVER NAVIGATION INDICATOR DEPTH H O M E S TA R T BELOW SURFACE 1 9 M PITCH &...
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Page 26: Survey Navigation Mode
) until at the main screen, CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. HEADING... -
Page 27: Turn Cobra-Tac Off
Cobra-Tac User's Guide 4.2.5 Turn Cobra-Tac Off Once you are done using the Cobra-Tac, press both lower switches to turn the power off. NOTE. For information on how to download data from the Cobra-Tac to your computer, see the CobraWare User’s Guide. -
Page 28: Cobra-Tac Operation
To turn off the backlight, perform the same function with the two switches. To turn the Cobra-Tac off, press and hold both the bottom right and left switches for three seconds. -
Page 29: Using The Control Switches
Special Functions To turn the Cobra-Tac on, press both upper switches for 3 seconds. To turn the Cobra-Tac off, press both lower switches for 3 seconds. To turn the backlight on, press the upper right and lower left switches. To turn the backlight off, press the same switches again. -
Page 30: Understanding Cobra-Tac Displays
Cobra-Tac User's Guide Understanding Cobra-Tac Displays The following section describes the Cobra-Tac displays and how they help the diver navigate. 5.2.1 Diver Navigation Indicator The Diver Navigation Indicator shows your relative position (distance and direction) to the desired line of track. You should try to make the arrow in- side the grid box point forward, and centered on the middle line, which in- dicates the desired line of track. -
Page 31: Leg Directional Indicator
Figure 6. Leg Directional Indicator 5.2.4 Depth and Altitude On the right side of each navigation mode display, the Cobra-Tac shows the depth in meters from the surface (D) and the altitude from the bottom (A). DEPTH FROM SURFACE XX.X XX.X... -
Page 32: Event Marking Function
Cobra-Tac User's Guide Event Marking Function During any navigation option, the diver can select the function to re- MARK cord a location. When activated, the display will change to show NATURAL for the top right switch position and for the left switch position. -
Page 33: Menu Screen
Cobra-Tac User's Guide Menu Screen Push down the top left switch in the opening screen to move to the MENU menu options. From here you can select the NAVIGATION or UTILITIES menus. Use the function to highlight the menu option,... -
Page 34: Set Up Option
Cobra-Tac User's Guide • – The WAYPOINT NAV option allows a diver to WAYPOINT NAV select a mission profile that has been created using the software CobraWare or through the UTILITIES menu and then navigate via waypoints. • – The GRID NAV option is used for hydrographic GRID NAV beach surveys. -
Page 35: Waypoint Navigation Option
For navigational aids, the Diver Navigation Indicator and pitch/roll are also displayed and updated in real time (see “Understanding Cobra-Tac Displays,” page 24). P/N 956-6000-00 (May 2004) page 29... -
Page 36: Figure 14. Waypoint Navigation Display
MARK Any time the diver wants to return to the starting point, use the func- HOME tion and, when activated, Cobra-Tac will direct you back using a reciprocal course heading based on the mission profile (see “Home Function,” page 26). -
Page 37: Grid Navigation Option
The Leg Directional Indicator (see “Leg Di- rectional Indicator,” page 25) gives the diver the position of Cobra-Tac in reference to the beach. For navigational aids, the Diver Navigation Indica- tor (see “Diver Navigation Indicator,” page 24) and pitch/roll are also dis- played and updated in real time. -
Page 38: Navigating To A Marked Location
CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. CAUTION. To switch modes (for example, from Waypoint Nav to Grid Nav) once a navigation option has been started (i.e. -
Page 39: Survey Navigation Option
CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. CAUTION. To switch modes (for example, from Waypoint Nav to Grid Nav) once a navigation option has been started (i.e. -
Page 40: Figure 19. Free Navigation Screen
CANCEL then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved. CAUTION. To switch modes (for example, from Waypoint Nav to Grid Nav) once a navigation option has been started (i.e. -
Page 41: Utilities Menu
(especially the latitude) changes the magnetic field the compass detects. In addition, any residual magnetism in the Cobra-Tac’s battery or ferromag- netic material carried by the swimmer can create a local magnetic field. Performing a compass (heading) calibration allows the Cobra-Tac to ad- just its computations to output corrected heading. -
Page 42: Figure 22. Compass Calibration Screen
The built-in automated compass calibration procedure requires three rota- tions. The Cobra-Tac uses the first two rotations to compute a new calibra- tion matrix and the third to verify the calibration. It will not accept the new matrix unless the calibration was carried out properly. -
Page 43: Figure 23. Calibrating The Compass
Cobra-Tac. e. Rotate the Cobra-Tac slowly 360 degrees (approximately 5 degrees per second). f. The second rotation requires the Cobra-Tac to be tilted 15 degrees in another direction than from the first rotation (see Figure 23). Follow the on-screen instructions to orient the Cobra-Tac correctly. -
Page 44: Calibrating The Depth Indicator
Cobra-Tac User's Guide g. The third rotation requires the Cobra-Tac to be tilted 15 degrees in an- other direction than from the first and second rotations. Follow the on- screen instructions to orient the Cobra-Tac correctly. When prompted, rotate the Cobra-Tac slowly 360 degrees (approximately 5 degrees per second). -
Page 45: Create Mission Though Waypoint Setup
