RD Instruments Cobra-Tac User Manual

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Cobra-Tac

Autonomous Navigation and Mapping Console

User's Guide

P/N 956-6000-00 (May 2004)

RD Instruments

Acoustic Doppler Solutions

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Table of Contents

1.0 Introduction....................................................................................................................................... 1

1.1 System Description .............................................................................................................................1

1.2 Cobra-Tac Overview ........................................................................................................................ 2

1.3 Conventions Used in this Manual........................................................................................................4

1.4 Cobra-Tac Care ..................................................................................................................................4

1.4.1 General Handling Guidelines ..............................................................................................................4

1.4.2 Battery Guidelines...............................................................................................................................5

1.4.3 Deployment Guidelines.......................................................................................................................5

2.0 Accuracy............................................................................................................................................ 5

3.0 Definitions ......................................................................................................................................... 7

3.1 Positions ............................................................................................................................................. 7

3.2 Uploading and Downloading ...............................................................................................................7

3.3 Mission Profile.....................................................................................................................................7

3.3.1 Initial position ......................................................................................................................................8

3.3.2 Magnetic Variation ..............................................................................................................................8

3.3.3 Waypoints ........................................................................................................................................... 8

3.3.4 Missions..............................................................................................................................................8

3.3.5 Event Marks ........................................................................................................................................8

4.0 Quick Start Guide ............................................................................................................................. 9

4.1 Preparing for a Dive .......................................................................................................................... 10

4.1.1 Turn Cobra-Tac Power On.............................................................................................................11

4.1.2 Set Initial Position and Magnetic Variation........................................................................................12

4.2 Training Mode ................................................................................................................................... 13

4.2.1 Waypoint Navigation Mode ............................................................................................................... 14

4.2.2 Grid Navigation Mode ....................................................................................................................... 16

4.2.3 Mark Navigation Mode ...................................................................................................................... 18

4.2.4 Survey Navigation Mode...................................................................................................................20

4.2.5 Turn Cobra-Tac Off...........................................................................................................................21

5.0 Cobra-Tac Operation ................................................................................................................... 22

5.1 Using the Control Switches ............................................................................................................... 23

5.2 Understanding Cobra-Tac Displays .................................................................................................. 24

5.2.1 Diver Navigation Indicator.................................................................................................................24

5.2.2 Pitch and Roll Indicator .....................................................................................................................24

5.2.3 Leg Directional Indicator ................................................................................................................... 25

5.2.4 Depth and Altitude ............................................................................................................................25

5.2.5 Low Battery Warning.........................................................................................................................25

5.3 Event Marking Function ....................................................................................................................26

5.4 Home Function..................................................................................................................................26

5.5 Menu Screen.....................................................................................................................................27

5.6 Navigation Menu ...............................................................................................................................27

5.6.1 Set Up Option ...................................................................................................................................28

5.6.2 Waypoint Navigation Option..............................................................................................................29

5.6.3 Grid Navigation Option...................................................................................................................... 31

5.6.4 Navigating to a Marked Location.......................................................................................................32

5.6.5 Survey Navigation Option ................................................................................................................. 33

5.7 Utilities Menu ....................................................................................................................................35

5.7.1 Calibrate............................................................................................................................................35

Calibrating the Compass................................................................................................................... 35

Calibrating the Depth Indicator..........................................................................................................38

5.7.2 Create Mission Though Waypoint Setup........................................................................................... 39

Mission Setup ...................................................................................................................................39

Mission Edit.......................................................................................................................................40

5.7.3 Edit Records .....................................................................................................................................41

Delete Records .................................................................................................................................41

Deleting Missions..............................................................................................................................42

Deleting Event Marks........................................................................................................................42

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5.7.4

Battery Health Indicator ....................................................................................................................43

6.0 Preparation and Maintenance ....................................................................................................... 44

6.1 Installing and Removing the Battery .................................................................................................44

6.2 Recharging the Battery .....................................................................................................................45

6.3 Charging Batteries Safely ................................................................................................................. 46

6.4 Battery Tips....................................................................................................................................... 46

6.5 I/O and Power Cable.........................................................................................................................46

6.6 Cleaning............................................................................................................................................ 48

6.7 Firmware Updates.............................................................................................................................49

6.8 Returning a Cobra-Tac for Service ...................................................................................................50

6.8.1 Domestic Shipments ......................................................................................................................... 50

6.8.2 International Shipments .................................................................................................................... 51

6.9 Spare Parts .......................................................................................................................................52

7.0 Technical Support ..........................................................................................................................53

8.0 Specifications ................................................................................................................................. 54

9.0 Warranty .......................................................................................................................................... 56

List of Figures

Figure 1. Cobra-Tac Top View ........................................................................................................3

Figure 2. Cobra-Tac Side View....................................................................................................... 3

Figure 3. Cobra-Tac Opening Screen ........................................................................................ 22

Figure 4. Diver Navigation Indicator Examples............................................................................. 24

Figure 5. Pitch and Roll Indicator ................................................................................................. 24

Figure 6. Leg Directional Indicator ............................................................................................... 25

Figure 7. Depth and Altitude ......................................................................................................... 25

Figure 8. Low Battery Warning..................................................................................................... 25

Figure 9. Marking a Location........................................................................................................ 26

Figure 10. Menu Screen................................................................................................................. 27

Figure 11. Navigation Menu ........................................................................................................... 27

Figure 12. Set Up Option................................................................................................................ 28

Figure 13. Waypoint Navigation Select Mission Screen ................................................................. 29

Figure 14. Waypoint Navigation Display......................................................................................... 30

Figure 15. Lane Width.................................................................................................................... 31

Figure 16. Grid Navigation Options ................................................................................................ 31

Figure 17. Mark Location................................................................................................................ 32

Figure 18. Navigating to a Marked Location................................................................................... 33

Figure 19. Free Navigation Screen................................................................................................. 34

Figure 20. Utilities Menu ................................................................................................................ 35

Figure 21. Calibrate Menu.............................................................................................................. 35

Figure 22. Compass Calibration Screen......................................................................................... 36

Figure 23. Calibrating the Compass............................................................................................... 37

Figure 24. Compass Calibration Center of Rotation ....................................................................... 37

Figure 25. Waypoint Setup Menu................................................................................................... 39

Figure 26. Mission Setup Screen ...................................................................................................39

Figure 27. Edit Mission screen ....................................................................................................... 40

Figure 28. Edit Records Menu........................................................................................................ 41

Figure 29. Delete Records Screen ................................................................................................. 42

Figure 30. Delete Missions Screen................................................................................................. 42

Figure 31. Delete Events Screen.................................................................................................... 43

Figure 32. Battery Health Screen ................................................................................................... 43

Figure 33. I/O Cable.......................................................................................................................47

Figure 34. Power Cable.................................................................................................................. 48

Figure 35. Cobra-Tac Interconnections .......................................................................................... 49

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List of Tables

Table 1: Operator Control Switch Functions................................................................................ 23

Table 2: Spare Parts ................................................................................................................... 52

Table 3: Navigation Specifications .............................................................................................. 54

Table 4: Standard Sensors.......................................................................................................... 54

Table 5: Transducer and Hardware............................................................................................. 54

Table 6: Environmental ............................................................................................................... 55

Table 7: Power............................................................................................................................ 55

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NOTES

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Cobra-Tac User's Guide

1.0 Introduction

The Cobra-Tac is a rugged, compact, self-contained autonomous navigation console used to perform underwater hydrographic and site surveys. A Doppler Velocity Log (DVL) and fluxgate compass provide positioning data. Depth and altitude are also measured for navigation and hydrographic purposes.

Geodetic position data, (supplied from GPS, Loran, GLOASS, etc.) is manually loaded into Cobra-Tac and becomes the “benchmark” from which the navigation computer calculates new positions. The Doppler velocity log uses a four-transducer sound head to measure speed and direction over the seafloor as the diver swims with Cobra-Tac. The Doppler’s input is received by the navigation computer which calculates position, speed, heading, and distance to the next programmed way point. The position provided by the Doppler is a true position over the seafloor and therefore does not have errors introduced by currents or drift. The error rate in this system is less than 3 to 5% based on circumstances (see “2.0 Accuracy,” page 5). All data is recorded and can be downloaded to create charts and maps.

Acoustic Doppler Solutions

1.1 System Description

In its simplest form, the Cobra-Tac is an instrument that:

• Records bottom bathymetry (topography), and mission data.

• Guides you underwater using a grid navigation system.

• Lets you define the location of markers/waypoints.

• Guides you directly to any defined marker/waypoint.

The Cobra-Tac has a transducer assembly below the display control panel. The transducer assembly transmits acoustic pulses along four beams. The

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transducers receive backscattered sound from the ocean bottom and from the plankton and small particles that ride the water currents.

