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Copyright © 2022, VideoRay LLC - The Global Leader in Micro-ROV Technology

Table of Contents

Copyright Table of Contents About this Document How to Get Help Before Contacting Support Product Overview Quick Start Instructions Safety First System Components Pre-Dive Preparations Dive Operations Post-Dive Operations Equipment Guide System Voltage Advisory ROV Control Panel Safety Circuits Switches and Connections IP65 Control Panel Standard Control Panel Amrel IP65 Series IP65 Monitor Hand Controller IP65 Controller Tether Connections Summary VideoRay Cockpit Guide Video Window Instruments ROV Health Control Sensitivity Compass Ribbon Compass Depth (Pseudo) Altimeter Camera and Lights Camera Menu Control Bar Close VideoRay Cockpit Help Service Bay Engine Room Access Images and Videos User Settings Instrument Settings Instruments Display Depth Gauge Settings Turns Indicator Settings System Settings Compass System of Measure Help System Video Capture and Display Data Import Data Export Launch Applications Instruments Display Lock/Unlock Instruments Set Instruments Opaque Set Instruments Transparent Set Instruments Off ROV Materials List ROV Project Management Maintenance Manual User Maintenance Policy Removal and Replacement Region Specific Information European Union (EU) WEEE 2013 Compliance

About this Document

Online Manual

This printed Quick Start Guide is a subset of the full version of this manual, which is available on the Pro 4 control panel and online in the following formats:

• Installed on the Pro 4 control panel at: C:\VideoRay\documentation\pro_4 for viewing the HMTL locally.

• https://download.videoray.com/pro_4 for viewing the HMTL online.

• https://download.videoray.com/documentation/pro_4/pdf/videoray_doc_pro_4.pdf for viewing the PDF online.

• https://download.videoray.com/documentation/pro_4/zip/videoray_doc_pro_4.exe for downloading the HTML and PDF files.

The VideoRay Pro 4 has sophisticated features, but is easy to use and maintain once you learn its capabilities and the proper operating techniques. This documentation will guide you through your first dive and provide additional details to help you learn all aspects of its operation.

Document Organization

This documentation is organized into several guides.

• The Quick Start Instructions provide the basic steps to get you operational as quickly as possible while keeping you and the equipment safe.

• The Equipment Guide provides details about each component and its function.

• The VideoRay Cockpit Guide explains the software features and operation in detail.

• The Operations Guide provides tips on how to use the system most effectively.

• The Maintenance Guide provides procedures for routine maintenance, diagnostics and repair.

• The Accessories Guide provides information about using accessories with VideoRay.

• The Customization Guide provides information about customizing the system to better meet your specific needs.

• The Upgrader's Guide provides information about the latest improvements and comparative information for people who are familiar with the VideoRay Pro 3.

Document Conventions

Several symbols are used throughout this documentation to add emphasis and to assist in relocating important information. The following table describes these symbols and their uses.

SYMBOL	DESCRIPTION
	The Danger icon is used to indicate there is a potential risk of personal injury or death. Extra care should be taken to understand the risks, and all personnel should exercise caution. It may also be appropriate to warn others in the immediate vicinity.
	The Caution icon is used to indicate there is a potential risk of damage to the equipment or surrounding property. Personnel should receive training in the appropriate procedures before attempting to operate or maintain the equipment.
	The Do Not icon is used to indicate that an action or activity should NOT be performed.
	The Note icon is used to highlight a specific detail or point of information.
	The Tip icon is used to highlight a suggestion or recommendation.

Beyond this Document

There is no substitute for experience and/or training, especially with respect to the real purpose for which you plan to use this equipment. We encourage you to explore options beyond the scope of these materials to expand your knowledge and skills necessary to support your applications. In addition to this documentation, VideoRay offers training and technical support and hosts a general user discussion forum and user image gallery.

We also realize that collectively, users of our products spend considerably more time operating our systems than we do ourselves. Users also encounter more diverse operating environments across an extremely broad range of applications. We highly value this vast experience base, and invite and encourage you to share your experiences and suggestions with us. Please feel free to contact us by any of the methods listed below.

Quality Commitment

VideoRay strives to design, manufacture, deliver and support the highest quality products and services, including this documentation. We have made every effort to ensure that this documentation is accurate and provides you with the most up-to-date information.

If you find any errors in this documentation or have suggestions for improvements, each page contains a "Help us improve this document" feedback link in the left margin (you must be connected to the Internet to use this link).

Address
VideoRay LLC 212 East High Street Pottstown, PA 19464 USA
Email
info@videoray.com	General Information and Sales
support@videoray.com	Technical Support
Telephone
+1 610-458-3000	Office
+1 610-458-3010	Fax

Disclaimer

This document is deemed accurate at the time of its writing, however it is not a legal contract and the information contained herein should not be construed to represent any form of commitment. This document as well as the associated products and services are subject to change without notice.

How to Get Help

Help for your Pro 4 is available through several channels.

All Hours Self-Service / Crowd-Source Tools

Operator's Manuals and Standard Operating Procedures	www.videoray.com/support/manuals.html
Software Downloads	www.videoray.com/support/downloads.html
Frequently Asked Questions	www.rovfaq.com
ROV User Forum	www.rovinfo.com

Global Support

Email	support@videoray.com
Phone	+1 610-458-3000 (select option 1)
Additional messaging services are available.	Contact us using one of the above methods for options supported.
Remote Sessions	www.videoray.com/support/remote-support.html (by appointment )

Regional Support

VideoRay Authorized Dealers and Service Centers

https://videoray.com/contact-us/locate-dealer-or-service-center/

Training

Email	training@videoray.com
Phone	+1 610-458-3000 (select option 1)
Training Opportunities	Training Overview

Operational Strategies and Tactics Support

If you need help understanding how to apply your system to a specific project, contact VideoRay or you local VideoRay dealer. We can provide guidance or help you find a certified consultant.

Before Contacting Support

Please make sure to consider the following information before contacting VideoRay's Technical Support to report a problem. The following information should available:

• User name and contact information
• Name of the owner if not the same as the user
• System model
• Serial Number of the affected component(s)
• Accessories in use
• Detailed information about the issue:
  • Symptoms
  • Operating conditions that create the symptoms
  • Anything new or unusually about the system or operations

Once you have collected the recommended information, visit the "How to Get Help" page for contact information.

In addition, please review VideoRay's Support website for additional information about:

• Principles of Customer Interactions
• Customer Care Philosophy
• Technical Support Policy
• Third Party Accessory Support Statement
• Use of Non-VideoRay Supplied Computers

Pro 4 Overview

VideoRay is pleased to present the latest model in its top-of-the line professional series Micro-ROVs - the VideoRay Pro 4. Like the Pro 3, the Pro 4 was designed for performance and maintainability, but has entirely new internal electronics, including camera, LED lights, processor, and added sensors. With powerful brushless motors, the Pro 4 further extends VideoRay's position as the fastest and most powerful tether pulling vehicle. Additional improvements include deeper depth rating, hydrodynamic streamlining, and optimized ballast adjustment. Topside control is based on industry standard computers, with new software that integrates several functions while dynamically reconfiguring for ease of use.

The Pro 4 submersible builds on VideoRay's strengths with more than twice the vertical thrust of the Pro 3, and 50% greater horizontal thrust. A depth rating of 300 meters (1000 feet) is standard. Improvements in the electronics allow for both greater total tether length up to 600 meters (2000 feet) and much better power transmission over longer tethers. Existing VideoRay tethers can be used with the Pro 4 - and different tether types can still be combined to meet different operational requirements. New sensors, including 3 axes compass and accelerometers and MEMS gyro improve navigational capabilities. The primary video camera features ultra low light and Wide Dynamic Range imaging capability, with a wide range of user controllable parameters for demanding imaging situations. Coupled with the very high intensity LED lighting, the images and video that can be captured are far clearer, particularly in difficult lighting conditions. An optional external camera can be rotated 360 degrees to provide lateral views as needed.

The topside control configuration replaces inflexible and limited switches and knobs with context-sensitive controls that go beyond simply controlling the submersible to controlling navigation, sonar, image and video capture, and other sensors and accessories in addition to the submersible. This "systems approach" significantly reduces operator workload and distraction caused by separate systems for sonar, navigation, video capture, and vehicle control.

The Pro 4 is part of an industry-wide initiative led by VideoRay (the largest volume ROV manufacturer in the world) to go beyond separate "point" technology solutions to a "systems" approach to solving underwater tasks. The Pro 4 series ROVs are packaged in configurations such as the PS (Port Security Configuration) and CD (Commercial Dive Configuration) designed to solve a specific or series of underwater tasks, with VideoRay providing comprehensive solutions across the many technologies involved. Users will be able to concentrate on their underwater missions, not which technology works together and how are the pieces fit together.

Additionally, VideoRay recognizes that technology is only as good as the people who use it. Successful organizations focus on training and systematic procedures for operations and maintenance. The VideoRay Pro 4 package includes features that help owners and operators develop, implement and execute ROV operations and maintenance programs more efficiently and effectively. These features include customizable documentation, online interactive operating checklists and knowledge and skill assessment tools. Companies with one system or an entire fleet can leverage these capabilities to ensure that their investment in VideoRay equipment continues to return value throughout its life.

Quick Start Instructions

These Quick Start Instructions are streamlined to cover just the essentials of operating your Pro 4 system. They are provided to get you started as quickly as possible, while keeping you and the equipment safe. They cover the equipment set up and basic operation, but are not intended to result in a comprehensive base of knowledge or set of operational and piloting skills. The remaining sections of this documentation should be referenced for a complete understanding of the features, capabilities, operating procedures and maintenance requirements of your Pro 4 system.

While you will likely find the Pro 4 easy to pilot, we strongly recommend that your first dive be conducted in a controlled environment such as a small tank or pool. As you gain experience with your system and confidence in using it, you will be able to operate in more challenging conditions that might include low visibility, currents and potential hazards that could snag your tether or trap your ROV.

Topics in this Section

• Safety First
• System Components
• Pre-Dive Preparations
• Dive Operations
• Post-Dive Operations

Safety First

Operating electrical devices in and near the water can be dangerous. There is always a risk of drowning or electrocution in such an environment. Reduce these risks by using common sense and observing safety regulations and recommended safe practices including the following:

• Never handle power cords while in contact with water or allow power cord connectors or the control panel to enter the water. The only components that can safely be placed in water are the submersible, any onboard accessories and tether, and only after making sure the connections are secure.

• Always test the safety components, such as GFCI switches and interlock devices, before beginning operations. Follow the procedures described in this manual for.

• Have proper safety equipment, such as PFDs (Personal Flotation Devices), on hand and make sure you know how to use them before you need them.

• Keep fingers, hair, loose clothing and other objects away from VideoRay's propellers and other pinch points.

• Monitor weather and sea conditions and heed any warnings or alerts.

• Be aware of and follow any legal ordinances or regulations in your area regarding operation of vessels and underwater equipment in the water.

Before setting up for or commencing any dive, it is a good practice to make sure there are no hazards to people or the equipment on land or in the water. If there are other people in the water nearby, you should advise them that you are going to be operating the ROV. As the owner/operator, it is your responsibility to ensure the safety of those around you as well as that of the equipment and nearby property.

How Safe Is Safe Enough?

Addressing all aspects of safety while working in a water environment is beyond the scope of this documentation. VideoRay encourages you to participate in safety training appropriate for your industry and applications, including such topics as vessel operations, first aid, survival and other relevant topics.

