Appendix A

Example Scenario - How to run a mission

1. Run the pilot interface by double clicking on the VideoRay CoPilot icon.

2. Check the main user settings in VideoRay CoPilot:

   1. Joystick Calibration

   2. Velocity Limits

3. Check if any alarms are present in the system.

4. Check navigation data and corroborate this data with other equipment in the ROV if available.

5. Check that the indicators are reporting correctly.

6. The water column display gives information on altitude and depth.

7. Now load a chart of the area where the ROV will operate.

8. To do so, click on the Chart icon

9. Select "Browse" to fetch the DXF File.

10. Select "Add" to add it on the navigation chart. (or "Remove" to remove it)

11. The chart should now be displayed in the navigation chart display.

12. MANUAL Mode - In this mode, fly as usual and check that the behavior is the same as it would be without VideoRay CoPilot.

13. Try to change randomly between modes, speeds and waypoint. No delay should be observed.

14. To use vector chart functionality, the chart must be loaded (Refer to the section about Load Vector Chart for further details), then select AUTOFLY mode.

15. Select left mouse clicks on any structure in the chart to select the ROV destination. The ROV moves to the waypoint.

16. When approaching the oil pipeline select AUTOHOVER and fly the ROV with the joystick until it is on the oil pipeline.

17. Release the joystick and the DP system will hold the position.