Using the Doppler effect and basic trigonometry, the Cobra-Tac measures its movement over the bottom and also the speed and direction of water currents at multiple locations in the water column. Using its internal compass and pressure (depth) sensor, the Cobra-Tac can also provide heading, altitude (above the bottom), and depth (below the surface). An internal recorder can store information about reference points, predefined waypoints, in-situ defined waypoints (markers), and water currents.

A backlit LCD display provides the operator heading, range, depth, and several other key points of information. Cobra-Tac allows the operator to mark and record objects, either manmade or natural.

1.2 Cobra-Tac Overview

The Cobra-Tac system consists of a Cobra-Tac unit, cables, and software. The addition of a Windows® compatible computer allows for data playback.

Battery – Cobra-Tac uses a non-hazardous rechargeable NiCad battery.

Operation life is 7 to 8 hours of continuous use. The battery is charged through an external connector on the battery. The UTILITY menu provides a battery health indicator in the operators display.

Battery Charger – The Smart Charger is a variable input voltage charger that

automatically adjusts for the input voltage from 100 to 240 volts. Recharge time is five hours.

Display – A backlit LCD display is used to display all navigation and

configuration screens and control functions.

I/O Cable Connector – A Input/Output (I/O) cable is provided to connect the

Cobra-Tac to a PC or notebook computer for downloading data.

Urethane Face – The urethane face covers the transducer ceramics. Never

set the transducer on a hard surface. The urethane face may be damaged.

Housing – The housing is molded polyurethane. The standard Cobra-Tac

housing allows deployment depths to 90 meters.

Control Switches – There are four (4) operator control switches incorpo-

rated next to the display. These switches are oil-filled momentary push buttons that can be easily operated with thick diving gloves.

Thermistor – The Thermistor measures the water temperature.

Pressure Sensor – The pressure sensor measures water pressure (depth).

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STOR

Electronic Compass – The compass bearing is indicated via a flux gate

compass integrated in the system electronics.

Software – CobraWare allows the operator to prepare and edit a mission

profile and upload the profile into the Cobra-Tac. Cobra-Tac is supplied with the mapping software Surfer. This software allows the user to display, in a graphical and pictorial sense all the data collected by the Cobra-Tac.

NOTE. For more information on using CobraWare and a short tutorial on using Surfer, see the CobraWare User’s Guide.

CONTROL SWITCHES

DISPLAY

I/O and POWER CONNECTOR

BATTERY

Figure 1. Cobra-Tac Top View

HOUSING

URETHANE FACE

PRESSURE SENSOR & THERMI

BATTERY HANDLE

BATTERY LATCH

POWER CABLE

Figure 2. Cobra-Tac Side View

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1.3 Conventions Used in this Manual

A different font will indicate what operator control switch to use: for example, SCROLL.

Menus are indicated by bold, all capitals: for example NAVIGATION menu.

You will find two other visual aids that help you: Notes and Cautions.

NOTE. This paragraph format indicates additional information that may help you avoid problems or that should be considered in using the described features.

CAUTION. This paragraph format warns the reader of hazardous procedures (for example, activities that may cause loss of data or damage to the Cobra-Tac).

1.4 Cobra-Tac Care

This section contains a list of items you should be aware of every time you handle, use, or deploy your Cobra-Tac. Please refer to this list often.

1.4.1 General Handling Guidelines

• Never set the Cobra-Tac on a hard or rough surface. The ure- thane transducer faces may be damaged.

• Always remove the retaining strap on the I/O cable and dummy plug when disconnecting them. Failure to do so will break the retainer strap.

• Do not apply any upward force on the I/O connector as the I/O cable is being disconnected. Stressing the connector may cause the Cobra-Tac to flood. See “I/O and Power Cable,”

page 46 for details on disconnecting the I/O cable.

• Do not expose the Cobra-Tac to prolonged sunlight. The ure- thane transducer faces or the LCD display may be damaged.

Cover the unit if it will be exposed to sunlight.

• Do not store the Cobra-Tac in temperatures over 75° C. The ure- thane faces may be damaged.

• Do not lift or support a Cobra-Tac by the power cable. The con- nector or cable will break.

• Do not lift or support a Cobra-Tac by the battery handle. The handle or battery will break.

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1.4.2 Battery Guidelines

• Charge the battery within an ambient temperature range of 0°C to 45°C. Use the provided battery charger and follow the correct procedure when charging the battery.

• Use the provided cable for charging the battery pack to ensure the proper polarity connection. Charging with the polarity reversed can cause the battery to explode, alkaline electrolyte leakage, fire, or other undesirable problems.

• Check the condition of the O-rings on the power cable (battery connector side) and the waterproof cap. These O-rungs must be kept clean and lightly lubricated with silicone grease. Check the O-rings for nicks or cuts. Damaged O-rings can cause the bat- tery to short when wet.

• Replace the waterproof cap (one at each end of the battery) or power cable after charging. The battery sockets are not wa- terproof and must be capped when wet.

• Over discharging damages the battery characteristics. Turn t he power off when the Cobra-Tac is not in use.

• Store the battery in a cool, dry location (-20 to 45°C). Charge stored batteries once every six months.

• Dispose of the used battery properly. Do not throw the battery into a fire. Disposing a battery in a fire can cause the battery to rupture.

1.4.3 Deployment Guidelines

• Calibrate the compass whenever the battery is replaced, or when any ferrous metals are relocated around the Cobra-Tac ing. Ferro-magnetic materials affect the compass.

2.0 Accuracy

Several factors affect the accuracy of the Cobra-Tac.

The Setup information must be completed before every dive (see “Set Up

Option,” page 28).

• The Initial Position is the absolute (latitude/longitude) position that the Cobra-Tac entered the water. Enter the latitude and longitude as accurately as possible using a Differential GPS or other device.

hous-

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NOTE. The initial position is critical to the accuracy of the Cobra-Tac. Make sure you are entering the position of the Cobra-Tac where it will enter the water. For best results, enter/edit the initial position once you have entered the water using a hand held Differential GPS.

• Local magnetic variation correction can be obtained from charts

If you are losing the bottom, indicated by “BAD” displayed instead of the depth and altitude, then one or more of the following is possible:

• If there are abrupt depth changes, the Cobra-Tac may have trou-

• If there is air being pulled below the transducer it may block one

of the local area. Enter the magnetic variation for the area as accurately as possible.

ble locking on to the rapidly changing depths as you swim. If you know where the abrupt changes are located, try to swim slowly over these regions.

or more of the beams. Try swimming deeper in the water.

• Check if debris has become caught on the transducer faces and is interfering with the beams.

• The bottom has grass, weeds, brush, or other submerged materials that are disrupting the beams near the bottom: try to swim slowly over these regions.

• There is a high sediment concentration near the bottom, and there is not enough contrast between the suspended sediment layer and the actual bottom to determine the true bottom range. At some point the sediment concentration can be so high the Cobra-Tac will not work.

NOTE. If the Cobra-Tac looses the bottom, it will use a water-mass layer to attempt to continue navigating. Accuracy will depend on environmental conditions.

NOTE. Good Survey Suggestions:

Swim along a grid (parallel paths).

Swim at a high altitude (far from bottom).

Keep the Cobra-Tac level.

Slow down while marking objects.

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3.0 Definitions

A diver operates the Cobra-Tac with the buttons and LCD display. It is done in the water without using the CobraWare software.

A user interacts with the Cobra-Tac through the serial port with a computer and the CobraWare software.

3.1 Positions

Much of the data stored by Cobra-Tac pertains to its position in the water. Cobra-Tac and CobraWare use two formats to display positions or accept positions entered by users.

• An absolute position is a latitude and longitude.

• A relative position (used only for waypoints) is a range and

bearing from the previous position. Range is the straight-line distance (0 to 4999 meters) from the previous position to the waypoint. Bearing is the true heading from the previous position to the waypoint (0 to 359 degrees).

3.2 Uploading and Downloading

Uploading is the process of transferring files from the computer to the Cobra-Tac. Downloading is the process of transferring files and data from the Cobra-Tac to the computer.

3.3 Mission Profile

A mission profile is the information stored in the Cobra-Tac’s memory. The mission profile often contains data related to a particular dive, obtained on a particular date and location.

The mission profile contains

• An initial position

• The magnetic variation at the initial position

• 0 to 9 missions

• 0 to 100 events

The Cobra-Tac and CobraWare can transfer mission profiles back and forth. On the receiving end, the new mission profile replaces the old.

• The Cobra-Tac always has one mission profile stored in its memory.

• The CobraWare program always has one mission profile open when running. Use CobraWare to upload and download mission profiles.