Introduction to the System Components

Unpack the system and familiarize yourself with the components.

	ROV The ROV, or Remotely Operated Vehicle, carries the cameras, lights and sensors or accessories to the underwater places you want to observe. Thrusters provide mobility and these systems are controlled from the surface using the control panel and hand controller. See the ROV section of the Equipment Guide for more information.
	Operator Control Console The Operator Control Console includes the system's power and communications modules, computer and hand controller, and serves as the operator's control interface and video display. Open the Operator Control Console and familiarize yourself with the components and primary controls on the hand controller. See the Operator Control Console and Hand Controller sections of the Equipment Guide for a complete description of all of the controls and connections. See the Control Panel section of the Equipment Guide for more information.
	Hand Controller The hand controller is used to pilot the VideoRay and operate other features like the lights, camera controls and manipulator. The hand controller is pre-programmed, but can be customized to meet specific user or operational needs. See the Hand Controller section of the Equipment Guide for more information.
	Tether / TDS (Tether Deployment System) The tether connects the ROV to the control panel. It delivers power and control signals to the ROV, and returns video and sensor data (optional) from the ROV to the surface. Some systems come with a TDS (Tether Deployment System), that makes the work of managing the tether easier. The tether is also often referred to as the umbilical. See the Tether section of the Equipment Guide for more information.

Additional Items

Additional items may be supplied with your system including tools, spare parts and other items. If included, these items are described in other sections of this documentation.

Some items shown may be optional and not included with your configuration.

Pre-Dive Preparations

Select a safe and preferably level area to set up the Operator Control Console. See the On-site Operations section of the Project Management Guide for more information about site selection and set up.

The pre-dive preparations consist of five parts:

1. Visual inspection before setting up the system
2. Setting up the system including making connections
3. Power on tests of the system's safety circuits
4. Primary functions test of the systems features
5. Adjusting the ballast for the desired buoyancy (to be completed in the next phase)

VideoRay Cockpit includes an online interactive Pre-Dive checklist. See the Pre-Dive Checklist section of the VideoRay Cockpit Guide

Conduct a Visual Inspection

Assuming this is your first time using the VideoRay, everything should be in proper working order and ready to go, but it is good practice to perform a pre-dive inspection before every dive, even your first. If any problems are noticed, they should be addressed before continuing. Refer to the Diagnostics and Repair section of the Maintenance Guide and take appropriate corrective action, or contact VideoRay for assistance before commencing the dive.

1. Inspect the ROV and other system components to make sure there are no visible signs of damage or loose or worn parts. Also check for water inside by holding it with the front facing downward and look for signs of water in the main dome or light domes.

2. Check the horizontal thrusters to make sure that the shafts are not bent and the propellers are free to spin and are not fouled, loose or binding on the thruster guards. Check the thruster cartridge seals - they are filled with oil and there should be no signs of leaking or contamination. A small air bubble in a thruster cartridge seal is acceptable. See the Maintenance Guide for warnings, replacement criteria, examples and replacement procedures.

3. Check the vertical thruster to make sure the shaft is not bent and the propeller is not fouled or loose or binding on the float block. Also, check the thruster cartridge seal following the same guidelines used to check the horizontal thruster cartridge seals. Make sure the accessory port at the rear of the ROV is sealed with either a connector from an attached accessory or an accessory port terminator plug. Removal of the float block by loosening the retaining screw may facilitate this process.

Make the Connections

It is best to start making connections at the ROV and working your way to connecting the system to the power source.

Connecting or disconnecting cables while the system is powered on is not recommended.

Make sure the Operator Control Console power switch is set to the Off position.

Some of the cables have been connected at the factory. See the appropriate sections of the Equipment Guide for detailed information about each of the connections.

You will typically need to connect only the ROV, tether, strain relief hand controller, and power cord.

1. Connect the female end of the tether connector to the ROV. The connectors have one pin that is offset towards the center of the connector. Make sure the connectors are clean, align the pins, and push the connectors together - do not twist the connectors. Secure the locking collar by screwing the halves together.

2. Connect the strain relief cable from the ROV to the braided strap on the tether.

3. Connect the male end of the tether to the Operator Control Console. When not in use, keep the tether connectors clean and protected for the best performance and reliability.

4. Connect the hand controller to one of the USB ports on the Operator Control Console or directly to one of the USB ports on the computer.

5. Plug the Operator Control Console power cord into a conventional power source (100-240 Volts AC, 50,60 Hz). Power can be supplied through a land-based power outlet, generator or battery and inverter. See the Operator Control Console section of the Equipment Guide for power source requirements.

Power On Tests

If the system does not pass any of the following tests, it should not be used until the problem is identified and corrected. See the Diagnostics and Repair section of the Maintenance Guide for more information.

The VideoRay Pro 4 includes three circuit safety components.

• GFCI (Ground Fault Circuit Interrupter)

• LIM (Line Insulation Monitor)

• Circuit Breaker.

Testing the Circuit Safety Components

Connect the power cord to a suitable power source.

Current Operator Control Consoles, including IP65 and Standard

The GFCI can be found inline in the power cord.

1. Press the GFCI Reset button to turn on the GFCI. The green LED should illuminate.

2. Press the test switch on the GFCI. The GFCI should interrupt power and the green LED should go out.

3. Press the GFCI Reset button to restore power and continue the pre-dive steps.

The Circuit Breaker can be found under the circular VideoRay logo plate on the right side of the Operator Control Console. The circuit breaker is set to On and should not need to be reset unless it has tripped. To access the circuit breaker, remove the plate.

Legacy Operator Control Console

The GFCI / Circuit Breaker are integrated in a combined switch can be found on the right side of the Operator Control Console.

1. Set the GFCI / Circuit Breaker switch to the On position.

2. Press the test switch on the GFCI. The GFCI / Circuit Breaker switch interrupt power.

3. Set the GFCI / Circuit Breaker switch to the On position.

Power On and LIM Tests

Set the Power switch to the On position. The green Power On indicator light should turn on. If the green Power On indicator light is not on, make sure the system is connected to a working power source and the GFCI switch is turned on.

Test the LIM. The LIM Test and Reset switches can be found on the right side of the Operator Control Console. The GFCI and Power switches must both be set to On in order to perform this test.)

1. The yellow Alarm light should be off. If the yellow light is on, press and hold the black Reset button until the yellow Alarm light turns off.

2. To test the LIM, press and hold the red Test button until the yellow Alarm light turns on. This may take up to 10 seconds. Release the button when the yellow Alarm light turns on.

3. Press and hold the black Reset button to reset the LIM. The yellow Alarm light should turn off. Release the button when the yellow Alarm light turns off.

Starting the VideoRay Cockpit Control Software

Make sure the system is connected to a working power source and the GFCI / Circuit Breaker and Power switches are turned on.

1. Turn on the computer and wait for the system to complete the boot up process.

2. After the computer has started, start VideoRay Cockpit using the desktop icon, or by selecting it from the Start->All Programs->VideoRay menu.

3. When VideoRay Cockpit starts, you will see the Video Window, the Control Instruments and the Control Bar. For now, you will only need to focus on the video window. See the VideoRay Cockpit Guide for details about using VideoRay Cockpit.

VideoRay Cockpit screen with simulated video image - your image will likely be different.

See the Software Guide for more information about the VideoRay control software.

Testing the System's Functions

The next step is to ensure that the essential features of the ROV are functioning properly. Use the hand controller to perform the following tests. The manipulator functions listed below do not necessarily represent the full capabilities of the system. See the Hand Controller section of the Equipment Guide for the complete list of functions and more information about using the hand controller.

1 Horizontal Control joystick 2 Depth Control knob 3 Camera Tilt Up button 4 Camera Tilt Down button 5 Camera Focus In button 6 Camera Focus Out button Lights Bright button Lights Dim button

Additional features and controls may be available depending on the system configuration. These tests represent the minimum set for all configurations.

Test the thrusters

For the next two steps, make sure no one is near the thrusters and do not operate the thrusters out of water for more than 30 seconds to avoid overheating or premature wear of the seals.

1. Gently move the joystick forward and backward and left and right - the horizontal thruster motors should turn the propellers. Release the joystick - it will return to center on its own, and the propellers will stop turning.

2. Rotate the Depth Control knob - the vertical thruster motor should turn the propeller. Return the Depth Control knob to center to cease the vertical propeller rotation.

Test the lights

For the next two steps, do not leave the lights on bright for more than 30 seconds while the ROV is out of water to avoid overheating.

1. Press and hold the Lights Bright button to increase the intensity of the lights - the lights should get brighter.

2. Press and hold the Lights Dim button to dim the lights - the lights should dim.

Test the camera functions

1. Press and hold the Camera Tilt Up button - the camera should tilt up smoothly through its entire range.

2. Press and hold the Camera Tilt Down button - the camera should tilt down smoothly through its entire range.

3. Press and hold the Camera Focus In button - the camera should focus in smoothly through its entire range.

4. Press and hold the Camera Focus Out button - the camera should focus out smoothly through its entire range.

If a manipulator or other accessories are attached, these items should be checked at this time.

Good Advice

The time to catch small problems before they become big problems is during the pre-dive inspection.

The thruster cartridge seals are designed to prevent water intrusion along the thruster shafts. Based on service records at VideoRay, the most frequent repair (as well as the most expensive) is the failure of the operator to inspect the thruster cartridge seals and replace them as necessary.

View example cartridge seals

Dive Operations

After the previous four pre-dive checks and tests have been completed successfully, you are almost ready to commence the dive. But, there is one more issue to address that could affect the performance of the ROV. The ROV is designed to be operated in a near neutrally buoyant configuration, so the last step before launching your VideoRay is to check the buoyancy, and adjust the ballast if necessary. For most operations, the buoyancy is optimal when the top of the float block is even with the water surface and the ROV is level. If the ROV is too buoyant or too heavy, the vertical position may be hard to maintain or control.

Buoyancy will need to be adjusted for use in fresh water versus salt water and depending upon whether accessories are used with the ROV.

Buoyancy Check and Adjustment

To determine if the buoyancy is correct, lower the ROV and at least 3 meters (10 feet) of tether into the water. You can lower the ROV by the tether - it will not hurt the tether because there is Kevlar in it. Observe the ROV in the water - it should not be floating too high or sink. It should also be floating level and not tipped to one side or pitched up or down. If the ROV floats too high, you will need to add some ballast weights. If the ROV sinks, you will need to remove some ballast weights. If the ROV is not floating level, you can change the locations of the weights.

The buoyancy can be adjusted by adding or removing the supplied ballast weights to the vehicle. To open the skid pods, turn the ROV upside down. Press on the buttons on the sides of the pod, and lift up on the pod shell. The weights can be added to or removed from the slots by hand. For most operations, the weights should be evenly distributed to provide a balanced attitude of the ROV in water.

Commence the Dive

Once the buoyancy has been adjusted the ROV is ready to launch. Lower it into the water and operate the controls to maneuver it. The ROV can be lowered using the tether.

• Start with the ROV on the surface and push the joystick forward slightly to make the ROV move forward. Move the joystick to the left or right to make it turn left or right. Get a feel for how agile the ROV is.

• Observe the video display as well as the ROV to become acquainted with the camera's wide angle lens and its affect on depth perception underwater.

• Once you feel comfortable with the horizontal maneuverability of the ROV, rotate the depth control knob to dive the ROV. Tilt the camera down as you dive so you can see towards the bottom. Rotate the depth control knob to bring the ROV back to the surface. Tilt the camera up as you surface so you can see towards the surface.