The user can create up to 20 waypoints in a given mission and the Cobra-Tac can store up to 9 missions. These missions can be called up and used to navigation using the WAYPOINT NAV option in the Naviga- tion menu (see “Waypoint Navigation Option,”... -
Page 46: Mission Edit
The user then repeats the cycle until all of the waypoints have been loaded. To cancel data input, use the function and the Cobra-Tac will go CANCEL back to the WAYPOINT SETUP Menu. To save the mission, the use the switch and Cobra-Tac... -
Page 47: Edit Records
• Event Marks are collected during a dive and are stored in the Co- bra-Tac’s mission profile. Delete Records The Cobra-Tac internal recorder has limited memory to store records. This function allows the diver to delete old records in the field. Use the function to highlight DELETE RECORDS and then the... -
Page 48: Deleting Missions
Cobra-Tac User's Guide DELETE A LL RECORDS A RE YOU SURE?? A CCEPT CA NCEL Figure 29. Delete Records Screen Deleting Missions This function allows the diver to clear mission files in the field. Use the function to highlight DELETE MISSIONS and then the... -
Page 49: Battery Health Indicator
This gives the diver an indication of how much time is left on the battery. Select the function to reset the timer. Turn the Cobra-Tac RESET power off, replace the battery, and then turn the power on. The timer will reset to 07:00:00 and begin counting down. -
Page 50: Preparation And Maintenance
No tools are needed. a. Pull out on the toggle lever of the battery pack. b. Slide the battery pack into the Cobra-Tac housing slot and rotate the lever so that the locking pin is aligned with the slot on the mount. -
Page 51: Recharging The Battery
Cobra-Tac User's Guide Recharging the Battery The Smart Charger is a variable input voltage charger that automatically adjusts for the voltage of the power source, ranging from 100V to 240V. It adapts to current fluctuations in travel destinations with poorly regulated power, provides more complete recharging, and offers trickle maintenance charge. -
Page 52: Charging Batteries Safely
11 volts after charging the battery for 5 hours or if the battery has been used for 500 charge/discharge cycles. I/O and Power Cable The I/O connector (on the Cobra-Tac) and the I/O cable and power cable use molded connectors. The cable should be disconnected with a straight outward motion only. Use the following procedure to disconnect the cable. -
Page 53: Figure 33. I/O Cable
Roll the retaining strap over the connector. CAUTION. When disconnecting or connecting the Cobra-Tac I/O cable, do not apply any upward force on the connector as it is being pulled on/off. -
Page 54: Cleaning
Figure 34. Power Cable Cleaning Before storing or shipping the Cobra-Tac, remove all foreign matter. Wa- terless hand cleaners remove most petroleum-based fouling. Rinse with fresh water to remove soap residue. Dry the transducer faces with low- pressure compressed air or soft lint-free towels. -
Page 55: Firmware Updates
Cobra-Tac User's Guide Firmware Updates The firmware for the Cobra-Tac is located on flash memory chips on the CPU board. When updating, new firmware must be downloaded. To download new firmware, do the following steps. a. Set up the Cobra-Tac as shown in Figure b. -
Page 56: Returning A Cobra-Tac For Service
Cobra-Tac User's Guide Returning a Cobra-Tac for Service When shipping the Cobra-Tac to RDI from either inside or outside the United States, the following instructions will help ensure the Cobra-Tac ar- rives with the minimum possible delay. Any deviation from these instruc- tions increases the potential for delay. -
Page 57: International Shipments
Non-urgent shipments may be shipped as part of a consolidated cargo ship- ment to save money. Mark the package(s) as follows: RD Instruments, Inc. (RMA Number) 5 Avenue Hector Pintus 06610 La Gaude, France P/N 956-6000-00 (May 2004) -
Page 58: Spare Parts
Cobra-Tac User's Guide Step 3 - Include Proper Customs Documentation The Customs statement should be completed very carefully. It should accu- rately and truthfully contain the following information. • Contents of the shipment • Value • Purpose of shipment (example: “American made goods returned for repair”) -
Page 59: Technical Support
Cobra-Tac User's Guide Technical Support If you have technical problems with your instrument, contact our field ser- vice group in any of the following ways: RD Instruments RD Instruments Europe 9855 Businesspark Ave. 5 Avenue Hector Pintus San Diego, California 92131... -
Page 60: Specifications
Cobra-Tac User's Guide Specifications NOTE. The specifications and dimensions listed in this section are subject to change without notice. Table 3: Navigation Specifications ± 7.5m/s Velocity range Minimum Altitude 0.5 meters Maximum Altitude 30 meters Precision 0.5cm/s (at 5 meters altitude, 1m/s) ±... - Page 61 Cobra-Tac User's Guide Table 6: Environmental Maximum depth rating Maximum water temp 35°C Operating temperature -5° to 45°C Storage temperature -30° to 75°C Vibration Mil 167 Weight in air 12.7 kg (28 pounds) Table 7: Power DC Input 10 to 14 VDC...
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Page 62: Warranty
Cobra-Tac User's Guide Warranty Solely for the benefit of the original buyer, RD Instruments (RDI) warrants all new products of its manufacture to be free from defects in material and workmanship. RDI will replace or repair free of charge, F.O.B. at its fac- tory in San Diego, California or other location designated by RDI, any part or parts returned to it within one year of original delivery, which RDI’s ex-...
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