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3.3.1 Initial position

The initial position is the latitude and longitude where the Cobra-Tac enters the water at the beginning of a dive and begins tracking its position (see

“2.0 Accuracy,” page 5).

3.3.2 Magnetic Variation

The Cobra-Tac’s internal compass records magnetic heading. The magnetic variation at the location is needed to correct to true heading. Magnetic

variation is declination.

3.3.3 Waypoints

A waypoint is a position in the water that the Cobra-Tac guides a diver toward. An absolute waypoint is a latitude and longitude. A relative way- point is a range and bearing from the previous position.

3.3.4 Missions

A mission is an underwater course consisting of up to 20 connect-the-dot waypoints. An absolute mission contains absolute waypoints. A relative mission contains relative waypoints. All waypoint positions in a mission must be the same type.

The Cobra-Tac has four modes that allow a diver to navigate underwater in various ways. Missions are for use in the WAYPOINT NAV mode. In this mode, a diver starts at an initial position, swims to waypoint 1, and then waypoint 2, and so on.

Missions are intended to be reusable in many mission profiles. They may be imported and exported as needed (see the CobraWare User’s Guide).

3.3.5 Event Marks

An event is a latitude, longitude, and label where a diver has noted something of interest and used the Cobra-Tac to mark the position. The CobraTac requires the diver to label each event as either “NATURAL” or “MAN MADE”. All events in Cobra-Tac have one of these two labels. The Co- braWare program allows other labels (see the CobraWare User’s Guide).

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4.0 Quick Start Guide

The following guide will help you quickly become familiar with the CobraTac.

Preparing for a Dive

Use the following steps to prepare the Cobra-Tac for a dive.

• Install battery

• Turn Power On

• Set Initial Position and Magnetic Variation

Training Mode

Use Cobra-Tac’s training mode to learn how to use each navigation mode.

• Waypoint Navigation

• Grid Navigation

• Mark Navigation

• Survey Navigation

Use this area for notes.

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4.1 Preparing for a Dive

Use this section to prepare the Cobra-Tac for a mission.

VISUALLY INSPECT THE COBRA-TA

HOUSING

CHECK FOR CRACKS

BATTERY PACK

FRESH BATTERY INSTALLED

POWER CABLE

AND WATERPROOF CAP CONNECTED

URETHANE TRANSDUCER FACES

CLEAN AND CHECK FOR CRACKS

HARDWARE

CHECK ALL NUTS AND BOLTS ARE INSTALLED

Use this area for notes.

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4.1.1 Turn Cobra-Tac Power On

Press both upper switches to turn the power on. Select MENU (press the upper right switch) to go to the main menu.

Use this area for notes.

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4.1.2 Set Initial Position and Magnetic Variation

The SET UP screen is used to set the initial position, magnetic variation, and turn on/off the record function of the Cobra-Tac’s internal recorder.

NOTE. The SET UP option must be completed before any navigation function can be started.

a. On the main menu, select NAVIGATION.

b. On the NAVIGATION menu, select SETUP.

c. Use

SCROLL to highlight the field where data needs to be entered.

d. Use SELECT to choose the data for the field selected (0-9 or N-S).

e. Repeat this process from field to field until all information is entered.

Select ACCEPT to save the data. Selecting ACCEPT returns the display back to the NAVIGATION menu.

SCROLL SELECT

LAT :

LONG :

ACCEPT CANCEL

3 2 °4 3

1 1 7

MAGVAR :

RECORD :

1 2 .

1 5

0 0 0 0 N

0 0 0 0 W

NOTE. CobraWare is designed to help you setup the initial position and magnetic variation. For this quick start guide, practice using only the Cobra-Tac to enter the information.

Use this area for notes.

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Cobra-Tac User's Guide

4.2 Training Mode

Use the training mode to learn how to use the Cobra-Tac’s navigation modes.

a. On the UTILITY menu, press SCROLL until the BATTERY HEALTH

menu is highlighted. Press SCROLL once more so that no menu is highlighted.

b. Press SELECT.

c. Use SCROLL and enter 250 (250 mm/s) for the training speed.

d. Select ACCEPT. You will see TRAINING MODE flashing on the bottom

of the display.

NOTE. To exit the training mode, turn off power to the Cobra-Tac by pressing both the lower switches for 3 seconds.

NOTE. In the training mode, you do not need to move. The Cobra-Tac will simulate a constant speed. The heading and tilts are real. It may be helpful to walk the course in a parking lot.

Use this area for notes.

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4.2.1 Waypoint Navigation Mode

The WAYPOINT NAV option allows a diver to navigate via waypoints. To create a relative mission (see “Missions,” page 8) with three waypoints, do the following.

a. On the UTILITY menu, select WAYPOINT SETUP.

b. On the WAYPOINT SETUP screen, select MISSION SETUP. Use

SELECT to change the mission number to 9.

c. Use SCROLL to move the cursor and then use SELECT to enter the follow-

ing waypoints.

• WP1 = 25 meters bearing 000 degrees

• WP2 = 25 meters bearing 90 degrees

• WP3 = 25 meters bearing 180 degrees

NOTE. CobraWare is designed to help you setup waypoints. For this quick start guide, practice using only the Cobra-Tac to enter the waypoints.

d. When the waypoints have been entered, select ACCEPT.

e. Stand at your initial position.

f. Activate the training mode (see “Training Mode,” page 13).

g. Start the mission by selecting WAYPOINT NAV on the NAVIGATION

menu. Press SELECT to select mission 9 (created in steps “a” through “d”). Select ACCEPT, then START to begin the mission.

h. As you move toward waypoint 1, mark an event as MAN MADE (see

“Event Marking Function,” page 26).

i. Practice navigating to each waypoint and marking events. It may be

helpful to walk the course in a parking lot.

NOTE. You must navigate to within a one-meter radius of a waypoint, otherwise the Diver Navigation Indicator distance will start counting UP, indicating that you are moving away from the waypoint.

j. When you have navigated to each waypoint, select HOME to travel a re-

ciprocal course back to your initial position (see “Home Function,” page

26).

k. Select

CANCEL again to return to the NAVIGATION menu. Select CANCEL

CANCEL to stop the mission (which stops recording). Select

once more to return to the main menu.

l. Turn the power off to the Cobra-Tac.

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CAUTION. To end a mission, back out ( then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved.

Way Point 1

25 meters 000 degrees

MARK 01 MAN MADE

Initial Position

32 43.0000 N

°′

117 12.0000 W

°′

HOME

CANCEL) until at the main screen,

MARK 02 NATURAL

Way Point 2

25 meters 90 degrees

MARK 03

NATURAL

Way Point 3

25 meters

DIVER NAVIGATI

0 2 1

180 degrees

N INDICATOR

START

1 4 0

DEPTH BELOW SURFACE

PITCH & ROLL INDICATOR

MARK

Use this area for notes.

505

1 8 9 1 M

0 0 1

5 6 4

WAYP

INT NUMBER

CANCEL

ALTITUDE ABOVE BOTTOM

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4.2.2 Grid Navigation Mode

The GRID NAV Option is used to allow the diver to do hydrographic beach surveys. To setup a survey, do the following.

a. Stand at your initial position.

b. Activate the training mode (see “Training Mode,” page 13).

c. Start the mission by selecting GRID NAV on the NAVIGATION menu.

d. On the LANE WIDTH screen, use the SELECT function to choose the

width, Use the ACCEPT function to start the survey.

e. Pick a direction that is going to be your pretend beach and point the Co-

bra-Tac toward the beach. Select START to begin the survey.

f. Watch the Diver Navigation Indicator (see “Diver Navigation Indicator,”

page 24) – it will show the distance you swim.

g. To end the first leg, make a 90° turn to the left by using the Leg Direc-

tional Indicator, and then select LEG.

NOTE. Remember to turn 90° first, and then press

LEG.

h. The Diver Navigation Indicator arrow will reset to the new direction.

Also, the Range of Leg will reset to zero.

i. As you walk the length of the Lane Width, mark an event as MAN

MADE (see “Event Marking Function,” page 26).

j. Turn 90° to the left, and then select LEG. Walk the length of the leg.

k. Turn 90° to the right, and then select LEG. Walk the length of the lane

Width.

l. Turn 90° to the right, and then select LEG. You should be walking in the

direction of the beach.

m. Practice navigating each leg and marking events. It may be helpful to

walk the course in a parking lot.

n. After completing the survey, select HOME and the Cobra-Tac will di-

rect you to beginning of the survey (see “Home Function,” page 26).

o. Select

CANCEL again to return to the NAVIGATION menu. Select CANCEL

CANCEL to stop the mission (which stops recording). Select

once more to return to the main menu.

p. Turn the power off to the Cobra-Tac.