• Change the lights settings, and adjust the camera focus. If you have a manipulator, tilt the camera down so you can see it and open and close the jaws.

• As you get familiar with maneuvering the ROV, you can start to observe some of the on-screen displays including the depth, heading, camera settings and other data.

For your first dives, practice until you are comfortable operating the controls without looking at them and you are able to control the ROV with some precision.

See the Hand Controller section of the Equipment Guide for complete information about using the hand controller and see the Piloting section of the Operations Guide for more advanced tips on piloting the Pro 4.

Practice Makes Perfect

Developing the skills to operate your Pro 4 like an expert may take some time. Practicing on a regular basis is highly recommended.

Post-Dive Operations

At the conclusion of your dive, retrieve the VideoRay and power down the system by closing VideoRay Cockpit, shutting down the computer and turning off the Power switch. Make sure the ROV is secure before disconnecting the tether. After disconnecting the tether, keep the tether connectors clean and do not let them drag on the ground.

Proper maintenance of your VideoRay system ensures a long service life and that it will be ready to operate when you are. After each dive, you should visually inspect the system for damage that might have occurred during your operation.

VideoRay Cockpit includes an online interactive Post Dive checklist. See the Post Dive Checklist section of the VideoRay Cockpit Guide

Keeping the ROV clean is one of the most important aspects of good preventative maintenance practices, especially after using it in salt water. If you use your ROV in salt water, or water with contaminants, you should first rinse it, and then soak it in clean fresh water for at least one-half hour. After cleaning the ROV and tether, they should be allowed to air dry before being put away for storage.

Failure to properly maintain the ROV by thoroughly cleaning it after use may dramatically reduce its service life.

Debriefing

Congratulations! You are well on your way to becoming an accomplished micro-ROV operator, but there are still many things to learn and skills to master. Continue learning about the system by reviewing the additional sections of this documentation and, most importantly, practice, practice, practice.

If you encountered any difficulties or have any questions, review these Quick Start Instructions and the other documentation that came with your system, including the Equipment Guide and Maintenance Manual. If you still have difficulty or questions, contact VideoRay. Your success is our success, and we are here to help you get the most out of your VideoRay.

VideoRay contact information is available on the About this Documentation page.

Ready to Learn More?

To accelerate your learning and receive recognition for your knowledge and skills, VideoRay offers in-person classes and online training as well as the Micro-ROV User Certificate program. Training can be delivered at your site and customized to your needs. To learn more about these opportunities, click on the training link above to visit the VideoRay Educational Resources website.

Equipment Guide

Understanding the features and capabilities of the Pro 4 equipment is essential to get the most value out of using the system. The sections within this Equipment Guide provide details about each of the components.

Topics in this Section

• ROV
• Operator Control Console
• Hand Controller
• Tether

System Voltage Advisory

AC Input

Input voltage is universal at 100-240 VAC; 50, 60 Hz. The power requirement for the Mission Specialist operating at full power settings is 3,000 Watts. A 2,000 Watt source (i.e. generator) can be used if the system will not be used at full power settings.

ROV DC Power

Historically, the tether voltage to power the ROV has been increasing. Economy models (including the Scout, Explorer and Voyager), Pro 3 variants and the Pro 4 Ultra use 48 V DC for vehicle power. The Pro 4 uses 74 V DC. Mission Specialist systems uses 400 V DC with plans to use higher voltages in the future. Systems with voltages higher than 48 V DC include a LIM (Line Insulation Monitor) protection module in the ROV DC circuit.

System components should not be connected to voltage sources higher than their rating.

The Pro 4 Ultra uses the same ROV as the Pro 4 and is rated at 36 V DC to 74 V DC input. The power supply for the Pro 4 Ultra is limited to 48 V DC maximum output. The Pro 4 Ultra ROV is safe to use on a standard Pro 4 control panel.

VideoRay Negative, Neutral and PPT tethers are rated to 600 V DC and are safe to use on any system through the Mission Specialist 400 V DC.

The standard TDS and Extended TDS are only rated to 300 V DC and should not be used with Mission Specialist systems or components.

The new version of the extended TDS is available that includes a 600 V rated slip ring.

If you have any questions about system voltage and compatibility, contact VideoRay Support.

ROV

The Pro 4 ROV (Remotely Operated Vehicle) is depth rated to 300 meters (1000 feet).

Thrusters provide mobility and are controlled from the surface using the hand controller. The ROV carries cameras, lights and other sensors to the underwater locations being searched, explored or inspected.

The primary ROV components are illustrated below. Note that the yellow float block and clear vertical thrust splitter have been removed from the top of the ROV.

Operator Control Console

The Operator Control Console provides power, communications and a video interface between the surface and the ROV through the tether. The computer, which runs VideoRay Cockpit software to control the ROV, is housed in the Operator Control Console along with a second display monitor .

Computer models may vary depending upon purchased configuration, and the second monitor is optional.

Operator Control Console Power Specifications

The VideoRay Pro 4 operates on typical residential power in the range of 100-240 Volts AC, 50,60 Hz. This can be provided from the land-based grid, a generator, or a battery with an inverter (optional). The typical power requirements for operating from a generator or inverter are 800 Watts continuous minimum.

The system includes a GFCI (Ground Fault Circuit Interrupter) / Circuit Breaker to protect the operator.

There are two universal IEC power outlets on the back of the Operator Control Console. These outlets are protected by the GFCI. The GFCI must be on to use these outlets, but the Operator Control Console power switch does not need to be on.

The power in the tether is 74 Volts DC. This circuit is protected by a LIM (Line Insulation Monitor).

The procedures for testing the circuit safety components can be found in the Pre-Dive Preparations section of the Quick Start Instructions.

Do not block the Operator Control Console fans. Blocking the fans can lead to overheating and component failure.

Display Monitor Tilt Arm

For systems equipped with a second monitor, the Display Monitor Tilt Arm on the left side of the Operator Control Console can be used to adjust the angle of the Operator Control Console lid and monitor. To adjust the angle of the monitor, loosen the locking collar, adjust the lid to the desired angle and tighten the locking collar.

Make sure to loosen the display monitor tilt arm before closing the Operator Control Console lid, and be careful when closing the lid to avoid damaging the computer or monitor or pinching any cables.

Safety Circuits

The Operator Control Console includes three safety circuit components.

• GFCI (Ground Fault Circuit Interrupter)

• LIM (Line Insulation Monitor)

• Circuit Breaker

GFCI (Ground Fault Circuit Interrupter)

The GFCI protects the operator from shock from the AC circuit of the power source, and protects the equipment from a current overload.

For current and IP65 Operator Control Consoles, the switch GFCI is inline with the power cord. When initially connected to a power source, it is in the Off state. You must press the Reset Button to enable it. When enabled, the green LED will be illuminated.

For legacy Operator Control Consoles, the GFCI switch is integrated with the Circuit Breaker and both switches must be turned on for the Operator Control Console to operate. The GFCI / Circuit Breaker can be found in the right front of the Operator Control Console.

If the GFCI detects a differential current between the supply and ground poles of the power source, it will trip, or open the circuit. If the circuit breaker detects a current greater than it's rating, it will trip. The test button can be used to simulate these conditions and pressing and holding the test button should cause the switches to open, or turn off. If the GFCI continues to trip, the system should be inspected for a fault before being used.

LIM (Line Insulation Monitor)

The LIM protects the operator and persons in the water nearby from shock from the DC circuit of the tether. While the GFCI switches are part of the GFCI component and must be turned on to operate the Operator Control Console, the LIM is automatically enabled when the system is turned on. The LIM operates on a principle similar to the GFCI and monitors the quality of the insulation of the conductors in the tether. If the resistance between the conductors drops below the safe threshold, the LIM will trip.

When the LIM detects the resistance between the power conducts falls below the safe threshold, the yellow LIM Alarm LED will turn on, and the ROV power circuit will be disabled. The LIM can be reset by pressing and holding the Reset button. The yellow LIM Alarm light should turn off. To test the LIM, press and hold the Test button. If the LIM continues to trip, the system should be inspected for a fault before being used.

The Test and Reset buttons must be held until the action occurs. This can take from several seconds up to a minute. The LIM will not automatically reset even if power is no longer applied. The LIM must be reset manually.

LIM Bypass

In some situations, the LIM may trip, but the system may in fact be safe to use. A common situation that may cause the LIM to trip is using an old tether that has some current leak at its connectors. The LIM is sensitive enough to detect this leak. If it is determined that the cause of the LIM tripping does not represent a potential hazard to the operator or people in the surrounding area, the LIM can be bypassed to continue operations. The LIM can be bypassed by engaging the LIM Bypass switch to the Bypass setting. The LIM Bypass switch is a locking switch and the stem of the switch must be pulled out to switch it. When the LIM is set in Bypass mode, the RED LIM Bypass LED will turn on indicating the system may be unsafe to operate.

Determining if the system is safe to operate in the LIM Bypass mode requires a trained and qualified technician. Do not operate the system in LIM Bypass mode unless you are trained and qualified and 100% certain that the situation is safe.

Circuit Breaker

The Circuit Breaker protects the equipment and source from a current overload. On current Operator Control Consoles, the circuit breaker can be found under the VideoRay logo plate on the right front of the Operator Control Console. In order to access the circuit breaker, you need to remove the two screws that hold the plate.

On legacy Operator Control Consoles, the circuit breaker is integrated with the GFCI switch.

See the Operator Control Console Switches and Connections section for more information about these components and their locations, and see the Pre-Dive Preparations section of the Quick Start Instructions for information about testing these components.

Switches and Connections

IP65 GFCI

The IP65 Control Panel uses a power cord inline GFCI. Plug the male plug of the inline GFCI into a power source and plug the Control Panel into the female socket of the Inline GFCI.

You must turn on the GFCI by pressing the Reset button before operation.

When connecting to a GFCI equipped power outlet, the inline GFCI for the IP65 control panel is not needed.

Control Panel Top

The IP65 control panel cables are twist locking connectors.

Connector	Installation	Removal
Power	Align the release tab with the rear of the panel, turn it slightly left (counter clockwise), insert the connector into its socket and then turn it back to the right (clockwise) and release the tab to secure it in place.	Lift up on the release tab, rotate the connector to the left (counter clockwise) and then lift the connector from its socket.
Monitor / USB / Ethernet	Align the pins and insert the connector into the socket. Turn the locking ring to the right (clockwise) until it clicks to secure it in place.	Turn the locking collar to the left (counter clockwise) and then lift the connector from its socket.

The power cable and the monitor cable must be removed before closing the lid of the control panel.

The control panel includes the following switches:

SWITCH	LOCATION	FUNCTION
Power	Control panel top	Turns the control panel on.
LIM Test	Control panel top	Test the LIM by simulating a fault and triggering the alarm state.
LIM Reset	Control panel top	Reset the LIM after a test or a fault has been detected and the alarm state has been triggered.
LIM Bypass	Control panel rear	If the LIM alarm state has been triggered, the LIM can be bypassed by enabling this switch. If the LIM bypass switch is enabled, LIM protection is disabled. This situation can pose a risk to people handling the tether or in the water with the ROV. Do not use the LIM bypass switch unless you have examined the system to make sure it is safe, or are sure that people are not going to be exposed to a possible voltage leak in the tether or ROV.
AUX Port Selector Switch (Optional)	Control panel rear	Switches the APIC circuit between the AUX Port and a dedicated accessory interface, such as an Ethernet connector, if one is included.

