Pier Wall Inspection (PWI)
Standard Operating Procedures, 1.00.00

Pier Wall Inspection Checklist [ Print this checklist ]

1 Mission Planning
1.1 Obtain a Chart
  • Optional if you do not have or plan to use a chart.
    		•
    1.2 Load the Chart
  • Optional if you do not have or plan to use a chart.
    		•
    1.3 Set Up Video Overlay
    1.4 Define Inspection Parameters
  • Distance from Pier: ~ 0.7 times the visibility
  • Pass (pass) spacing: ~ 1.3 times the visibility (provides 10% overlap with previous passes).
    		•
    1.5 Set Waypoint Defaults
  • Heading: Fixed (perpendicular to the pier
  • Waypoint Z Value: typically 0.65 times the visibility
  • Depth/Altitude: Depth (starting depth 0.65 times the visibility
  • Speed: typically 0.5 m/s (1.5 ft/s)
    		•
    1.6 Place Waypoints
  • Place a minimum of two waypoints.
    		•
    1.7 Save the Mission Plan
    2 On-site Operations
    2.1 Site Selection and Set Up
    2.1.1 Begin the Predive Checklist
    2.1.2 Initialize the Recording
    2.1.3 Launch the Vehicle
    2.2 Open Mission Controls
  • Set the Waypoint Locks as desired.
  • Speed, Heading, Depth - Enabled
  • If not using a chart, place waypoints for the start and stop of inspection passes at this time
    		•
    2.3 Start the Recording
    2.4 Conduct the Inspection
  • Double check the settings.
    		•
    2.4.1 Start the Mission
  • Right-click on the first waypoint and select Go to Waypoint.
    		•
    2.4.2 Fine Tune Settings
  • Sonar Range
  • Vehicle Pitch
  • Camera Angle
  • Heading
  • Speed
  • Altitude
    		•
    2.4.3 Monitor the Sensors
    2.4.4 Evaluate for Objectives
  • Use the manual control features to inspect targets more closely.
    		•
    2.4.4.1 Looking for an Object
    2.4.4.2 Mapping an Area
    2.4.5 Complete Additional Passes
  • Continue the Inspection adjusting the depth before each pass and rerunning the mission back and forth between the end waypoints.
    		•
    3 Vehicle Recovery
    3.1 Return to Launch Site
    3.2 Stop the Recording
    3.3 Save the Mission
    3.4 Recover the Vehicle
    4 Post Mission
    4.1 Analyze the Data
    4.2 Archive the Data

    Document Path: Pier Wall Inspection (PWI) Standard Operating Procedures > Checklist