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START

LEG LENGTH

MARK 01

MAN MADE

LEG DIRECTIONAL INDICATOR

LANE WIDTH

MARK 02

NATURAL

HOME

CANCEL) until at the main screen,

MARK

MAN MADE

BEACH

DIVER NAVIGATION INDICATOR

- 0 0 2

7 4 0

START

DEPTH BELOW SURFACE

PITCH & ROLL INDICATOR

MARK

Use this area for notes.

505

3 4 9 M

2 6 4

CANCEL

ALTITUDE ABOVE BOTTOM

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4.2.3 Mark Navigation Mode

The MARK NAV Option is used to allow the diver to return to a marked location.

NOTE. You must have marked an event in a previous navigation function.

To navigate to the marked location, do the following.

a. Stand at your initial position.

b. Activate the training mode (see “Training Mode,” page 13).

c. Start the mission by selecting MARK NAV on the NAVIGATION

menu.

d. On the MARK LOCATION screen use the

SELECT function to choose

the marked location to navigating to (1 to 99).

e. Select ACCEPT to load the location.

f. Select START to begin navigating.

g. The Diver Navigation Indicator gives the direction and range to the

marked location.

h. When you have navigated to the location, the screen will show the next

marked event. Select the event number and use ACCEPT to navigate to the location.

i. Practice navigating to marked events. It may be helpful to walk the

course in a parking lot.

j. When ready to return to the staring point, use the HOME function (see

“Home Function,” page 26).

k. Select

CANCEL again to return to the NAVIGATION menu. Select CANCEL

CANCEL to stop the mission (which stops recording). Select

once more to return to the main menu.

l. Turn the power off to the Cobra-Tac.

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CANCEL) until at the main screen,

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Cobra-Tac User's Guide

0000

MARK 02 NATURAL

MARK 01 MAN MADE

Initial Position

32 43.0000 N

°′

117 1 2 .

°′

PITCH & ROLL INDICATOR

HOME

MARK

DIVER NAVIGATI

- 0 1 6

505

1 9 1 9 M

N INDICATOR

START

4 0 0

4 8 0

CANCEL

MARK 03 NATURAL

DEPTH BELOW SURFACE

ALTITUDE ABOVE BOTTOM

MARK N

Use this area for notes.

MBER

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4.2.4 Survey Navigation Mode

The SURVEY NAV option allows a diver to survey a given area and record any event.

a. Stand at your initial position.

b. Activate the training mode (see “Training Mode,” page 13).

c. Start the mission by selecting SURVEY NAV on the NAVIGATION

menu.

d. Use the START function to begin the survey.

e. Practice marking events (see “Event Marking Function,” page 26). It

may be helpful to walk a course in a parking lot.

f. When ready to return to the staring point, use the HOME function (see

“Home Function,” page 26).

g. Select CANCEL to stop the mission (which stops recording). Select

CANCEL again to return to the NAVIGATION menu. Select CANCEL

once more to return to the main menu.

h. Turn the power off to the Cobra-Tac.

PITCH & ROLL INDICATOR

HOME

MARK

Use this area for notes.

HEADIN

3 3 8

RECORDING

MISSION

CANCEL) until at the main screen,

START

DEPTH BELOW SURFAC

4 0 0

4 8 0

ALTITUDE

CANCEL

ABOVE BOTTOM

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4.2.5 Turn Cobra-Tac Off

Once you are done using the Cobra-Tac, press both lower switches to turn the power off.

NOTE. For information on how to download data from the Cobra-Tac to your computer, see the CobraWare User’s Guide.

Use this area for notes.

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5.0 Cobra-Tac Operation

Activate the Cobra-Tac by pressing and holding both the top right and left switches for three seconds. The LCD screen will display the Cobra-Tac unit serial number, and firmware version.

COBRA-TAC

SERIAL NUMBER : XXXXX

VERSION XX.XX

JUNE 17 2002 07:32:00

BATT LEFT ~XX.XX

Figure 3. Cobra-Tac Opening Screen

To activate the Backlighting for the LCD, push the top right switch and the bottom left switch simultaneously at any time the unit is on. To turn off the backlight, perform the same function with the two switches.

To turn the Cobra-Tac off, press and hold both the bottom right and left switches for three seconds.

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5.1 Using the Control Switches

There are four (4) spring-loaded momentary push buttons operator control switches next to the display. Each switch corresponds to the control displayed on the LCD screen. For example, if the screen shows upper left corner of the display, pushing the upper left button will select the highlighted item.

Table 1: Operator Control Switch Functions

Name of Function Description

SELECT in the

The

ACCEPT function saves entered data and either returns

you to the previous menu (when setting up options) or goes to the next screen (when selecting missions).

CANCEL

HOME

CANCEL function returns you to the previous screen.

The

Use the

HOME function to return to the starting point of the

navigation mode.

LEG

Use the LEG function for the Grid Navigation mode to indicated the length of the leg.

MARK

SCROLL

Use the

MARK function to record a location.

Use the SCROLL function to highlight a menu or field where data needs to be entered.

SELECT

Use the

SELECT function to go to a highlighted menu or

choose the data for the field selected (0 to 9 or N, S, E, W).

START

Use the START function to begin a navigation mode or the compass calibration.

Special Functions

To turn the Cobra-Tac on, press both upper switches for 3 seconds.

To turn the Cobra-Tac off, press both lower switches for 3 seconds.

To turn the backlight on, press the upper right and lower left switches. To turn the backlight off, press the same switches again.

CAUTION. To switch modes (for example, from Waypoint Nav to Grid Nav) once a navigation option has been started (i.e. the pushed), you must use the screen and than turn the power off. Turn power on and select the desired navigation mode. If the power is not cycled, the mode will not change.

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CANCEL) until at the main screen,

START button was

CANCEL button to back out until at the main

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5.2 Understanding Cobra-Tac Displays

The following section describes the Cobra-Tac displays and how they help the diver navigate.

5.2.1 Diver Navigation Indicator

The Diver Navigation Indicator shows your relative position (distance and direction) to the desired line of track. You should try to make the arrow inside the grid box point forward, and centered on the middle line, which indicates the desired line of track.

The Diver Navigation Indicator consists of a grid with vertical tick marks each indicating one-meter of cross-track error. The numerical value above the Diver Navigation Indicator indicates the cross-track error in meters, and the symbols on either side of the Diver Navigation Indicator, are a redundant indication of cross-track error (Right/Left/On Track).

0 2 1

1 0 2

5 9 6

505

X X X X M

Figure 4. Diver Navigation Indicator Examples

ON COURSE TO THE RIGHT

5.2.2 Pitch and Roll Indicator

The pitch and roll indicator shows the attitude (Pitch and Roll) and heading of the Cobra-Tac.

PITCH/ROLL

GOOD

UP AND TO THE RIGHT

505

X X X X M

PITCH/ROLL

(CORRECTING)

505

X X X X M

PITCH/ROLL

DOWN AND TO THE LEFT

OFF COURSE

Figure 5. Pitch and Roll Indicator

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DEPTH

5.2.3 Leg Directional Indicator

The Leg Directional Indicator (LDI) gives the diver the position of CobraTac in refe r e n ce to the beach.

SWIMMING TOWARD

THE BEAC

SWIMMING PARALLEL

TO THE BEACH

Figure 6. Leg Directional Indicator

5.2.4 Depth and Altitude

On the right side of each navigation mode display, the Cobra-Tac shows the depth in meters from the surface (D) and the altitude from the bottom (A).

XX.X

Figure 7. Depth and Altitude

FROM SURFACE

ALTITUDE

M BOTTOM

5.2.5 Low Battery Warning

The low battery indicator flashes on the left side of every screen when 25% of the battery is left. This indicates that there is approximately 1 hour 45 minutes usage left on the battery.

SWIMMING AWAY

FROM THE BEAC

Figure 8. Low Battery Warning

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5.3 Event Marking Function

During any navigation option, the diver can select the MARK function to record a location. When activated, the display will change to show NATURAL for the top right switch position and On the center of the display, an indication will display what number will be assigned to the location (you can assign up to 99 locations).

MANMADE for the left switch position.

MAN MADE

MARK

XXX

CANCEL

[MARK]

Figure 9. Marking a Location

The diver then chooses what type of description that will be assigned to this object (MANMADE or NATURAL). Once the location has been marked, the display will default back to the navigation screen.

5.4 Home Function

Use the HOME function to return to the starting point of the navigation mode. In the GRID NAV, MARK NAV, and SURVEY NAV modes, se- lecting HOME will return you to your initial position via the shortest route.