The control panel includes the following connections:

3

CONNECTION	TYPE	FUNCTION
Power (100-240 Volts AC, 50, 60 Hz)	IEC male	Used to connect the control panel to a power source.
GFCI/Circuit Breaker Protected Power Outlets (2)	IEC female	Used to connect the computer and another device to the control panel to receive power.
Tether Whip (Specifications)	8 pin round female	Used to connect the control panel to the tether for power, communications, video and accessory support.
Monitor Power		Provides 12 Volts DC. Used to provide power to the monitor.
Analog Video Out	RCA female	Provides a composite video signal. Can be used to connect an analog video recording device.
USB PC	Type B female	Used to connect the control panel to the computer.
USB Accessory pass through (3)	Type A female	Can be used to connect USB devices to the computer via the control panel.
AUX Port (Specifications listed below)	DB-9 male	Provides access the APIC (Auxiliary Pair of Independent Conductors) in the tether. Can be used with ROV accessories that need to rely on the APIC for communications.
Ethernet (Optional)	RJ-45 female	Can be used to connect the control panel to the computer for Ethernet based ROV accessories.
BlueView Pole Mount (Optional)		Used to connect the BlueView Pole Mount system to the control panel.

AUX Port Specifications

PIN	FUNCTION
1	No connection
2	No connection
3	No connection
4	No connection
5	No connection
6	No connection
7	AUX + (Connects to tether pin 4 and ROV accessory port pin 4)
8	AUX - (Connects to tether pin 6 and ROV accessory port pin 6)
9	No Connection

Connector Type - DB-9 Male.

The AUX Port provides access to the APIC. Some accessories use the AUX port directly and the topside device requires a female DB-9 connector. Some accessory interfaces can be built into the control panel. For control panels that have built-in accessory interfaces, there is a switch on the back of the control panel that determines whether the APIC is connected to the AUX port, or to the accessory interface inside the control panel. The switch must be set to the proper position depending upon whether you want to use an external device or the built-in accessory interface. Set the switch to AUX if you want to use an external accessory device on the topside. Set the switch to the correct setting for any built-in accessory device that you want to use. For built-in accessories, there is either another dedicated connector (to connect to the laptop), or the accessory might use USB (to connect to the laptop), in which case a separate connector is not necessary. See the instructions that come with each accessory for more information.

Set Up Help

See the Pre-dive Preparations section of the Quick Start Guide and Connections Summary for information on how to connect the ROV to the rest of the system.

Switches and Connections

Control Panel Top

Control Panel Rear

The control panel includes the following switches:

SWITCH	LOCATION	FUNCTION
GFCI/Circuit Breaker	Control panel top	Turns on the power outlets and enables the power switch.
Power	Control panel top	Turns the control panel on.
LIM Test	Control panel top	Test the LIM by simulating a fault and triggering the alarm state.
LIM Reset	Control panel top	Reset the LIM after a test or a fault has been detected and the alarm state has been triggered.
LIM Bypass	Control panel rear	If the LIM alarm state has been triggered, the LIM can be bypassed by enabling this switch. If the LIM bypass switch is enabled, LIM protection is disabled. This situation can pose a risk to people handling the tether or in the water with the ROV. Do not use the LIM bypass switch unless you have examined the system to make sure it is safe, or are sure that people are not going to be exposed to a possible voltage leak in the tether or ROV.
AUX Port Selector Switch (Optional)	Control panel rear	Switches the APIC circuit between the AUX Port and a dedicated accessory interface, such as an Ethernet connector, if one is included.

The control panel includes the following connections:

CONNECTION	TYPE	FUNCTION
Power (100-240 Volts AC, 50, 60 Hz)	IEC male	Used to connect the control panel to a power source.
GFCI/Circuit Breaker Protected Power Outlets (2)	IEC female	Used to connect the computer and another device to the control panel to receive power.
Tether Whip (Specifications)	8 pin round female	Used to connect the control panel to the tether for power, communications, video and accessory support.
Monitor Power		Provides 12 Volts DC. Used to provide power to the monitor.
Analog Video Out	RCA female	Provides a composite video signal. Can be used to connect an analog video recording device.
USB PC	Type B female	Used to connect the control panel to the computer.
USB Accessory pass through (3)	Type A male	Can be used to connect USB devices to the computer via the control panel.
AUX Port (Specifications listed below)	DB-9 male	Provides access the APIC (Auxiliary Pair of Independent Conductors) in the tether. Can be used with ROV accessories that need to rely on the APIC for communications.
Ethernet (Optional)	RJ-45 female	Can be used to connect the control panel to the computer for Ethernet based ROV accessories.
BlueView Pole Mount (Optional)		Used to connect the BlueView Pole Mount system to the control panel.

AUX Port Specifications

PIN	FUNCTION
1	No connection
2	No connection
3	No connection
4	No connection
5	No connection
6	No connection
7	AUX + (Connects to tether pin 4 and ROV accessory port pin 4)
8	AUX - (Connects to tether pin 6 and ROV accessory port pin 6)
9	No Connection

Connector Type - DB-9 Male.

The AUX Port provides access to the APIC. Some accessories use the AUX port directly and the topside device requires a female DB-9 connector. Some accessory interfaces can be built into the control panel. For control panels that have built-in accessory interfaces, there is a switch on the back of the control panel that determines whether the APIC is connected to the AUX port, or to the accessory interface inside the control panel. The switch must be set to the proper position depending upon whether you want to use an external device or the built-in accessory interface. Set the switch to AUX if you want to use an external accessory device on the topside. Set the switch to the correct setting for any built-in accessory device that you want to use. For built-in accessories, there is either another dedicated connector (to connect to the laptop), or the accessory might use USB (to connect to the laptop), in which case a separate connector is not necessary. See the instructions that come with each accessory for more information.

Set Up Help

See the Pre-dive Preparations section of the Quick Start Guide and Connections Summary for information on how to connect the ROV to the rest of the system.

Amrel IP65 Series Computers

The Amrel IP65 series computers have been set up with a "VideoRay" user account and there is no password assigned.

The mount that holds the computer to the control panel is designed to tilt to provide optimal viewing of the second monitor if one is available and to allow easier access to the side ports. To tilt the computer, lift it straight up and then pull it towards the operator. As it comes towards the operator, the back will start to drop. Continue pulling until the back rests on the control panel.

The Amrel uses specialized IP65 rated computer connections. These are shown in the following image:

The LAN, VGA and USB connectors are push on, and pull off. For removal, you must pull from the narrow barrel (with the white dot) on the connector to release the connector.

The power connector uses a twist lock connection.

IP65 Monitor

The IP65 monitor is fully protected from dust and water ingress due to water spray. It can be used in dusty conditions and in rain or sea spray.

The monitor includes the following buttons and their functions:

BUTTON	FUNCTION
Power	Turn the monitor On or Off. The system is designed to automatically turn on the monitor when you turn on the main power switch.
Menu	Enter the menu to adjust various settings.
Select	Confirm a menu selection. This button can also be used to select the monitor input source. Not all monitors support all input connections addressed by this button.
Increase	Move to the previous menu selection. This button is also used to increase a menu selection.
Decrease	Move to the next menu selection. This button is also used to decrease a menu selection.

The monitor includes the following cable connections:

CONNECTION	Type	FUNCTION
Power	12 Volt DC	Used to connect the monitor to a power source. The control panel provides a matching 12 Volt DC connector.
VGA In	Mini Displayport	Used to connect the monitor to the computer.

The monitor is optional and may not be included with all models.

Hand Controller

The hand controller is used to operate the VideoRay and its features. Several types of hand controllers are supported, including the following styles:

IP65 Controller (Optional)

VideoRay Industrial Controller (Optional)

Gamepad Style Controller (Wired or Wireless (Optional))

The hand controller functions are described in more detail in the following pages of this guide.

Hand Controller Support

Any Microsoft^® Windows^® compatible game controller can be used with the Pro 4, but each controller requires a configuration file to map the joystick, buttons and knobs to the ROV functions. VideoRay Cockpit currently includes two hand controller configuration files, the VideoRay industrial hand controller, and the Logitech^®. These controllers are auto detected on start-up. Other controller configuration files are available online from VideoRay for these and/or other controllers. Customer controller configuration files can also be created by users. See the Hand Controller Customization section of the Customization Guide for more information.

Microsoft is a registered trademark of Microsoft. Windows is a registered trademark of Microsoft.
Logitech is a registered trademark of Logitech.

IP65 Controller

Hand Controller Connection

CONNECTION	TYPE	FUNCTION
USB	Type A male cable connection	Used to connect the hand controller to a USB port on the control panel or the computer.

Tether

Tether connects the ROV to the surface and provides power, communications, video and an APIC (Auxiliary Pair of Independent Conductors) for accessory use. The tether consists of conductors, a Kevlar^® strength member, flotation (for Neutral and Performance tethers) and an outer jacket. It is available three types: Negative, Neutral and Performance (often called PPT), and can be purchased in standard and custom lengths. Neutral and Performance are neutrally buoyant in fresh water because they have a specially designed foam jacket.

While larger conductors provide the best power transmission capacity, they lead to thicker tethers, which results in higher drag. Negative tether has the largest conductors (best power transmission capacity), followed by Neutral, and then Performance. Negative and Performance tether have the smallest diameter (least drag), while Neutral tether has the largest diameter.

The tether connectors are wet mateable and can be connected while they are wet. One of the pins in the connector is offset. To connect the tether to the ROV, control panel or another tether, align the offset pin of the connectors and press the two connectors together until the base surface of each connector are touching each other. Then, connect the tether locking sleeves by screwing them together to secure the connection.

Multiple tethers can be connected in series like conventional power extension cords. See the Tether Management section of the Operations Guide for recommended tether configurations.

Always secure the tether connectors using the locking sleeves and strain relief system to avoid separation and loss of the ROV.

The strain relief system includes a carabineer that could get hooked on something underwater and cause the ROV to become trapped. To avoid this possibility, tape over the carabineer with electrical or duct tape.

The tether connectors should be kept clean to avoid abrasion and corrosion on the electrical contacts and damage to the rubber insulation. Tether connectors should not be lubricated with petroleum products or grease. Petroleum will degrade the rubber and grease will attract dirt and lead to abrasion and corrosion. VideoRay recommends lubricating the tether connectors with pure silicone spray.

Smart Tether

KCF Technologies manufactures the Smart Tether, which can be used to track and record the location of the ROV. See the Smart Tether Guide for more information

Connections Summary

Connections Summary - see the descriptions below the figure for each numbered connection.

1. The male tether connector on the ROV is connected to the female connector on the tether.

2. The ROV strain relief cable is connected to the strain relief webbing on the tether.

3. The male tether connector is connected to the female tether connector on the Operator Control Console.

4. The USB connection on the computer is connected to the USB PC connection on the Operator Control Console using the supplied USB cable.

5. The hand controller is connected to one of the USB ports on the computer or Operator Control Console.

6. The male monitor power connector on the monitor is connected to the female monitor power connector on the Operator Control Console.

7. The female VGA Out connector on the computer is connected to the female VGA In connector on the monitor using the supplied VGA cable.

8. The computer power cord is connected from the computer power cord receptacle to one of the GFCI protected IEC outlets on the Operator Control Console using the supplied country specific adapter cable.