In the WAYPOINT NAV mode, selecting the HOME function will direct you to your initial position using a reciprocal course based on the mission pro- file. For example, if the mission profile contained waypoints 1, WP2, and WP3, when WP0 (your initial position).

HOME is selected, you will be directed to WP3, WP2, WP1, and

NATURAL

CANCEL

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5.5 Menu Screen

Push down the top left switch MENU in the opening screen to move to the menu options. From here you can select the NAVIGATION or UTILITIES menus. Use the and then use the

SELECT function to go to that menu.

SCROLL function to highlight the menu option,

SCR O LL

NAVIGATION

UTILITIES

Figure 10. Menu Screen

5.6 Navigation Menu

The following screen is displayed when the NAVIGATION option is se- lected from the MENU screen.

SCR O LL

SE T U P

WAYPOINT NAV

GRID NA V

MARK NAV

SURVEY NAV

SEL ECT

CA N CEL

Figure 11. Navigation Menu

Use the SCROLL function to highlight the navigation option, and then use the

SELECT function to enter that option. The CANCEL function allows you to

return to the MENU Screen.

• SET UP – The SET UP screen is used to input the starting posi- tion, Magnetic Variation, and record functions.

NOTE. The SET UP options must be entered before any navigation function can be started.

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• WAYPOINT NAV – The WAYPOINT NAV option allows a diver to

• GRID NAV – The GRID NAV option is used for hydrographic

• MARK NAV – The MARK NAV option is used to navigate back to

•

select a mission profile that has been created using the software CobraWare or through the UTILITIES menu and then navigate via waypoints.

beach surveys.

a previously marked location.

SURVEY NAV – The SURVEY NAV option allows a diver to sur-

vey a given area and record any event.

START button was

CANCEL button to back out until at the main

5.6.1 Set Up Option

The SET UP option is used to input the geodetic (Longitude/Latitude) starting position, magnetic variation, and activates the record function to save positional and hydrographic data in the navigation computer.

SCRO L L SEL E CT

LAT: XX°XX . XXXX X LON G: XXX° XX. XXXX X

MAG VAR

RECORD Y/ N

A CCEP T

Figure 12. Set Up Option

Using the SCROLL function, the user/diver highlights the field where data needs to be entered. The the data for the field selected (0-9 or N-S). Repeat this process from field to field until all information is entered. The user/diver then uses the

ACCEPT function to load the data into the system. Selecting ACCEPT returns

the display back to the NAVIGATION menu.

XXX

CA N CEL

SELECT function allows the user/diver to choose

NOTE. The SET UP option must be completed before any navigation function can be started.

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5.6.2 Waypoint Navigation Option

The WAYPOINT NAV option allows a diver to select a mission profile that has been created using the software CobraWare or through the UTILITIES menu and then navigate via waypoints.

NOTE. The SET UP options must be entered before the WAYPOINT NAV mode can be started (see “Set Up Option,” page 28).

NOTE. For a tutorial on how to use the WAYPOINT NAV mode, see “Waypoint Navigation Mode,” page 14.

When the WAYPOINT NAV option is selected the following screen is dis- played.

SELE CT

MISSIO N N UM BER: XX

A CCEPT

CA N CEL

Figure 13. Waypoint Navigation Select Mission Screen

The number displayed always defaults to 00 and the diver uses the SELECT function to choose the mission number that is to be loaded (1 to 9), then uses the ACCEPT function to load that mission. The CANCEL function returns you to the previous screen/function.

When you are ready to start navigating, enter the water and press

START

(upper right button). The first waypoint number is then displayed in place of the mission number and range to the next waypoint is also displayed and constantly updated, as the diver gets closer. For navigational aids, the Diver Navigation Indicator and pitch/roll are also displayed and updated in real time (see “Understanding Cobra-Tac Displays,” page 24).

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HOME

MARK

0 2 1

505

1 8 9 1 M

0 0 1

START

1 4 0

5 6 4

CANCEL

Figure 14. Waypoint Navigation Display

NOTE. You must navigate to within a one-meter radius of a waypoint,

otherwise the Diver Navigation Indicator distance will start counting UP, indicating that you are moving away from the waypoint.

When the next waypoint is reached, the range indication will zeroed out and the direction arrow of the Diver Navigation Indicator will begin to flash until the diver re-orientates to the right heading. The Diver Navigation Indicator direction arrow stops flashing and the diver moves on to the next waypoint. If the diver wants to mark and record a location during the mission, use the MARK function (see “Event Marking Function,” page 26).

Any time the diver wants to return to the starting point, use the HOME function and, when activated, Cobra-Tac will direct you back using a reciprocal course heading based on the mission profile (see “Home Function,” page

26).

CANCEL button to back out until at the main

CANCEL) until at the main screen,

START button was

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5.6.3 Grid Navigation Option

The GRID NAV Option is used to allow the diver to do hydrographic beach surveys.

NOTE. The SET UP options must be entered before the Grid NAV mode can be started (see “Set Up Option,” page 28).

NOTE. For a tutorial on how to use the GRID NAV mode, see “Grid Navigation Mode,” page 16.

When the GRID NAV option is selected, the following screen is displayed.

SCRO L L SEL E CT

XXX°

LANE WIDTH XXM

A CCEP T

CA N CEL

Figure 15. Lane Width

The lane width displayed always defaults to 00 and the diver uses the

SELECT function to choose the width, then uses the ACCEPT function to start.

The CANCEL function returns you to the previous screen/function.

HOME

- 0 0 2

505

3 4 9 M

MARK

Figure 16. Grid Navigation Options

START

7 4 0

2 6 4

CANCEL

The diver enters the water, pointed toward the beach, and uses the START function to begin the survey. The Leg Directional Indicator (see “Leg Di-

rectional Indicator,” page 25) gives the diver the position of Cobra-Tac in

reference to the beach. For navigational aids, the Diver Navigation Indicator (see “Diver Navigation Indicator,” page 24) and pitch/roll are also dis- played and updated in real time.

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CAUTION. To switch modes (for example, from Waypoint Nav to Grid Nav) once a navigation option has been started (i.e. the START button was pushed), you must use the screen and than turn the power off. Turn power on and select the desired

CANCEL button to back out until at the main

navigation mode. If the power is not cycled, the mode will not change.

5.6.4 Navigating to a Marked Location

Select MARK NAV from the NAVIGATION menu, and the following screen is then displayed asking for the number of the location the operator is navigating to.

NOTE. The SET UP options must be entered before the Mark NAV mode can be started (see “Set Up Option,” page 28).

NOTE. You must have marked an event in a previous navigation function.

CANCEL) until at the main screen,

NOTE. For a tutorial on how to use the MARK NAV mode, see ““Mark

Navigation Mode,” page 18.

SEL EC T

MARK LOCATION: XX

A CCEPT

CA N CEL

Figure 17. Mark Location

The MARK LOCATION field reads 00 and is highlighted. Use the

SELECT function to choose the marked location to navigating to (1 to 99)

and then use the ACCEPT function to load the location. The following screen appears.

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HOME

MARK

- 0 1 6

505

1 9 1 9 M

START

4 0 0

4 8 0

CANCEL

Figure 18. Navigating to a Marked Location

The number of the selected location is displayed on the bottom of the screen. The Diver Navigation Indicator (see “Diver Navigation Indicator,”

page 24) gives the diver direction to the marker location while range is pro-

vided below. When the diver is ready to return to the staring point, use the

HOME function.

CAUTION. To end a mission, back out (

then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved.

CANCEL button to back out until at the main

CANCEL) until at the main screen,

START button was

5.6.5 Survey Navigation Option

The SURVEY NAV option allows a diver to survey a given area and record any event. This feature is used to map archeological wrecks sites, eel grass/kelp growth studies, or any other survey where geodetic locations are needed for fixed points underwater.

NOTE. The SET UP options must be entered before the SURVEY NAV mode can be started (see “Set Up Option,” page 28).

NOTE. For a tutorial on how to use the SURVEY NAV mode, see “Survey Navigation Mode,” page 20.

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The diver must use the SET UP function on the NAVIGATION menu to establish the starting point and then select the SURVEY NAV option (see

“Navigation Menu,” page 27). Once the diver enters the water, use the

START function to begin the survey.

The diver then completes the survey while marking events using the MARK function of the system. When the diver is ready to return to the starting point, use the HOME function.

HOME

3 3 8

RECORDING

MISSION

START

4 0 0

4 8 0

MARK

Figure 19. Free Navigation Screen

CAUTION. To end a mission, back out (

then turn the power off. This ensures that the events are saved. If the Cobra-Tac power is turned off before returning to the main screen, the marked events will not be saved.