9. The Operator Control Console power cord is connected from the Operator Control Console IEC power cord receptacle to a suitable power source (100-240 Volts AC, 50, 60 Hz) using the supplied country specific power cord.

10. The Analog Video Out connector on the Operator Control Console can be connected to the optional monitor's Analog Video In connector or another video display using the supplied cable. Newer Operator Control Consoles use a female BNC connector and include a BNC to female RCA adapter. Older Operator Control Consoles use only a female RCA connector. Some monitor models may have a permanently attached RCA composite male cable, or may not have this connection at all. If this cable is not used, do not leave it connected to only one side. This could result in poor video quality.

VideoRay Cockpit Guide

Program Start-up Procedure

VideoRay Cockpit can be started using the desktop icon, or by selecting it from the Start->All Programs->VideoRay menu.

Interface Overview

VideoRay Cockpit is the Pro 4's control software. It communicates your control inputs to the ROV, and provides feedback from the ROV's video and sensor systems. VideoRay Cockpit consists of a Video Window, the Control Instruments and the Control Bar. Each of these items will be described in more detail in the following sections.

VideoRay Cockpit screen with simulated video image - your image will likely be different.

If you encounter any problems starting VideoRay Cockpit, see the Diagnostics section of the Maintenance Guide for more information.

Topics in this Section

• Video Window
• Instruments
• Control Bar

Video Window

The video window consists of four parts:

• Title Bar
• Video Display Area
• Text Overlay Controls
• Audio Mute Button

The video window can be a set to maintain a fixed size or be resizable. If the window is set to fixed size, the video window is set to 640(H) X 480(V) pixels and only the standard Close button is available. The window location can be moved, but the size and aspect ratio cannot be changed. If the window is set to allow resizing, the standard window controls for resizing by dragging the sides or corners are available, and the Minimize, Maximize (full screen) and Close buttons are available. See Video Capture and Display Advanced Settings section for information on how to change the video window from a fixed size to resizable.

Video Window Title Bar

The video window title bar displays the number of snapshots and video recordings captured during the current session. When video is being recording the word "Active" and the current video file size is also displayed. These numbers are not retained when you close VideoRay Cockpit. If there are no snapshots or recordings, no information is displayed.

Video Display Area

The video display area displays the video from the active camera, which can also include the text overlay. When video is being recorded, a flashing red dot is displayed in the upper right. When audio is being recorded (not muted), the word "Audio" appears under the flashing red dot. The flashing red dot and the word "Audio" are for information only and are not recorded.

Video Text Overlay

The video text overlay controls enable the display of the date, time, ROV sensor data, user defined text and digital on-screen graphic (logo) to be overlaid on the video image. Data from attached accessories or other sensors can also be imported and displayed on the video as overlay text. See the Data Import section for more information about importing data from accessories.

Audio Recording and Muting

Recorded audio can be used to add narration to the video in real time. Whenever video is being recorded, audio is also being recorded to the same file. The audio can be muted to eliminate background noise or unwanted conversations. The Audio Mute button can be found in the lower right corner of the video window. Microphone selection can be made using the Video Settings section of the System Settings tab of the User Settings. Microphone volume adjustments can be made using the standard Microsoft Windows audio settings and properties.

Instruments

In addition to controlling the Pro 4 and displaying video, VideoRay Cockpit provides numerous feedback and control instruments. These instruments float on the desktop and can be moved, resized, turned on or off or made transparent. You can also restore their sizes and positions to their default locations.

VideoRay Cockpit Display with Instruments Highlighted

Moving Instruments

To move an instrument, click on a background area of the instrument with the left mouse button and drag it to the desired location. Some instruments have indicators, buttons or key-in fields. Do not click on these items when trying to move an instrument.

Resizing Instruments

To resize an instrument, hover the mouse over the instrument, and then move the cursor toward a border. When the cursor reaches the border, the border will highlight. Click on the highlighted boarder with the left mouse button and drag it to the desired size. You can resize the instrument by clicking anywhere on the highlighted border. You do not need to drag the border from a corner.

Locking Instruments Sizes and Locations

The sizes and locations of instruments can be locked so that they cannot be resized or moved. See the Lock Instruments Sizes and Location section for more information.

Toggling Instruments between Opaque and Transparent Individually

To make an instrument transparent, double click on it with the right mouse button. To restore an instrument to opaque, double click on it again with the right mouse button.

Closing Instruments

To close an instrument, hover the mouse over the instrument, and then move the cursor toward a border. When the cursor reaches the border, the border will highlight and an "X" will appear in the upper right. Click on the "X" to close the instrument. See the section below and the User Settings and Instrument Display sections for more information about how to close and reopen instruments.

Additional Control Methods

In addition to the operations above that work directly on individual elements, there are other methods to control instruments individually or as a group.

User Settings

The Instruments tab within User Settings allows you to turn instruments on or off individually. The Instruments tab also has a button to restore all of the instruments to their default sizes and locations. See the User Settings Section of the VideoRay Cockpit Guide.

Control Bar Tools

The Control Bar has three tools that allow you to close all instruments, make them all transparent, or make them all opaque. See the Instrument Display Control Section of the VideoRay Cockpit Guide.

Instruments Display Control Hierarchy

Some settings methods take precedence over other settings methods.

• The User Settings Off setting for an individual instrument overrides the Control Bar Opaque and Transparent settings for all instruments.

• The Control Bar Instruments Off setting for all instruments overrides the User Settings On setting for an individual instrument.

• The Control Bar Transparent and Opaque settings will override the current state of an open instrument.

Factory Default Sizes and Locations

Instruments sizes and locations can be reset to the original factory setting. See the User Settings section for more information.

ROV Health Indicator

The ROV Health Indicator provides status information for several key operational parameters, including the power management system, power, communications, internal humidity and internal temperature.

Display

The ROV Health Indicator displays the following information (from left to right):

• Power Management Status Indicator Bar
• Power Status Indicator
• Communications Status Indicator
• Humidity Status Indicator
• Temperature Status Indicator

Use

The status indicators are green if the status is okay, but change to red if a problem is detected.

Sample ROV Health Indicator displaying a communications fault.

If a problem is detected, corrective action should be taken. See the Diagnostics and Repair section of the Maintenance Guide for more information.

The size and display of the ROV Health Indicator can be adjusted. See the Instruments section of this guide for more information.

Control Sensitivity

The Control Sensitivity Instrument allows you to adjust how responsive the ROV is to joystick and depth control inputs.

The control sensitivity is determined by the values of control gains, which range from 0 to 100. The control input applied by the operator is multiplied by the gain before being sent to the ROV as a command to drive the thrusters. A gain setting of 100 and maximum control input will result in the thrusters operating at full available power. If the gain is reduced, the same maximum control input will result in correspondingly less thruster power. Lower gain settings allow the operator to have more precise control over the vehicle at the expense not having the maximum power available. For example, new users may find it easier to pilot the ROV using lower gain settings until they get used to the handling characteristics of the vehicle. A gain setting of 0 will result in no thrust for any level of control input, and a boost mode allowing numbers of up to 110 is available - see the boost mode below.

The Pro 4 is a very responsive vehicle. The gain settings can be adjusted at any time according to the piloting requirements. New users may find it easier to learn how to pilot the ROV by decreasing the Yaw gain.

Display

Visual Input Mode

Text Input Mode

Use

You can independently control the sensitivity of the following control parameters:

• Surge (forward and backward motion, usually mapped to the joystick forward and back motion)
• Yaw (turning motion usually mapped to the joystick left and right motion) )
• Vertical Down (usually mapped to the depth control knob)

The forward gain cannot be set independently of the reverse gain, and the left gain cannot be set independently of the right gain.

The surge gain cannot be set independently of the yaw gain.

There are two ways to set the sensitivity, visually or numerically. In addition you can save three favorite settings for easy recall.

Adjusting the Sensitivity Visually

To adjust the control sensitivity visually, click on the graph button in the lower right hand corner of the control sensitivity instrument. The left hand side of the instrument will display a vertical bar on the left for Vertical Up and Down gains, and a polar grid area on the right for the Surge and Yaw gains. The green shaded region in both areas gives a visual indication of the gain settings. Left click and drag the vertical bar to set the Vertical gain symmetrically for up and down. Right click and drag to set the up and down gain independently. The top of the bar is for Vertical Up thrust and the bottom for Vertical Down thrust. Likewise, left click and drag in the polar region to set the Surge gain (indicated by the top and bottom values) and Yaw gain (indicated by the left and right values). When you left click and drag, the gains are adjusted symmetrically as indicated by the circular green shaded area. Right click and drag in the polar region to adjust the Surge independent of the Yaw. The top and bottom of the polar area are for Surge and the left and right are for Yaw. You can also move the slider above the graph area to decrease or increase all of the gain settings uniformly. Moving the slider to the left decreases the gains and moving it to the right increases the gains.

For the surge and Yaw, when clicking and dragging with the left button, the gains are set to the radius of the circle at the point of release. When clicking and dragging with the right button, the gains are set to the major and minor axes radii of an ellipse. The point of release defines a bounding rectangle of the ellipse.

Adjusting the Sensitivity Numerically

To adjust the control sensitivity numerically, click on the number (#) button in the lower right hand corner of the control sensitivity instrument. The left hand side of the instrument will list the control parameters and display input fields for the gains. You can enter a number from 1 to 100 in each of the input fields.

Adjusting the Sensitivity Using the Slider

You can also move the slider at the top to decrease or increase all of the numbers uniformly. Moving the slider to the left decreases the gains and moving it to the right increases gains.

Saving Favorite Settings for Recall

The Control Sensitivity Instrument also has three buttons for quickly setting the gains to preset or saved values. By default, "Start-Up" is set to 90 for forward and back, 60 for left and right and 100 for up and down. "Fine" sets the all of the gains to 50, and "Turbo" sets all of the gains to 100. Click on a button to activate the gain settings associated with it. The border of the button will turn blue to indicate its settings are active. If you make manual changes to the gains, the border will turn yellow to indicate the active gains no longer match its stored settings. You can change the saved values for any of the buttons. To save new values for a button, manually adjust the gain settings to the desired values. Click and hold on the desired button until the border around the button turns blue. The current settings will be associated with that button and can be recalled at any time by clicking on the button. Repeat this process to associate new gain settings with any button at any time.

Start-up Sensitivity

When VideoRay Cockpit starts, it uses the settings assigned to the "Start-Up" button. If you want the control sensitivity to have specific settings on start-up, save the values to the "Start-Up" button.

Boost Mode

At the right end of the slider is a blue zone, representing boost mode. Boost mode can be used to get more straight line power, but is not recommended where precision handling is required. Boost mode allows you to set the gain numbers as high as 110. The boost mode was developed primarily to account for joystick calibration issues where full displacement of the joystick does not result in full output being recognized by VideoRay Cockpit.

The control sensitivity works in conjunction with the Engine Room thruster settings to limit the total amount of thrust available. If the thruster settings in Engine Room are low, you may not be able to achieve full power even if the control sensitivity is set to 100 or in boost mode. See the Engine Room section of this guide for more information.

Sizing the Control Sensitivity Instrument

The size and display of the Control Sensitivity can be adjusted. See the Instruments section of this guide for more information.

Advanced Settings

For maximum power availability when needed, the gains should be set to the boost mode.

In addition to the ability to adjust the sensitivity of the thrusters to user inputs, the Pro 4 has advanced thruster and power management capabilities. See the Systems Tuning section of the Engine Room.

Compass and Attitude Indicator

The Compass Instrument displays a variety of information, including the heading of the ROV, the Auto Heading status, an artificial horizon to indicate the attitude of the ROV, and the horizontal thruster settings. The Compass Instrument is also used to engage and set Auto Heading.

Display

The Compass and Attitude Indicator displays the following information:

• The Compass Rose is in the center
• The gray area surrounding the compass rose is the Auto Heading Control / Indicator
• The outer blue and green area is the Artificial Horizon
• The bands on the left and right are the Horizontal Thruster Settings Indicators

Use

The central portion of the Compass displays the heading of the ROV. The heading in degrees clockwise from North is listed at the center of the dial. The compass uses a "heading up" display so that the heading of the ROV is always displayed under the reference indicator at the top center of the compass dial. For example, if the ROV is heading SE, the South indicating arrow will be displayed to the right of the heading indicator, as shown above. Turning the ROV to the right towards South will cause the compass dial to rotate counter-clockwise so that South will move towards the indicator.

The small number above the heading is the Variation entered in the User Settings and represents the local magnetic declination. The declination is set by the user - see the section below about Compass Declination.

The Auto Heading control/indicator is around the perimeter of the Compass. Auto Heading can be used to make the ROV maintain its current heading, or turn to a user specified heading. See the Auto Heading section of the Operations Guide for details on using Auto Heading.

The blue and green ring around the Compass/Auto Heading is the Attitude Indicator, which acts like an artificial horizon. It indicates the pitch and roll of the ROV. The horizon is represented by the horizontal interface line between the top blue section (sky) and the bottom green section (earth). When the ROV pitches down to a nose low attitude, the amount of green increases and the interface line moves up within the circle. The reverse is true when the ROV pitches up. When the ROV rolls to the starboard (right), the interface line rotates to the left indicating that the starboard side is closer to the sea floor. The reverse is true when the ROV rolls to the port (left).

The outer bands on the left and right of the Compass are the horizontal thrusters settings indicators. The left side displays the port thruster setting, and the right side displays the starboard thruster setting. When there is no thrust applied, these indicators become transparent. When thrust is applied a green shaded section appears within the bands. The length of the green shading from the horizontal centerline indicates the amount of user input applied for that thruster. Forward thrust is indicated by a green shading above the horizontal centerline. Reverse thrust is indicated by a green shading below the horizontal centerline.

Compass Declination and Calibration

The compass declination can be set to match the local magnetic declination. See the Compass section under User Settings for more information.

The compass is calibrated at the factory. For most operations, the compass should not need to be calibrated. If you are doing precise survey work or using VideoRay CoPilot's autonomous piloting products, you may need to calibrate the compass. See the Compass Calibration section under Engine Room for more information.

Notes

The size and display of the Compass can be adjusted. See the Instruments section of this guide for more information.

The feedback of the thrusters settings is based upon the status of the hand controller input, not the thruster action.

Ribbon Compass

The Ribbon Compass Instrument displays the heading of the ROV in a compact horizontal scrolling format and provides reference indicators that mark the field of view for the standard camera.

Display

The Compass displays the following information:

• The Heading Indicator and Heading Digital Display is in the center
• The field of view reference indicators are on the left and right towards the ends.

Use

The Compass displays the heading of the ROV. The heading in degrees clockwise from North is listed at the center of the instrument. The compass uses a "heading up" display so that the heading of the ROV is always displayed above the heading reference indicator at the bottom center of the compass instrument. For example, if the ROV is heading SE, the South indicating arrow will be displayed to the right of the heading indicator, as shown above. Turning the ROV to the right towards South will cause the ribbon compass background to slide to the left so that South will move towards the indicator.

The camera field of view indicators can be used to estimate the bearing offset from the current heading to any object in the camera's view.

Compass Declination and Calibration

The compass declination can be set to match the local magnetic declination. See the Compass section under User Settings for more information.

The compass is calibrated at the factory. For most operations, the compass should not need to be calibrated. If you are doing precise survey work or using VideoRay CoPilot's autonomous piloting products, you may need to calibrate the compass. See the Compass Calibration section under Engine Room for more information.

Notes

The size and display of the Compass can be adjusted. See the Instruments section of this guide for more information.

Depth Gauge

The Depth Gauge displays the depth of the ROV and the Auto Depth status. The Depth Gauge is also used to engage and set Auto Depth.

Display

The Depth Gauge displays the following information:

• The Depth Scale
• The Depth Indicator Flag
• The Vertical Thruster Setting Indicator
• The Auto Depth Control / Indicator

Use

The depth of the ROV is indicated as a number in the flag, which moves along the scale proportionally to the depth. As the ROV moves deeper, the flag moves down the scale. As the ROV moves towards the surface, the flag moves up the scale.

The vertical thruster setting indicator is on the right side of the Depth Gauge. When there is no thrust applied, this indicator becomes transparent. When thrust is applied, a green shaded section appears within the indicator. The length of the green shading from the horizontal centerline indicates the amount of user input applied for the vertical thruster. Vertical up thrust (to move the vehicle towards the surface) is indicated by a green shading above the horizontal centerline. Vertical down thrust is indicated by a green shading below the horizontal centerline.

The Auto Depth control/indicator is to the left of the Depth flag. Auto Depth can be used to make the ROV hover at the current depth or surface or dive to a user specified depth. See the Auto Depth section of the Operations Guide for details on using Auto Depth.

The size and display of the Depth Gauge can be adjusted. See the Instruments section of this guide for more information.

The feedback of the thruster setting is based upon the status of the hand controller input, not the thruster action.

Depth Units

The Depth units can be set to meters or feet in the User Settings dialog box. You can also adjust the low and high values of the range as well as the grid spacing.

(Pseudo) Altimeter Gauge

The Altimeter Gauge displays the altitude of the ROV and the Auto Altitude status. The Altimeter Gauge is also used to engage and set Auto Altitude.

Pseudo Altimeter

Normally, an altimeter (optional accessory) is required to use the Altitude Gauge, but in some situations an altimeter is not required. If the bottom is flat and the depth is known, such as in a tank, the pressure sensor / Depth Gauge (and a little math) can be used to determine the altitude. See below and the Depth Gauge section of the User Settings for information about using the Pseudo Altimeter.

Display

By default, the Altimeter Gauge is not enabled. The Altimeter Gauge can be enabled in the Depth Gauge section of the User Settings.

The Altimeter Gauge displays the following information:

• The Altitude Scale
• The Altitude Indicator Flag
• The Vertical Thruster Setting Indicator
• The Auto Altitude Control / Indicator

Use

The altitude of the ROV is indicated as a number in the flag, which moves along the scale proportionally to the altitude. As the ROV moves higher, the flag moves up the scale. As the ROV moves towards the bottom, the flag moves down the scale.

The vertical thruster setting indicator is on the right side of the Altimeter Gauge. When there is no thrust applied, this indicator becomes transparent. When thrust is applied, a green shaded section appears within the indicator. The length of the green shading from the horizontal centerline indicates the amount of user input applied for the vertical thruster. Vertical up thrust (to move the vehicle towards the surface) is indicated by a green shading above the horizontal centerline. Vertical down thrust is indicated by a green shading below the horizontal centerline.

The Auto Altitude control/indicator is below the Auto Depth control/indicator. Auto Altitude can be used to make the ROV hover at the current altitude or surface or dive to a user specified altitude. See the Auto Altitude section of the Operations Guide for details on using Auto Altitude.

The size and display of the Altitude Gauge can be adjusted. See the Instruments section of this guide for more information.

The feedback of the thruster setting is based upon the status of the hand controller input, not the thruster action.

Altimeter Units

The Altimeter units can be set to meters or feet in the User Settings dialog box. You can also adjust the low and high values of the range as well as the bottom depth and grid spacing.

Camera and Lights Indicator

The Camera and Lights Indicator displays information about the ROV's camera and the lights. The Camera and Lights Indicator Instrument is also used to select the active camera when an external camera is in use, and activate the camera menu system for the front camera.

Display

Tilt Indicator Mode

Camera Menu Mode

Use

The Camera and Lights Indicator provides feedback on the camera tilt position, camera focus and intensity of the lights.

The Camera Tilt angle relative to the horizontal centerline of the ROV is indicated by the light blue pointer and curved scale, and the tilt angle is also displayed as a number. The tilt indicator pointer rotates about the central circle to represent the tilt position of the camera. The tilt angle is displayed as positive number when the camera tilted about the horizontal, and negative when the camera is tilted below the horizontal.

The Camera Focus position is indicated by the white line, and the focus position is also displayed as a number. When the focus changes from near to far, the focus line moves from the center of the tilt indicator to the outside end of the tilt indicator. The focus position number ranges from 0 for full near focus to 100 for full far focus. The scale is not a linear indication of the focus distance. It is a measure of the focus motor position.

The Camera Switch button can be used to select whether the front or external camera is active. Click the Camera Switch button to switch from the front camera to the external camera. Click the Camera Select button again to switch back from the external camera to the front camera. The title of the Camera Indicator changes to reflect which camera is active

The Camera Menu button can be used to activate the camera menu to make adjustments to the camera settings. See the Camera Menu section of this guide for more information.

The Camera Tilt Indicator button can be used to activate the camera tilt and focus indicator after using the camera menu.

The Lights Indicator provides feedback on the intensity of the lights as a bar scale and a number. As the lights intensity increases more bars light up. The range of the lights indicator number is from 0% for Off to 100% for full On.

The size and display of the Camera and Lights Indicator can be adjusted. See the Instruments section of this guide for more information.

The feedback is based upon the status of the hand controller input, not the camera action or light intensity.

Camera Menu Operation and Default Settings

The VideoRay Pro 4 camera includes sophisticated features that can be used to enhance the image quality in various lighting conditions. These features are controlled through the camera menu system.

The camera menu can be accessed by clicking on the Menu button on the VideoRay Cockpit camera instrument. This will display the menu as text overlaid on the video window. Each menu item represents a sub-menu where settings can be adjusted.

Tilt Indicator Mode

Camera Menu Navigation

After clicking on the Menu button, the camera menu displays in the video window and the camera instrument displays menu navigation buttons. Click on the up and down arrow buttons to navigate from one sub-menu to the next. Once the desired sub-menu is highlighted, activate the sub-menu by clicking on the left or right arrow buttons. You can also use the keyboard arrow keys to navigate the menu.

Camera Menu Navigation Mode		Keyboard Arrow Keys

Within a sub-menu, use the up and down buttons or keys to navigate from one feature to the next. Features can be changed by using the left or right buttons or keys. To exit a sub-menu, navigate to the Return sub-menu item and activate it using the left or right buttons or keys. To exit the main menu, navigate to the Exit menu item and activate it using the left or right buttons or keys.

Menu and Menu Button Synchronization

1. After exiting the camera menu, the menu navigation buttons may be visible in the Camera Instrument. Click on the menu button again to restore the tilt and focus indicators.

2. If you click on the menu button while the menu is active, the menu navigation buttons will be replaced by the tilt and focus indicators. The menu will still be displayed. Click on the menu button to restore the menu navigation buttons, or use the keyboard arrow keys to exit the menu.

Camera Menu Defaults

Be aware that VideoRay Pro 4 does not use the same defaults as the camera manufacturer's Factory Default settings. For VideoRay Pro 4 the Lens Type must be set to "ELC," the ELC Level to "6" and the DSS must be set to "1X" and WB Mode set to "PUSH." To quickly restore the camera to the recommended VideoRay Pro 4 camera menu default settings, first restore the factory default settings, and then change the Lens Type to "ELC" and the Level to "6" in the Lens sub-menu, and change the DSS setting to "1X" in the Exposure sub-menu and change the WB Mode to "PUSH" in the White Balance sub-menu.