CANCEL

CANCEL button to back out until at the main

CANCEL) until at the main screen,

START button was

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5.7 Utilities Menu

From the MENU screen, select UTILITIES (see “Menu Screen,” page 27). The following screen is displayed.

SCR O LL

WAYPOINTSETUP

EDITING RECO RD S

BA TTERY HEA LTH

Figure 20. Utilities Menu

Use the SCROLL function to highlight a selection and then the SELECT function to begin the selection.

5.7.1 Calibrate

When the CALIBRATE option is selected, the following screen is dis- played.

SCR O LL

CA LIBRA TE CO MPA SS

CA LIBRA TE D EPT H

CA LIBRA T E

SEL ECT

CA N CEL

SEL ECT

CA N CEL

Figure 21. Calibrate Menu

Once again, use the SCROLL function to highlight a selection and then the

SELECT function to begin.

Calibrating the Compass

The magnetic field the Cobra-Tac environment. Changing the location in which the Cobra-Tac

compass detects depends on the local

operates (especially the latitude) changes the magnetic field the compass detects. In addition, any residual magnetism in the Cobra-Tac’s battery or ferromagnetic material carried by the swimmer can create a local magnetic field. Performing a compass (heading) calibration allows the Cobra-TacTM to adjust its computations to output corrected heading.

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A primary calibration should be performed when any of the following items are true.

• After the battery is changed

• When a new location is used for a survey (greater than 100 miles

• When the previous primary heading calibration has been aborted

Getting a good calibration depends strongly on all of the following items.

• A primary heading calibration should be performed at or near the

• The calibration should be done away from objects that can cause

• While performing the calibration, move the Cobra-Tac smoothly

from the previous survey point or in an area of known magnetic anomaly)

location of the survey.

magnetic interference.

with no sudden accelerations.

NOTE. We recommend against calibrating the Cobra-Tac while on a ship. The ship’s motion and magnetic fields from the hull and engine will likely prevent successful calibration.

The built-in automated compass calibration procedure requires three rotations. The Cobra-Tac uses the first two rotations to compute a new calibration matrix and the third to verify the calibration. It will not accept the new matrix unless the calibration was carried out properly.

a. Go to the CALIBRATE Screen.

b. Use the SCROLL function to highlight CALIBRATE COMPASS and

then the SELECT function to begin the calibration.

c. Use the

START function to start the calibration process.

START

COMPASS

CALIBRATION

Figure 22. Compass Calibration Screen

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d. Follow the on-screen instructions to orientate the Cobra-Tac to the

proper tilt.

15° TILT 15° TILT

Figure 23. Calibrating the Compass

Figure 24. Compass Calibration Center of Rotation

NOTE. The tilts must remain constant during the rotations. The

transducer beam should be at the center of the rotation, not holding the Cobra-Tac.

the person

e. Rotate the Cobra-Tac slowly 360 degrees (approximately 5 degrees per

second).

f. The second rotation requires the Cobra-Tac to be tilted 15 degrees in

another direction than from the first rotation (see Figure 23). Follow the on-screen instructions to orient the Cobra-Tac correctly. When prompted, rotate the Cobra-Tac slowly 360 degrees (approximately 5 degrees per second).

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g. The third rotation requires the Cobra-Tac to be tilted 15 degrees in an-

other direction than from the first and second rotations. Follow the onscreen instructions to orient the Cobra-Tac correctly. When prompted, rotate the Cobra-Tac slowly 360 degrees (approximately 5 degrees per second).

h. Once the third rotation is complete, the screen will display the following

message.

Field Calibration Procedure

Hard and Soft Iron Calibration

Compass Field Calibration Proc edure is Complete

>>>Total Error Before Calibra tion: X.X° <<<

>>>Total Error After Calibrat ion: X.X° <<<

i. Pay particular attention to the Total Error After Calibration. If it is

not acceptable, press any switch, than the CANCEL function and start the compass calibration procedure over again.

Press any switch

j. If the total error is acceptable, press any switch to end the calibration.

The compass calibration screen will display COMPLETE. Use the

CANCEL function to return to the UTILITY menu.

Calibrating the Depth Indicator

The atmospheric pressure at the water’s surface can change with environmental conditions. The depth calibration procedure allows the Cobra-Tac to reference what it reads from the pressure sensor to the water’s surface.

NOTE. The depth calibration only needs to be done if the altitude has changed since the last calibration.

a. Place the Cobra-Tac unit at the water’s surface.

b. Go to the CALIBRATE Screen.

c. Use the SCROLL function to highlight CALIBRATE DEPTH and then

SELECT function to begin the calibration.

the

d. Once the unit has been properly calibrated, the screen will display

COMPLETE.

e. If the calibration procedure has not been successful, “TRY AGAIN” will

be displayed on the screen. Use the

CANCEL function and start the pro-

cedure over again.

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5.7.2 Create Mission Though Waypoint Setup

The WAYPOINT SETUP option lets the operator create waypoints within a given mission using geodetic data points or range and bearing information. The user can create up to 20 waypoints in a given mission and the Cobra-Tac can store up to 9 missions. These missions can be called up and used to navigation using the WAYPOINT NAV option in the Naviga- tion menu (see “Waypoint Navigation Option,” page 29).

NOTE. Use the CobraWare software to create mission profiles that can be uploaded to the Cobra-Tac.

Select WAY P O I N T SE T U P from the Utility menu and the following display appears.

SCR O LL

MISSION SETUP

MISSION EDIT

SEL EC T

CA N CEL

Figure 25. Waypoint Setup Menu

Mission Setup

Use the SCROLL function to highlight MISSION SETUP and then the

SELECT function to load the selection.

SCRO LL

A CCEPT

MISSION #: XX

WP# XX

LAT: XX°XX. XXXXN

LONG: XXX°XX.XXXXW

BEARING: XXX°

RA N GE: XXX

SELE CT

CA N CEL

Figure 26. Mission Setup Screen

The Mission # field will be highlighted and the next available mission ID number will be displayed (1 to 9). Use the SCROLL function to scroll and highlight the WP# field. Use the SELECT function to load the first waypoint number (1). Using the

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SCROLL and SELECT functions, the user highlights

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and loads in the proper data for the rest of the fields as necessary. Once all fields have been entered, use the ACCEPT function to save this waypoint.

Once a WP number has been saved, the unit will zero out and move the cursor back to the WP# field and the next waypoint number will appear (2 as an example). The user then repeats the cycle until all of the waypoints have been loaded.

To cancel data input, use the CANCEL function and the Cobra-Tac will go back to the WAY PO IN T SETUP Menu.

To save the mission, the use the ACCEPT switch and Cobra-Tac goes back to the WAY PO IN T SETUP Menu.

Mission Edit

To edit a Mission, select MISSION EDIT from the WAYPOINT NAV menu by scrolling and selecting that option. The following display will appear.

SCRO LL

A CCEP T

EDIT M ISSION #: XX

WP# XX

LAT: XX°XX. XXXXN

LON G: XXX°XX.XXXXW

BEARING: XXX°

RA N GE: XXX

SEL ECT

CA N CEL

Figure 27. Edit Mission screen

The cursor will highlight the mission number (first mission number loaded into memory) and by using the

SELECT function, the user can select a differ-

ent mission number to edit from the unit’s memory. Once a mission has been selected to edit, use the point. The user can then use the

ACCEPT function to default to the first way-

SELECT function to move to another way-

point or SCROLL down to make changes, using the SELECT and ACCEPT functions. Once a mission has been properly edited, push the ACCEPT function twice to save the changes. To move back to the previous screen, use the

CANCEL function.

NOTE. Use the CobraWare software to edit mission profiles that can be

uploaded to the Cobra-Tac.

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5.7.3 Edit Records

From the UTILITIES Menu use the SCROLL function in highlight the EDIT RECORDS option and use the SELECT function to active this option. The

following screen will appear.

SCR O LL

DELETE RECO RD S

DELETE MISSONS

DELETE EVEN T MA RKS

SEL EC T

CA N CEL

Figure 28. Edit Records Menu

• Records are the mission data collected from a dive and stored on the Cobra-Tac’s internal recorder.

• Missions contain the waypoints created through the WAYPOINT SETUP and are stored in the Cobra-Tac’s mission profile.

• Event Marks are collected during a dive and are stored in the Cobra-Tac’s mission profile.

Delete Records

The Cobra-Tac internal recorder has limited memory to store records. This function allows the diver to delete old records in the field. Use the

SCROLL function to highlight DELETE RECORDS and then the SELECT

function to load the selection. The ACCEPT option starts the delete function and the following screen will appear. Select

ACCEPT once more to delete all

of the records.

CAUTION. Make sure the data on the internal recorder is backed up to a computer before deleting. Once deleted, the records can not be

recovered.

NOTE. Use CobraWare to download the internal recorder data.

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DELETE ALL RECORDS

AREYOUSURE??

A CCEPT

CA N CEL

Figure 29. Delete Records Screen

Deleting Missions

This function allows the diver to clear mission files in the field. Use the

SCROLL function to highlight DELETE MISSIONS and then the SELECT

function to load the selection. The ACCEPT option than activates the delete function and the message “ARE YOU SURE??” will blink. To complete this operation, use the ACCEPT function again and the missions are deleted.

CAUTION. Make sure the mission profile is backed up to a computer before deleting. Once deleted, the missions can not be recovered.

NOTE. Use CobraWare to download the mission profile.

DELETE ALL MISSIONS

ARE YOU SURE??

CANCEL

Figure 30. Delete Missions Screen

Deleting Event Marks

This function allows the diver to clear event marks in the field. Use the

SCROLL function to highlight DELETE EVENT MARKS and then the SELECT function to load the selection. The ACCEPT option than activates the

delete function and the message “ARE YOU SURE??” will blink. To complete this operation, use the

ACCEPT function again and the event marks are

deleted.

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CAUTION. Make sure the mission profile is backed up to a computer before deleting. Once deleted, the event marks can not be recovered.

NOTE. Use CobraWare to download the mission profile.

DELETE ALL EVENTS

ARE YOU SURE??

Figure 31. Delete Events Screen

5.7.4 Battery Health Indicator

When the battery health option is selected, the following screen is displayed. This gives the diver an indication of how much time is left on the battery. Select the RESET function to reset the timer. Turn the Cobra-Tac power off, replace the battery, and then turn the power on. The timer will reset to 07:00:00 and begin counting down.

RESET

ESTIMATED

BATTERY LIFE REMAINING

XX : XX : XX

CANCEL

ANCEL

Figure 32. Battery Health Screen

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6.0 Preparation and Maintenance

This section explains how to prepare the Cobra-Tac for deployment and how to prepare the Cobra-Tac for storage or shipment.

6.1 Installing and Removing the Battery

The battery pack uses a quick release toggle for easy battery replacement. No tools are needed.

a. Pull out on the toggle lever of the battery pack.

b. Slide the battery pack into the Cobra-Tac housing slot and rotate the

lever so that the locking pin is aligned with the slot on the mount.

c. Push in the toggle lever to extend the locking pin into the mount.

d. Rotate the lever 90 degrees and flip the lever down to lock the battery

pack in place.

e. Inspect the O-ring on the power cable connector (battery side). When

viewed with an unaided eye, the O-rings must be free of cuts, indentations, abrasions, foreign matter, and flow marks.

f. Clean and inspect the O-ring grooves. Be sure the groove is free of for-

eign matter, scratches, indentations, corrosion, and pitting.

g. Lubricate the O-ring with a thin coat of O-ring lubricant. Apply the lu-

bricant using latex gloves. Do not let loose fibers or lint stick to the Oring. Fibers can provide a leakage path.

NOTE. RD Instruments uses Dow Corning’s silicone lube model number 111 but any type of silicone O-ring lube can be used.

CAUTION. Apply a very thin coat of silicone lube on the O-ring. Use only enough lubricant to make the O-ring feel slick.

h. Connect the power cable to the battery pack lower connector.

i. Reverse this procedure to remove the battery.

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6.2 Recharging the Battery

The Smart Charger is a variable input voltage charger that automatically adjusts for the voltage of the power source, ranging from 100V to 240V. It adapts to current fluctuations in travel destinations with poorly regulated power, provides more complete recharging, and offers trickle maintenance charge. It also prolongs battery life, eliminates any possibility of NiCad memory, and accepts interchangeable plugs for worldwide use.

NOTE. Recharge time is 5-hours.

a. Follow all Charging Safety warnings while charging batteries (see

“Charging Batteries Safely,” page 46).

b. Unplug the charger or turn it off before you connect the battery, which

will cut down on the chance of sparks.

c. The battery pack features two female connectors, one at each end.

These connectors on the battery pack also double as charger sockets; either one can be used to recharge the pack.

To access the charger socket, unscrew and remove the power cord on the

bottom of the battery pack. Align the charger plug and insert into the charger socket. Make sure the connection is good.

d. Connect the battery charger to the AC power source.

e. Turn on the charger. Two indicator lights are featured on the charger.

The green POWER indicator light glows continuously once the charger is connected to a wall outlet. The orange CHARGE indicator light shows the present recharge mode:

Continuous orange light - This indicates that the battery pack is

•

being quick-charged.

• Slow Blinking orange light – This indicates that the battery pack was virtually drained (discharged) and the pack is being slowcharged to bring up the NiCads. Once the NiCads reach an acceptable level, then the charger will automatically switch to the quick-charge mode.

• Rapid Blinking orange light - This indicates that the battery pack is fully recharged and the charger is now providing a trickle maintenance charge.

NOTE. The Smart Charger is capable of providing a trickle maintenance charge permitting the battery pack to be continuously charged for extended periods.

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f. Connect the waterproof power cable connector after charging. The

charger sockets are not waterproof and must be capped when connected to the Cobra-Tac.

6.3 Charging Batteries Safely

Follow all Charging Safety warnings while charging batteries.

CAUTION. When charging batteries, ventilate the charging area. A buildup of hydrogen and oxygen in the battery or in the charging area can create an explosion hazard.

CAUTION. If the battery feels hot to the touch during charging, STOP. Allow the battery to cool before charging again. A battery that is too hot can explode.

CAUTION. Use the provided charger cord. Unplug the charger or turn it off before you disconnect the cable, this will cut down on the chance of sparks.

CAUTION. ABSOLUTELY NO SMOKING, SPARKS, OR FLAMES AROUND CHARGING BATTERIES. Charging gives off hydrogen and oxygen, which can explode if ignited.

6.4 Battery Tips

• Recharge the battery after each use.

• Do not over discharge the battery; you will shorten the battery

life. Turn the Cobra-Tac off when not in use.

• Store the battery fully charged, and recharge the pack for a few hours each month.

• Do not disassemble the battery.

NOTE. Replace the battery if the measured voltage of the battery is less than 11 volts after charging the battery for 5 hours or if the battery has been used for 500 charge/discharge cycles.

6.5 I/O and Power Cable

The I/O connector (on the Cobra-Tac) and the I/O cable and power cable use molded connectors.

The cable should be disconnected with a straight outward motion only. Use the following procedure to disconnect the cable.

a. Release the retaining strap by pulling it over the connector.

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b. Grasp the cable close to the connector. Your thumb should rest against

the edge of the Cobra-Tac.

c. Pull the cable straight out away from the connector with a gentle side-

to-side rocking motion. Do not apply any upward force on the connector as it is being disconnected.

The cable should be connected with a straight inward motion only. Use the following procedure to connect the cable.

a. Apply a light coat of DC-111 lubricant to the rubber portion of the end-

cap connector pins. This will help seat the connector.

b. Gently push the cable straight in toward the end-cap connector. Do not

apply any upward force on the connector as it is being connected.

c. Roll the retaining strap over the connector.

CAUTION. When disconnecting or connecting the Cobra-Tac I/O cable, do not apply any upward force on the connector as it is being pulled on/off. Applying an upward angle as the cable is connected/disconnected puts stress on the connector. This may cause several serious problems: a) The connector or connector pins can crack. b) The O-ring on the bottom of the connector can be damaged. c) The molded urethane on the connector may separate from the brass insert. If the connector is damaged in any

of these ways, your Cobra-Tac will flood.

Figure 33. I/O Cable

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PIN 5 (SKT)

PIN2 (PLG)

P1 P2

PIN1 (PLG)

PIN3 (SKT)

Figure 34. Power Cable

6.6 Cleaning

Before storing or shipping the Cobra-Tac, remove all foreign matter. Waterless hand cleaners remove most petroleum-based fouling. Rinse with fresh water to remove soap residue. Dry the transducer faces with lowpressure compressed air or soft lint-free towels.

CAUTION. The soft, thin urethane coating on the transducer faces is easily damaged. Do not use power scrubbers, abrasive cleansers, scouring pads, high-pressure marine cleaning systems, or brushes stiffer than hand cleaning brushes on the transducer faces.

Inspect the transducer faces for dents, chipping, peeling, urethane shrinkage, hairline cracks, and damage that may affect watertight integrity or transducer operation.

CAUTION. Never set the transducer on a rough surface; always use foam padding to protect the transducers.