Additional Notes

Quick Tip to Restore Defaults

To quickly restore the camera to the recommended VideoRay Pro 4 camera menu default settings, first, restore the factory default settings, and then change the Lens Type to "ELC" and the Level to "6" in the Lens sub-menu, and change the DSS setting to "1X" in the Exposure sub-menu and change the WB Mode to "PUSH" in the White Balance sub-menu.

Menu Button Focus

If the camera menu is active and you click on some other window element, such as the instrument transparency feature, the camera menu will lose focus. To restore focus to the camera menu, click on the camera instrument.

Control Bar

The Control Bar can be used to control various settings, launch integrated applications, access this user documentation and close VideoRay Cockpit.

Display

Use

The control bar is displayed at the bottom of the primary monitor. It contains a series of buttons. Moving from right to left, the buttons are as follows:

• Close VideoRay Cockpit
• Open the VideoRay Cockpit Help File
• Open the Service Bay
• Open the Engine Room
• Access Images and Videos
• Open the User Settings
• Launch VideoRay CoPilot Software (optional)
• Launch BlueView ProViewer Software (optional)
• Launch KCF Smart Tether Software (optional)
• Launch Tritech SeaNet Software (optional)
• Launch Tritech Micron Software (optional)
• Lock/Unlock Instruments Sizes and Locations
• Set Instruments Display Opaque
• Set Instruments Display Transparent
• Set Instruments Display Off
• Remote Connect

Each of these controls will be described in the following sections.

The version number of the software is displayed in the lower left of the control bar. Only the primary version number is displayed. Hover your mouse over the version number for the full version and build number.

Close VideoRay Cockpit

Close VideoRay Cockpit

The Close button can be used to close, or stop, VideoRay Cockpit.

You can also click on the traditional Windows^® Close button in the upper right hand corner of the video window to stop VideoRay Cockpit.

The Close button does not turn off power to the ROV or control panel.

Windows is a registered trademark of Microsoft.

Open the VideoRay Cockpit Help File

Open the VideoRay Cockpit Help File

The Help button opens this documentation in a browser window.

Should you need help beyond the scope of this manual, additional online resources exist and are accessible via the links at the bottom of each page, and you can contact VideoRay directly. See the About this Documentation page for VideoRay Contact Information.

Open the Service Bay

Open the Service Bay

The Service Bay provides access to diagnostic and routine maintenance information. It also includes interactive Pre-Dive and Post Dive checklists that can be logged to a file.

On the left hand side of the Service Bay window are buttons to activate the interactive Pre-Dive and Post Dive checklists and the scheduled maintenance utility. See the next sections for more information.

The main section of the Service Bay window provide system status of the computer and software. Below this window are buttons to save and print this information. A third button displays the log file from the last time VideoRay Cockpit was run. The information in the report and log can help diagnose VideoRay Cockpit problems or computer problems that might affect the ability to run VideoRay Cockpit. A fourth button opens the VideoRay Cockpit configuration folder. The button on the far left opens the Communications Status window.

Open the VideoRay Cockpit Configuration Folder

VideoRay Cockpit Configuration Folder

VideoRay Cockpit stores operating information in various configuration files. These files can be accessed by clicking on the Open the VideoRay Cockpit Configuration Folder button.

Show the Error Log

Error Log

Each time VideoRay Cockpit is run, it writes a log file. The information in this file can be used for diagnostics purposes if the program execution is interrupted for any reason.

Print the Diagnostics Report

Print Diagnostics

The diagnostics report can be printed for review by other parties.

Save the Diagnostics Report

Save Diagnostics

The diagnostics report can be saved for logging or transmission via email for technical support purposes.

View the Diagnostics Console

Show the Diagnostics Console

The diagnostics console displays program activity in real time. See Diagnostics Console for more information.

View the Communications Status

Communications Status

The communications status of the ROV and other devices can be displayed in real time. See Communications Status for more information.

Engine Room

Engine Room

The Engine Room button opens the engine room window. The engine room provides diagnostics information, firmware management and advanced systems tuning.

Access Images and Videos

Access Images and Videos

The Access Images and Videos button opens the folder that contains VideoRay data including digitally recorded images and videos.

Recorded images and videos are stored in the VideoRay\Imagery\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP).

Images and videos recorded via the analog Video Out connection will not be stored on the computer. When using an analog recording device, check the manufacturer's instructions for details.

Sensor accessories may store their data in other locations. Check the manufacturer's instructions for details.

Open the User Settings

Open the User Settings

The User Settings button opens the User Settings window. Within the User Settings, users can control the instruments display, systems settings, data import and export, and network remote connections.

Topics in this Section

• Instrument Settings
• System Settings
• Data Import Settings
• Data Export Settings
• Network Remote Settings

Instruments Settings

The Instruments Settings tab allows you to control the display and other properties of the instruments.

Topics in this Section

• Instruments Display
• Depth Gauge
• Umbilical Turns Counter
• HD Camera (optional accessory)

Alternate Methods

There are other methods to control the display of instruments. They can be controlled individually or through the Control Bar.

See the Instruments and the Control Bar sections of the VideoRay Cockpit Guide for more information.

Instruments Display

Turning Instruments On and Off

The top section of the Instruments Settings tab allows you to turn On or Off the display of instruments individually. Check the box next to the instrument to turn its display On. Uncheck the box next to the instrument to turn its display Off.

Instruments that are turned On individually will turn Off when using the Control Bar Off button.

Instruments that are turned Off individually will not turn On when using the Control Bar Transparent or Opaques buttons.

Saving Instruments Settings

The sizes, locations and On / Off state of instruments can be saved. Instruments settings are stored by name, so you can have multiple saved sets and switch according to job type or user preference.

Instruments settings are stored as a group. Instrument settings cannot be saved for each instrument individually.

Instruments settings are preserved from session to session. You only need to save an instrument settings if you want to be able to recover the arrangement later. The factory default instrument settings are also stored automatically, so you do not need to save the original out-of-the-box settings.

Load Instruments Settings

Use the Load Instruments Settings button to select a saved instruments set. Click on the Load Instruments Settings button and browse to select the desired saved instruments set and restore it. See the Save Instruments Settings next for information about to save an instruments set.

Save Instruments Settings

When the instruments are arranged as desired, click on the Save Instrument Settings button to store the arrangement. Enter a file name and click on the Save button.

Restore Instruments Settings to Factory Default Values

The Restore Instruments Settings to Factory Default Values button restores all instruments to their default size and location.

Depth Gauge Settings

The Depth Gauge tab of the Instrument Settings tab allows you to adjust the depth gauge scale and altimeter settings. You can set the minimum depth, the maximum depth and the grid spacing displayed on the depth gauge. These properties can be set by entering values or by clicking with the left mouse button and dragging the sliders. You can drag the grid slider to adjust the grid spacing. You can drag the top green bar to set the minimum depth, you can drag the bottom green bar to set the maximum depth, or you can drag the blue bar to change both ends of the range simultaneously

The Depth scale values can not be set to less than 0, or greater than 1000, and the grid spacing cannot be set to less than 1 or greater than 100.

If the ROV surfaces or dives outside of the range defined for the depth gauge, the depth flag will stop at the end of the gauge, but the depth number will continue to update to provide an accurate indication of the depth of the ROV.

Restoring Factory Defaults

The factory default settings for instruments can be restored by clicking on the Restore Factory Defaults button in the upper right hand corner of the Instruments Settings window.

Turns Indicator Settings

The base orientation of the Turns Indicator can be adjusted.

Setting the Turns Indicator Base Orientation

To adjust the base orientation of the Turns Indicator arrow use either of the following methods:

• Manual Entry - Key in the desired offset in the Base Heading field. Values entered in the Base Heading field will be subtracted from the ROV's compass heading so that when the ROV's heading matches the value entered, the arrow will point straight up.
• Use the Current ROV Heading - to use the current heading of the ROV as the base orientation, click on the compass button. The Turns Indicator arrow will point straight up when the ROV heading matches that direction.

Clearing the Turns Indicator Base Orientation

To clear the base orientation of the Turns Indicator arrow, either key in 0 in the Based Heading field, or click on the clear Base Heading button.

Additional Information

See the sections on the Turns Indicator instrument and Relative Heading for more information about using the Turns Indicator settings.

System Settings

The System Settings tab allows you to adjust various system parameters.

The Systems Settings tab allows you to adjust system parameters in the following areas.

• Data Directory Settings
• Depth Sensor Settings
• Compass Settings
• System of Measure Settings (Units)
• Help Settings
• Video Capture and Display Settings

Compass

The ROV compass system is designed to display headings relative to Magnetic North. You can enter a local compass variation to account for magnetic declination. The declination is considered positive when the Magnetic North is East of True North.

The value you enter is numerically added to the heading from the ROV. For example, if you are in an area with a declination of 15 degrees West, the ROV heading will read +15 degrees when the ROV is facing True North (assuming no variation has been entered). You should therefore enter -15 for the variation, which would result in a correct True North reading of 0 when the ROV is pointed True North.

The declination is saved from session to session. Be sure to clear it or change it at the start of each session if necessary.

Beginning with version 1.8 of VideoRay Cockpit, the behavior of the Compass Variation has been reversed. In prior versions, the variation was subtracted from the ROV heading.

You can use the Turns Indicator instrument to facilitate easier navigation with respect to a fixed reference such as a dock. See the sections on the Turns Indicator instrument and Relative Heading for more information about using the Turns Indicator settings.

Finding Declination

Several websites can be used to find the declination at a particular location. magnetic-declination.com allows you to click on a zoomable world map and view the declination of that location.

System of Measure

You can select the units used for display, choosing between either Metric or American. Click on the radio button preceding the desired system of units.

Converting Units

For an exact conversion from meters to feet, divide the number of meters by 0.3048. To convert feet to meters, multiply by 0.3048.

To convert from degrees Celsius to degrees Fahrenheit, multiple the temperature in Celsius by 9/5 and add 32. To convert Fahrenheit to Celsius, subtract 32 and multiply by 5/9.

Help System

By default, the Help system is designed to open when VideoRay Cockpit is started. If you do not want the Help system to open when you start VideoRay Cockpit, uncheck the "Show instructions on startup" checkbox. You can always access the Help system from Help button on the Control Bar.

Video Capture and Display

The Video Capture and Display settings allow you to select the video format and adjust advanced video settings.

Video File Format for Recording

The video file format can be one of the following:

• AVI
• WMV
• MP4^*

* - MP4 recording requires a separate video codec that can be purchased separately.

Audio Settings

This section also includes audio microphone selection and microphone input level meter.

Data Import

Data Import can be used to read data from sensors or other applications and display the information on the VideoRay Cockpit video as overlay text.

Improperly setting up COM ports for Import can cause problems with basic ROV communications. If you are not sure how to set up COM ports, contact VideoRay support for assistance.

Data Import reads data from a COM port. Either a physical COM port or virtual COM port can be used. Virtual COM ports can be used to allow two programs on the same machine to talk to each other. An example might be to have the KCF Smart Tether send the ROV position data to VideoRay Cockpit, so that the position of the ROV can be recorded as overlay text on the video image. See the Application Integration section for more information about virtual COM ports.

Support is provided for NMEA^* formatted text data. NMEA data is automatically parsed to find Position (typically from GPS) or Distance (typically from a tether payout sheave).

Use

To use Data Import, you must select the port from which you want to import data and then configure the port. Ports are selected by clicking on the drop down arrow on the right hand side.

Once the port has been selected, you must configure the following items:

• Designation - A text field that allows you to enter a description. This is optional and for reference only, it is not displayed.
• Function - The purpose for the import.
  • Not Used for Import
  • ROV Position
  • Other Platform Position
  • Tether Payout
• Baud Rate - The baud rate to match the device settings or requirements.

After configuring the port, the background will be green if the port is open and receiving data, red if the port cannot be opened, and brown if the port is operating properly, but no data is being received.

Examples

1. Direct from a GPS Antenna to indicate the position of the operating station (this would be for the topside location, not the ROV position, and can be used from a boat when only an approximate position of the ROV is required).

• To read and display position data from a GPS antenna, connect the antenna to the computer and determine the port on which it is recognized. Then, in the Data Import window, click on the expand arrow on the right hand side for that port number. Select the data type from the pull down selection (Other Platform Position), and then set the baud rate to match the device (typically 4800). The data stream should start to display in the area on the right and the position should be displayed on the video as overlay text.

2. From a positioning system that supports COM port output of the ROV location. For this example, we will use the KCF Smart Tether and the virtual COM port pair 31 and 32.

• To read and display position data from the Smart Tether, connect the Smart Tether and begin operation as normal. From the Smart Tether software menu, select "Tools->Communication Settings". Select the desired COM port for output. Typically, this will be a virtual COM port. Select Port 32, and set the Baud rate to 4800. Check the Enable Real Time Output and click the OK button to close the Settings window. Next, in VideoRay Cockpit, click on the User Settings icon in the Control Bar, and then click on the Data Import tab. Click on the expand arrow on the right hand side for COM port 31. Select the data type from the pull down selection (ROV Position), and then set the baud rate to match the Smart Tether setting (4800). The data stream should start to display in the area on the right and the position should be displayed on the video as overlay text.

When a port is set up, the setup background will turn green when communications have been established and data is being received. If communications have been established with the selected COM port, but no data is being received, then background will turn light brown. If no communications have been established with the selected COM port, the background will turn red.

* - For more information about NMEA and NMEA data standards, see http://www.nmea.org.

Data Export

Data Export can be used to send VideoRay Cockpit and ROV data to other applications.

Improperly setting up COM ports for Export can cause problems with basic ROV communications. If you are not sure how to set up COM ports, contact VideoRay support for assistance.

The Serial Ports list may be different based on the computer's configuration.

Data Export sends data as NMEA^* formatted text strings and supports four different types of output strings:

1. Depth ($DPT)
2. Heading ($HDG)
3. Water Temperature ($MTW)
4. Time, Depth, Heading, Pitch, Roll ($PVRND)

Data Export sends data to a COM port. Either a physical COM port or virtual COM port can be used. Virtual COM ports can be used to allow two programs on the same machine to talk to each other. An example might be to have VideoRay Cockpit send the ROV Depth to a program that could log and/or graph the depth profile of the mission. See the Application Integration section for more information about virtual COM ports.

To use Data Export, you must configure the data type, Baud rate and frequency of output (Maximum Rate) and then select the port to which you want to export data.

To save data to a file, you can use a terminal emulation program, such as or Tera Term or PuTTY, as the receiving application and save the session data to a log file.

Data Export Format

The prototypical format conforms to NMEA standards and can be expressed in general terms as:

$IDSEN,DD,DD,...*CS<CR><LF>

Segment	Information Represented
$	Start
ID	Talker Identifier, which is "VR"
SEN	Sentence Type, which defines the type of data in the string
DD,DD,...	Data field(s), fields are separated by commas
*	Separator
CS	Checksum
<CR>	Carriage Return
<LF>	Line Feed

Example Output

Depth - $VRDPT,d.d,o.o*cs

Segment	Information Represented
$VRDPT	Depth Record Identifier String
d.d	Depth in meters
o.o	Transducer offset (set to zero) Positive means distance from transducer to water line Negative means distance from transducer to keel
cs	Checksum

Heading - $VRHDG,h.h,d.d,a,v.v,b*cs

Segment	Information Represented
$VRHDG	Heading Record Identifier String
h.h	Magnetic sensor heading in degrees
d.d	Magnetic deviation in degrees
a	Magnetic deviation direction, E = Easterly, W = Westerly
v.v	Magnetic variation in degrees
b	Magnetic variation direction, E = Easterly, W = Westerly
cs	Checksum

Water Temperature - $VRMTW,x.x,u*cs

Segment	Information Represented
$VRMTW	Water Temperature Record Identifier String
x.x	Degrees
u	Unit of measurement
cs	Checksum

ROV Attitude - $PVRND,mm/dd/yyyy,hh:mm:ss.s,d.d,h.h,p.p.r.r*cs

Segment	Information Represented
$PVRND	ROV Attitude Record Identifier String
mm/dd/yyyy	Month/Day/Year
hh:mm:ss.s	Hours:Minutes:Seconds (UTC)
d.d	Depth in meters
h.h	Magnetic sensor heading in degrees
p.p	Pitch in degrees
r.r	Roll in degrees
cs	Checksum

You can select more than one output string. Each string will be written in sequence.

You can select more than one COM port and export to several applications simultaneously.

* - For more information about NMEA and NMEA data standards, see http://www.nmea.org or http://www.tronico.fi/OH6NT/docs/NMEA0183.pdf.

Launch Companion Applications

Several optional companion applications can be launched from the control bar. Currently, the applications that are integrated include VideoRay CoPilot, BlueView ProViewer, KCF Smart Tether, Tritech SeaNet and Tritech Micron.

		Launch VideoRay CoPilot Software
		Launch BlueView ProViewer Software
		Launch KCF Smart Tether Smart Tether
		Launch Tritech SeaNet Software for the Micron Nav (and Micron Sonar and Echosounder)
		Launch Tritech Micron Software for the Micron Sonar (and Micron Echosounder)

Additional software can be used with VideoRay Cockpit, but at this time, these are the only applications that are integrated through the VideoRay Cockpit interface.

Companion applications are optional and require additional optional hardware. The launch buttons will display if the associated software is installed on the computer in the standard location. This does not necessarily mean that the hardware is included, only that the software is installed.

If the application is not installed, or not installed in the standard location, the application launch button for that application will not display.

By default, BlueView ProViewer support has been limited to version 4.2 and support for BlueView ProViewer 3.6 has been discontinued. Legacy support for BlueView ProViewer 3.6 can be restored. Contact VideoRay Support for more information.

Instruments Display

The Control Bar includes several buttons that can be used to modify the behavior of the instruments and their display.

Lock/Unlock Instruments Sizes and Locations

		Lock Instruments Sizes and Locations
		Unlock Instruments Sizes and Locations

The button displays the current state of the Lock/Unlock Setting. If the button shows the lock icon, the instruments are locked and clicking on the Lock/Unlock Instruments Sizes and Locations will unlock the instruments.

The sizes and locations of instruments can be locked so that you don't accidentally resize or move them. If the Lock Instruments Sizes and Locations button shows the lock icon, the instruments sizes and locations will be locked. If the Lock Instruments Sizes and Locations button shows the unlock icon, the instruments can be resized and moved.

The lock or unlock state applies to all instruments, but does not affect the visibility settings of the instruments.

See the Instruments section for more information about resizing and moving instruments.

Set Instruments Display Opaque

Set All Instruments Display Opaque

There are three buttons on the control bar to manage the display properties of instruments. You can turn off all instruments, make them all transparent, or make them all opaque. These buttons work on all instruments as a group rather than individually.

All Instruments Opaque - Turns the display of all instruments opaque.

Alternate Methods

There are other methods to control the display of instruments. They can be controlled individually or through User Settings.

See the Instruments and the User Settings sections of the VideoRay Cockpit Guide for more information.

Set Instruments Display Transparent

Set All Instruments Display Transparent

There are three buttons on the control bar to manage the display properties of instruments. You can turn off all instruments, make them all transparent, or make them all opaque. These buttons work on all instruments as a group rather than individually.

All Instruments Transparent - Turns the display of all instruments transparent.

Alternate Methods

There are other methods to control the display of instruments. They can be controlled individually or through User Settings.

See the Instruments and the User Settings sections of the VideoRay Cockpit Guide for more information.

Set Instruments Display Off

Set All Instruments Display Off

There are three buttons on the control bar to manage the display properties of instruments. You can turn off all instruments, make them all transparent, or make them all opaque. These buttons work on all instruments as a group rather than individually.

All Instruments Off - Turns off the display of all instruments.

Alternate Methods

There are other methods to control the display of instruments. They can be controlled individually or through User Settings.

See the Instruments and the User Settings sections of the VideoRay Cockpit Guide for more information.

ROV Materials List

The following is a list of materials used in the exterior portions of the vehicle and tether:

• Type 2 Anodized 6061-T6 Aluminum
• Cerakote
• ACRYLITE H15
• Polycarbonate
• Delrin 577 20% Glass Filled, UV Resistant Acetal
• PETG
• Polyethylene
• Nylon
• Glass Filled Delrin
• Brass
• Acrylic
• HDPE
• Polyurethane
• Neoprene
• Neoprene Rubber
• UHMW
• Carbon Fiber
• CP PRYME N333HSL 33% Glass Filled Nylon
• 17-4 PH 1100 Stainless Steel
• 304 Stainless Steel
• 316 Stainless Steel
• Noryl 731
• Polydimthylsiloxane
• Tefgel: PTFE (Polytetrafluoroethylene) powder
• Buna-nitrile

Users may check this list against chemical compatibility charts available from several sources.

This information is provided for convenience. Providing this information does not explicitly or implicitly extend the warranty to cover the use of VideoRay products in solutions that are not specifically listed in the Environmental Compatibility section. VideoRay is not responsible for errors or omissions in any of the presented information.

VideoRay can provide engineering services for a fee to determine chemical compatibility. Contact VideoRay for more information.

Project Management

While the differences between conducting a recreational dive, an inspection of an offshore well riser, and a drowning victim recovery are quite dramatic, each of these dive missions usually consist of the following phases:

1. Establish the need, objectives and acceptable outcomes of the mission
2. Plan the mission
3. Prepare for the mission
4. Execute the mission
5. Conclude the mission
6. Compile and deliver project reports

Of course, how critical a successful outcome is deemed and how much lead time and how many resources are available will dictate how much effort can or will be afforded to each phase.

The essential knowledge and skills required for a consistent ability to "get the job done" go well beyond just being able to set up and pilot an ROV. In this section, the following topics will be discussed to help broaden your understanding of the scope of practical ROV applications.

• Mission Planning
• General Logistics
• On-site Operations
• Project Completion

Region Specific Information

The following sections contain information that only applies in specific regional locations. See your region for information that may pertain to you.

European Union (EU)

The following sections are specific to the European Union.

The Waste Electrical and Electronic Equipment Regulations (WEEE) 2013

In accordance with the requirements of the Waste Electrical and Electronic Equipment Regulations 2013, all non fixed electrical and electronic equipment must be disposed of correctly at the end of its useful life through an authorised waste company, and there is an associated requirement to obtain the correct paperwork as per Duty of Care legislation. Please ensure that you treat this equipment as WEEE when you come to dispose of it.