PIN 4 (SKT)

P1 ISOMETRIC VIEW

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6.7 Firmware Updates

The firmware for the Cobra-Tac is located on flash memory chips on the CPU board. When updating, new firmware must be downloaded. To download new firmware, do the following steps.

a. Set up the Cobra-Tac as shown in Figure 35.

b. Turn on power to the Cobra-Tac.

c. Start the program CTxxxx.exe (where xxxx = the firmware version).

Click Setup. Click the View README.TXT button to view the Readme.txt file for details on what is new in this version of firmware.

d. Click Next and follow the on-screen prompts.

e. If you are not able to install the new version of firmware, contact RDI

for assistance.

TO BATTERY CONNECTOR

TO I/O CONNECTOR

TO SERIAL PORT

Figure 35. Cobra-Tac Interconnections

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6.8 Returning a Cobra-Tac for Service

When shipping the Cobra-Tac to RDI from either inside or outside the United States, the following instructions will help ensure the Cobra-Tac arrives with the minimum possible delay. Any deviation from these instructions increases the potential for delay.

6.8.1 Domestic Shipments

Step 1 - Get a Return Material Authorization

The best way to make sure RDI is aware of your intentions to ship equipment is to obtain a Return Material Authorization (RMA) before sending the shipment. Return Material Authorizations are issued by Sales Administration or Customer Service and are used to notify us of your needs in advance of arrival so we can provide a faster turnaround. When requesting a Return Material Authorization, please give us the following information.

• What is being shipped (include the serial number)

• When you plan to send the shipment

• What problem(s) need correction

• When you need the instrument returned

When the Return Material Authorization is issued, we will tell you the RMA number. Please include this number on all packages and correspondence.

Step 2 - Ship via air freight, prepaid

Urgent Shipments should be shipped direct to RDI via any of several overnight or priority air services. Do not send urgent airfreight as part of a consolidated shipment. If you ship consolidated, you will save money, but may lose up to three days in transit time.

Non-urgent shipments may be shipped as part of a consolidated cargo shipment to save money. In addition, some truck lines may offer equivalent delivery service at a lower cost, depending on the distance to San Diego.

Mark the Package(s)

To: RD Instruments, Inc. (RMA Number)

9855 Businesspark Avenue San Diego, CA 92131-1101

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Step 3 - Urgent shipments

Send the following information by fax or telephone to RDI.

Attention: Sales Administration Fax: (858) 695-1459

Phone: (858

) 693-1178

• Detailed descriptions of what you are shipping (number of packages, sizes, weights, and contents).

• The name of the freight carrier

• Master Air bill number

• Carrier route and flight numbers for all flights the package will

take

6.8.2 International Shipments

Step 1 - Get a Return Material Authorization

• What is being shipped (include the serial number)

• When you plan to send the shipment

• What problem(s) need correction

• When you need the instrument returned

When the Return Material Authorization is issued, we will tell you the RMA number. Please include this number on all packages and correspondence.

Step 2 - Ship Via Air Freight, Prepaid

Urgent Shipments should be shipped direct. Do not send urgent airfreight as part of a consolidated shipment. If you ship consolidated, you will save money, but may lose up to five days in transit time.

Non-urgent shipments may be shipped as part of a consolidated cargo shipment to save money.

Mark the package(s) as follows:

To: RD Instruments, Inc. (RMA Number)

5 Avenue Hector Pintus 06610 La Gaude, France

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Step 3 - Include Proper Customs Documentation

The Customs statement should be completed very carefully. It should accurately and truthfully contain the following information.

• Contents of the shipment

• Va lu e

• Purpose of shipment (example: “American made goods returned

• Any discrepancy or inaccuracy in the Customs statement could

Step 4 - Send the Following Information by Fax or Telephone to RDI

Attention: Sales Administration Phone: +33(0) 492-110-930 Fax: +33(0) 492-110-931

• Detailed descriptions of what you are shipping (number of pack-

for repair”)

cause the shipment to be delayed in Customs.

ages, sizes, weights, and contents).

• The name of the freight carrier

• Master Air bill number

• Carrier route and flight numbers for all flights the package will

take

6.9 Spare Parts

Use the following part numbers when ordering spare parts.

Table 2: Spare Parts

Part Number Description

CT-100 Diver Console (Includes CT100-1 Battery Pack and CT100-2 Bat-

tery Cable Assembly)

CT100-1 Battery Pack

CT100-2 Battery Cable Assembly

CT100-3 I/O Cable Assembly

CT100-4 Battery Charger

956-6000-00 Cobra-Tac User’s Guide

906-8000-00 CobraWare Software, rev 1.4

CT-002 Surfer Mapping Software, Rev 8.0

956-6001-00 CobraWare User’s Guide

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7.0 Technical Support

If you have technical problems with your instrument, contact our field service group in any of the following ways:

RD Instruments RD Instruments Europe

9855 Businesspark Ave. 5 Avenue Hector Pintus

San Diego, California 92131 06610 La Gaude, France

(858) 693-1178 +33(0) 492-110-930

FAX (858) 695-1459 +33(0) 492-110-931

Sales - rdi@rdinstruments.com

Field Service – rdifs@rdinstruments.com

rdi@rdieurope.com

Web: www.rdinstruments.com

After Hours Emergency Support - +1 858-578-0781

rdifs@rdieurope.com

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8.0 Specifications

NOTE. The specifications and dimensions listed in this section are subject to change without notice.

Table 3: Navigation Specifications

Velocity range

Minimum Altitude 0.5 meters

Maximum Altitude 30 meters

Precision 0.5cm/s (at 5 meters altitude, 1m/s)

Along Track accuracy (BT)

Along Track accuracy (WT)

Water Layer Precision 5 cm/s

Ping rate 4 pps

± 7.5m/s

± 0.2% ± 0.1cm/s of the water velocity relative to the Doppler

Table 4: Standard Sensors

Temperature (mounted on transducer)

Accuracy: 0.2° C + 1° c/w

Range: -5° to 45° C

Resolution: 0.05° C

Tilt

Accuracy: ± 0.5°

Noise: 0.35° rms

Range: ± 15°

Compass (fluxgate type, includes built-in field calibration feature)

Accuracy: ± 2° @ 60° magnetic dip angle, 0.3G total field

Noise: 0.5° rms

Altitude

Altitude Accuracy: 2%

Resolution: 4%

Depth accuracy: 0.25% full scale

Table 5: Transducer and Hardware

Beam angle

Beam width

Configuration 4 beam, convex

Internal memory 32MB

Communications RS-232. ASCII or binary output at 1200 to 115,400 baud.

30°

1.4° (1 way)

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Table 6: Environmental

Maximum depth rating 90m

Maximum water temp

Operating temperature

Storage temperature

Vibration Mil 167

Weight in air 12.7 kg (28 pounds)

35°C

-5° to 45°C

-30° to 75°C

Table 7: Power

DC Input 10 to 14 VDC

Transmit 16W @ 35V

Battery 12VDC Rechargeable NiCad Pack

Battery Life 7 hours

Battery Cycle Life The battery is only recommended for 500 charge/discharge cycles.

Battery Charge Temp

Battery Storage

Battery Shelf Life Two years. Charge stored batteries once every six months.

Charge the battery within an ambient temperature range of 0°C to 45°C.

Store the battery in a cool, dry location (-20 to 45° C).

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9.0 Warranty

Solely for the benefit of the original buyer, RD Instruments (RDI) warrants all new products of its manufacture to be free from defects in material and workmanship. RDI will replace or repair free of charge, F.O.B. at its factory in San Diego, California or other location designated by RDI, any part or parts returned to it within one year of original delivery, which RDI’s examination shall show to have failed under normal use and service.

For those parts or components of a product which RDI does not manufacture itself but which are acquired from other vendors, the duration on times of this warranty given above shall not exceed those of the vendor’s warranties for such parts or components.

This warranty applies to all goods manufactured by RDI and is included in the Terms and Conditions contained in sales documents of RDI which Terms and Conditions set forth the provisions that govern all sales made by RDI. This warranty also applies to all other activities performed by research, design, design and development, joint development, field engineering, field testing and operation training and is the ONLY WARRANTY GIVEN FOR THE SALE OF PRODUCTS OR SERVICES. NO WARRANTIES IMPLIED IN LAW, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR PARTICULAR PURPOSE SHALL APPLY. IN NO EVENT WILL RDI BE LIABLE FOR CONSEQUENTIAL DAMAGES RESULTING FROM THE PURCHASE OR USE OF RDI PRODUCTS, OR RESULTING FROM ANY DELAYS OR FAILURE OF PERFORMANCE OR RDI UNDER ANY AGREEMENT, OR RESULTING FROM ANY SERVICES FURNISHED BY RDI.

This warranty may not be modified, amended, or otherwise changed except in writing and properly executed by an officer of RDI.

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RD Instruments Cobra-Tac User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual