2
LBV200
Operators Manual
The information, photographs, illustrations and descriptions contained in this manual are the
property of SeaBotix Inc. Unauthorized duplication and distribution is strictly forbidden.
Additionally, SeaBotix Inc. reserves the right to alter any and all information contained in this
manual.
Head Office: SeaBotix Inc., 2877 Historic Decatur Road STE 100, San Diego, CA 92106 USA +1 (619) 450-4000
Australia Office: SeaBotix Inc. Australia Pty Ltd.8A Sparks Road, Henderson, WA 6166, Australia +61 (0)8 9437-5400
DOCS-010
Rev B
© 2009 by SeaBotix, Inc. All Rights Reserved
Table of Contents
Section 1. Introduction .....................................................................................................7
1.1 Unpacking System ............................................................................................7
1.2 Power Requirements .........................................................................................8
1.3 Setting up the System .......................................................................................9
1.3.1 LBV ................................................................ ...................................................9
1.3.2 Integrated Control Console .............................................................................11
1.3.3 LBV150SE and LBV200L (Fiber Optic Video) Systems: .................................11
1.4 Pre-Dive Inspection and System Test .............................................................12
1.4.1 Inspection ........................................................................................................12
1.4.2 Powering up the system ..................................................................................14
1.4.3 Testing system ................................................................................................14
1.4.3.1 Thrusters .........................................................................................................14
1.4.3.2 Camera(s) .......................................................................................................14
1.4.3.3 Video Overlay..................................................................................................15
1.4.3.4 Accessories .....................................................................................................15
1.5 Post Dive Inspection .......................................................................................15
1.6 Storage of System ...........................................................................................15
1.7 Trimming ROV ................................................................................................16
1.8 Calibrating Compass .......................................................................................17
Section 2. LBV Controls ................................................................................................17
2.1 Operator Control Unit (OCU) ...........................................................................17
2.1.1 Joystick ...........................................................................................................18
2.1.2 Proportional Vertical Thruster Control Knob ....................................................18
2.1.3 Camera Control ...............................................................................................18
2.1.3.1 Camera ...........................................................................................................18
2.1.3.2 Tilt ................................................................................................ ...................19
2.1.3.3 Focus ..............................................................................................................19
2.1.3.4 Internal Light ...................................................................................................19
2.1.4 Accessories .....................................................................................................19
2.1.4.1 Select ..............................................................................................................19
2.1.4.2 Arrow Keys ......................................................................................................19
2.1.5 Auto Functions ................................................................................................19
2.1.5.1 Trim .................................................................................................................19
2.1.5.2 Head ...............................................................................................................20
2.1.5.3 Depth ..............................................................................................................20
2.1.7 Power ................................ ..............................................................................20
2.1.8 Auxiliary ..........................................................................................................20
2.1.9 Position ...........................................................................................................20
2.1.10 Thruster Gain ..................................................................................................20
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2.1.10.1 Vertical Thruster Gain .....................................................................................20
2.1.10.2 Horizontal Thruster Gain .................................................................................21
2.1.11 Keypad ............................................................................................................21
2.2 Video Overlay..................................................................................................21
2.2.1 User Text ........................................................................................................22
2.2.2 Gain Control, Trim and Light Level Indicator ...................................................22
2.2.3 Depth and Heading ......................................................................................... 22
2.2.4 Camera Angle and Temperature .....................................................................22
2.2.5 Time and Date.................................................................................................23
2.3 Menus .............................................................................................................23
2.3.1 Quick Access Menu ........................................................................................23
2.3.2 Main Menu ......................................................................................................24
2.3.3 Setup Menu .....................................................................................................24
2.3.3.1 Date/Time .......................................................................................................24
2.3.3.2 Units/Water Type ............................................................................................25
2.3.3.3 Display Type ...................................................................................................25
2.3.3.4 User Text ........................................................................................................25
2.3.3.5 Reset to Defaults .............................................................................................26
2.3.4 Calibrate Menu ................................................................................................26
2.3.4.1 Tilt Indicator.....................................................................................................26
2.3.4.2 Temperature....................................................................................................26
2.3.4.3 Depth ..............................................................................................................27
2.3.4.4 Compass ................................................................ ................................ ......... 27
2.3.4.5 Monitor ............................................................................................................27
2.3.5 System ............................................................................................................27
2.3.5.1 Thruster Motors ...............................................................................................27
2.3.5.2 Software Version .............................................................................................27
2.3.5.3 Hours Run ................................ .......................................................................28
2.3.5.4 Display Ext. Temp ...........................................................................................28
2.3.6 Options Menu ..................................................................................................28
2.3.6.1 Camera Rotate ................................................................................................28
2.3.6.2 Audio Channel.................................................................................................28
2.3.6.3 Camera Tilt......................................................................................................28
2.3.6.4 Vertical Thruster ..............................................................................................28
Section 3. Operating the LBV ........................................................................................30
3.1 Operating Environment ...................................................................................30
3.2 Deployment .....................................................................................................30
3.3 Tether ..............................................................................................................31
3.4 Piloting ............................................................................................................31
3.5 Practice ...........................................................................................................32
3.5.1 Watching the LBV ...........................................................................................32
3.5.2 Watching the monitor ......................................................................................32
3.6 Controlling the LBV .........................................................................................33
3.7 Thruster Gain Control ......................................................................................33
3.8 Trim ................................ .................................................................................33
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3.9 Auto Functions ................................................................................................34
3.9.1 Auto Depth ......................................................................................................34
3.9.2 Auto Heading ..................................................................................................34
3.10 Limitations ................................ .......................................................................34
Section 4. Maintenance ..................................................................................................34
4.1 After each use .................................................................................................34
4.1.1 After each use – dirty water conditions ...........................................................35
4.2 Every 50 hours ................................................................................................39
4.3 Every 500 hours ..............................................................................................41
4.4 Long Term .......................................................................................................41
4.5 Repairs ............................................................................................................42
4.6 Software ..........................................................................................................42
4.7 Optional Components .....................................................................................42
Section 5. Troubleshooting ............................................................................................ 42
5.1 Introduction .....................................................................................................42
5.2 Brief Theory of Operation ................................................................................42
5.3 Troubleshooting Aids ......................................................................................43
5.4 Proper Operating Conditions ...........................................................................44
5.5 Fault Modes ....................................................................................................45
Glossary of Abbreviations .............................................................................................48
Warranty ........................................................................................................................51
Limitations and Exclusions ............................................................................................51
Shipping Charges ...........................................................................................................51
Return Policy ...................................................................................................................52
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 4 of 52
IMPORTANT…
Read this manual prior to operation.
Purpose
The purpose of this manual is to provide LBV operators with a clear understanding of
the proper and safe operating procedures. It is a valuable reference tool and should
be thoroughly reviewed prior to the operation of the LBV. If any part of this manual
regarding the use of the LBV is unclear or not thoroughly understood, please contact
SeaBotix Inc. or any authorized distributor for more detailed information.
Before operating the LBV, it is important to read this manual thoroughly to understand
the proper use and precautions required for its safe operation. Throughout this
manual information of special interest is highlighted with the following symbols. Be
sure to read and understand each of these important messages.
NOTE: Information marked with this symbol is designed to help with
the operation of the LBV by providing additional useful operating tips
or facts.
CAUTION: This symbol indicates a potential for harm and special
care must be taken.
Potential Hazards
Although the LBV is a safe and reliable tool when used and cared for properly, there
are certain inherent safety hazards associated with the operation of the LBV that
should be reviewed and avoided. SeaBotix Inc., and its distributors, associates, and
affiliates, cannot be held liable for any damages, injuries, losses or problems
whatsoever resulting from negligent operation, or an LBV system that has been
altered or modified without the prior written consent from SeaBotix Inc.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 5 of 52
Thruster Propellers
Keep the propellers clear of obstructions at all times.
Do not put fingers or other objects near the propellers at any time.
Be careful with any loose clothing, jewelry, etc.
Electrical Shock
The LBV operates at high voltages that can cause injury and/or death.
Keep the Surface Power Supply plug away from water.
Check all plugs for the presence of water prior to connecting.
If the tether is cut, chafed, or otherwise damaged, do not operate the
LBV.
Do not open the LBV housing when the power is on.
Testing
Each LBV system is carefully manufactured to ensure long term safe operation. Prior
to shipment, every LBV is tested for proper operation, including pressure testing to
full operating depth. Should a defect be found contact SeaBotix Inc., or an
authorized distributor immediately.
Design and Documentation Changes
SeaBotix Inc., reserves the right to make changes to the specifications of the LBV
and/or alter any documentation at any time, without notice.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 6 of 52
URS250-FOV
LBV2002
ICC
Section 1. Introduction
1.1 Unpacking System
Prior to removing the LBV and all components, locate a suitable area for operation. Find an
area that is comfortable, protected from harsh conditions and clear of potential hazards.
Requirements for operation:
Suitable power source
o The LBV system employs a built-in GFI circuit. Do not connect to
an outlet with its own GFI circuit
o Do not use an uninterruptible power supply (UPS)
Dry area
Contents of packaging:
LBV200L
LBV underwater vehicle
Integrated Control Console
Tether and reel
Spares/Tool Kit
Manual/CDROM
Accessories (if applicable)
CBA066 Reel-to-ICC video cable
Note: When unpacking the LBV after receipt, inspect the LBV for damage. It is
strongly recommended that vacuum be verified before each use (see section
1.4.1).
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 7 of 52
1.2 Power Requirements
The LBV system is designed to operate from common power sources. When establishing
the correct power source for the LBV, be sure to consider what other equipment might be
used at the same time to avoid erratic power supply to the LBV.
CAUTION: Do not plug an Integrated Control Console or Surface Power Supply
configured to 100-130 VAC into 200-250 VAC power source and vice versa. This
will damage the LBV system and may cause physical harm.
CAUTION: When using a generator or inverter to supply power to the LBV, you
must provide a path from this device to earth ground. Usually, a generator will have
a large, threaded post marked with a symbol. This post should be electrically
connected to the water in which your LBV will be deployed. Also ensure that the AC outlets
of the device are grounded to this point. Always refer to your device‟s manual for proper
grounding instructions.
Failure to properly ground the LBV system may potentially disable the LBV‟s ground
fault interrupt circuitry and expose you and others to dangerous or lethal voltages!
Other undesired operation and consequences may also result from the improper grounding
of the LBV system.
Both the Surface Power Supply and the Integrated Control Console can be configured
internally to accept either 100-130 VAC or 200-250 VAC. Please refer to our website for this
procedure.
http://www.seabotix.com/support/procedures/2_19_voltage/Voltage_change.pdf
LBV systems fitted with the HPDC1502 Brush-Less DC Thrusters have a requirement for
1,200 watts 100-130/200-250 VAC, 50/60 Hz.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 8 of 52
Step 1
Position the LBV so you that you can see the rear of the LBV. Located at the upper
right next to the flotation is an 8-contact male connector.
Step 2
Put a small amount of silicone grease on your finger. This is GLA001 which is
supplied with your order.
Step 3
Apply a small amount of the grease to the male pins on the bulkhead connector.
The grease is simply for lubrication and not a sealant.
Step 4
Locate the tether female connector and the strain relief.
Step 5
Open the shackle completely. Note: There is an indent to allow the locking rod to be
flush with the “D” portion of the shackle.
1.3 Setting up the System
Select a suitable area from which the LBV will be deployed and controlled. The area should
be dry and not in direct sunlight. Now the LBV is ready to set up.
The first step is to connect the tether to the LBV. Prior to connecting, ensure that the
Integrated Control Console/Surface Power Supply is OFF.
1.3.1 LBV
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Step 6
Slide the shackle over the pad eye beneath the flotation module. Twist the locking
rod to secure.
Step 7
Push the female connector onto the male bulkhead connector being careful to align
the pins. On the 3-contact connectors there is a single small pin used for alignment.
Step 8
Tighten the locking ring clockwise. Do not over tighten.
Once the tether is connected to the LBV, the next step is to connect the Integrated Control
Console/Surface Power Supply. Again, ensure that the Integrated Control Console/Surface
Power Supply is OFF.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 10 of 52
CBA066 Video Cable
Reel Video Output Jack
ICC Video In & Video Out
1.3.2 Integrated Control Console
1) Ensure that the Circuit Breaker (A.) is off,
(down position.)
2) Engage the tether connector. On the
Surface Power Supply, ensure that the
red dots line up.
3) Plug the power cord into the ICC,
securing the locking collar. Now plug the
other end into the power outlet.
4) Note that there is a 6-contact RS-232
connector. This will be used for “flashing”
the LBV or when operating Tritech sonar
and/or Linkquest tracking.
A. Monitor
B. Circuit Breaker
C. Red LED – POWER
D. Amber LED – STATUS
E. Operator Control Unit (OCU)
F. OCU Power Switch
1.3.3 LBV150SE and LBV200L (Fiber Optic Video) Systems:
These LBVs come with tether reels that are designed for fiber optic video. Video is output at
the reel hub. Therefore, the hub and the ICC must be connected by a coaxial video cable.
CBA066 (a 7M, BNC-BNC coaxial cable) should be connected to the „Video-Out‟ BNC jack
on the reel hub and the „Video In‟ BNC jack on the ICC. The Video Out is used for
additional display or recording devices.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 11 of 52
5. Video out to additional device
1
2
5 4 3
NOTE: Make sure that there is no sign of water or debris in or on the connectors
prior to connecting.
1.4 Pre-Dive Inspection and System Test
Before placing the LBV in the water, it is important to ensure that all LBVs operate as they
are supposed to. This process should be done each time the LBV is operated and will only
take a moment to perform.
1.4.1 Inspection
1. Visually look the LBV over for obvious damage. Look at the condition of the view
port, seals, thrusters etc. for obvious damage
2. Check the tether for damage.
3. Check the thrusters for objects that may get or be caught in the propellers.
4. Check vacuum before every dive.
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Step 1
Place the LBV on the table with the vacuum check valve
facing you.
Step 2
Remove the Phillips pan head seal screw from the vacuum
valve.
Step 3
Connect the vacuum hose and ensure that the fitting is snug.
CAUTION: Do not over tighten the seal screw as it could
damage the sealing o-ring.
Step 4
Pull vacuum to 10 inches of mercury and hold for 10 minutes
(watch for loss of vacuum). The gauge should read the
same after 10 minutes.
Step 5
Remove the vacuum tube.
Step 6
Insert and tighten the Phillips pan head seal screw into the
check valve.
CAUTION: Do not over tighten the seal screw as it could
damage the sealing o-ring.
The following page outlines the procedure for performing a vacuum seal check on the
primary LBV housing.
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1.4.2 Powering up the system
1. Turn on Integrated Control Console power.
a. The red LED should illuminate.
b. Wait two seconds for the amber (status) LED to illuminate.
2. Press POWER button on the Operator Control Unit (OCU).
a. The red LED above POWER button should illuminate on the OCU.
b. The amber LED on the Surface Power Supply will begin to strobe two
seconds on, two seconds off.
c. The LBV video should appear on the monitor with Video Overlay.
1.4.3 Testing system
NOTE: Do not run the thrusters for more than a few seconds at a time with the
LBV out of the water. Operating thrusters for more than a few seconds may cause
damage to the motors, controllers and/or the shaft seals.
1.4.3.1 Thrusters
1. Push the joystick forward and backwards, checking to see that both forward
thrusters move and cycle through the speed range.
2. Push the joystick left then right to ensure that the lateral thruster operates
correctly.
3. Rotate the joystick clockwise, then anti-clockwise to Port and Starboard thrusters
operate correctly.
4. Rotate the vertical thruster knob (on left side) to ensure that the vertical thruster
operates correctly.
5. Press and hold the VERT key while selecting 1-0 on the keypad to adjust the gain
control. The value will change on the Video Overlay.
6. Press the HORZ key while selecting 1-0 on the keypad to adjust the horizontal
thruster gain control. The value will appear on Video Overlay.
1.4.3.2 Camera(s)
NOTE: Do not leave the internal or the external lighting on for more than a few
seconds when the LBV is out of the water. Leaving the light on may cause damage
to the view port and/or lighting modules.
1. Press TILT + and TILT – to rotate the camera chassis.
2. Press FOCUS + and FOCUS – to focus the camera.
3. Press CAMERA to switch between an optional second camera (if fitted).
a. Test FOCUS + and FOCUS – on the second camera if fitted.
4. Press the LIGHT key to turn light on the internal light.
5. Press + and – to vary the light intensity
a. Repeat with the second camera; if fitted with light.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 14 of 52
1.4.3.3 Video Overlay
1. Check that the date and the time are set correctly (section 2.2.5.)
2. Calibrate the heading (section 2.2.3)
3. Check that the desired depth measurement (section 2.2.3)
4. Check that the temperature measurement is correct. Adjust if needed (section
2.2.4).
5. Input the desired User Text (section 2.2.1).
1.4.3.4 Accessories
If fitted with accessories such as a grabber, press the SELECT button to cycle through the
installed accessories. The selected accessory will display on the Video Overlay in the 2nd
line of the text (see section 2.2 for additional information regarding the Video Overlay.)
Press the and the keys to operate each accessory and to verify that they function
properly.
1.5 Post Dive Inspection
After each use of the LBV, take a moment to do a visual inspection of the LBV prior to
storage. It is good practice to submerge the LBV into a container of fresh water or rinse with
a fresh water hose and wipe clean.
Check the LBV for damage.
Check the thrusters for debris caught near or in the propellers.
Quickly check the LBV functions to ensure that all systems operate
correctly.
Check for lost ballast strips or weights.
1.6 Storage of System
Proper storage of the LBV will make the next use much easier and keep the LBV in good
condition.
After rinsing the LBV and wiping off any excess water, disconnect the
shackle from the pad eye and unplug all tether connectors.
Place the LBV in a carrying/shipping case. Ensure that the LBV is dry.
Disconnect all connectors from the Integrated Control Console/Surface
Power Supply.
Coil up all cables and store.
Place the OCU in a carrying/shipping case.
Place the tether in a carrying/shipping case.
Close and clamp cases for transport or storage.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 15 of 52
Step 1
Make sure that the tether is connected correctly as this will
affect the buoyancy of the LBV.
Step 2
Place the LBV in the same type of water in which it will be
operated, i.e. fresh, salt or brackish water. While holding
the handle or bumper frame, turn the LBV upside down
and agitate it to release trapped air.
Step 3
Place the lead weight strip found in the basic spares kit
(BSK) on the bumper frame to achieve the desired
buoyancy. You may have to the cut strips to fine adjust
the trim. Make sure that the LBV is level left to right and
fore to aft.
Step 4
Once the LBV is neutral, straighten the lead strips and
attach to the lower portion of the bumper frame using
M5x10 button head screws provided in the BSK. Be sure
to place in the same relative position to ensure that the
LBV is properly set up left to right and fore to aft.
1.7 Trimming ROV
The LBV is designed to be NEUTRALLY buoyant and when placed in water should maintain
its depth without rapidly surfacing or sinking. From the factory, the LBV comes trimmed for
fresh water, unless otherwise specified by the client. The use of the LBV in salt water or
alteration of the LBV hardware will affect buoyancy. Should your LBV require buoyancy
adjustment follow, the procedure below.
Refer to the Manufacturing Safety Data Sheets (MSDS) for working with lead.
NOTE: If the LBV is positively buoyant or negatively buoyant, the vertical thruster
not be as effective, and the auto depth function may not work at all.
If trimmed for fresh water, the addition of 2.5 full strips of lead supplied in the basic spares
kit, (BSK) will usually adjust the trim sufficient for operation in salt water. Brackish water will
require slightly less lead depending on salt levels. However; every LBV has slightly different
ballasting characteristics. The operator may need to add, move or subtract weights on the
LBV for the desired operation in various bodies of water.
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1.8 Calibrating Compass
The LBV is fitted with a magnetic compass that is designed to provide basic heading data. It
should be noted that the sensor is fixed inside the LBV and therefore is susceptible to
varying environmental conditions. If the LBV is pitching up and down, the sensor will lose
accuracy. To ensure that the heading sensor provides the most accurate data, proper
calibration is critical.
Place the LBV either on a flat smooth stable surface or in still water. It is important that,
during calibration, the LBV does not pitch up or down. Remain clear of ferrous materials
and high power electronics such as transformers as they will affect the calibration. Access
the calibration menu as follows:
Press PGRM
Press 5 (Main Menu)
Press 2 (Calibrate)
Press 4 (Compass)
The on screen display will prompt that you “Rotate the LBV 360º and press Enter”. The key
to the calibration is that the LBV is rotated as slowly as possible. Essentially you want to
have the LBV pointed in all 360 degree increments. This may take several minutes but
ensures the most accurate reading. The slower the LBV rotates (and the greater the
amount of rotations) the more accurate the compass will be. Once complete:
Press ENT
Press PGRM.
NOTE: This calibration is required initially and is then stored into memory. However, should
the LBV be used in a different geographic location, re-calibration may be required. It is good
practice to calibrate the compass prior to each deployment.
Section 2. LBV Controls
The LBV has been designed to be simple and intuitive to operate. A new user should find
that after reading this manual and an hour or so of hands on use, operating the LBV is quite
easy. Using the tips in this manual will help you to become a proficient and confident LBV
operator.
2.1 Operator Control Unit (OCU)
Operation of the LBV is done through the Operator Control Unit (OCU). This section will
help to explain the use of each key and when each should be used. When first learning to
operate the LBV, spend time with the LBV at the surface where you can see how the
commands affect the LBV.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 17 of 52
Holding the OCU correctly will help. The recommended method is to hold the OCU in both
hands with the left hand using all fingers to support the console and the thumb resting on
the vertical thruster knob. Place the right hand in such a way that the forefinger and thumb
hold the top of the joystick and the other three fingers support the console. Some may
prefer to place the console on a flat surface.
2.1.1 Joystick
The joystick is a proportional control, allowing the operator to operate the thrust as little or
as much as desired in any horizontal direction. Pushing the joystick forward moves the LBV
in the forward direction. Pulling the joystick backwards moves the LBV in the reverse
direction. Moving the joystick laterally moves the LBV in the respective direction laterally.
Rotating the upper portion of the joystick rotates the LBV clockwise or counter clockwise.
2.1.2 Proportional Vertical Thruster Control Knob
Located on the left side of the OCU is the vertical thruster control knob. Positioning your left
thumb on the top of the knob will allow you to easily rotate the knob. Rotating the knob
forward causes the LBV to surface and, conversely, rotating the knob backward causes the
LBV to dive. This function can be reversed in the Options menu on LBVs with flash memory
of ROV3.02 or higher.
The control knob is variable and has a center detent turning the vertical thruster off. Ensure
that the vertical thruster is off prior to removing the LBV from the water.
2.1.3 Camera Control
Note: Tilt, focus and internal light controls are not enabled when a rear facing camera is in
use on LBV‟s so equipped.
2.1.3.1 Camera
The CAMERA button allows the user to select between two cameras if fitted to the
LBV. When the CAMERA button is pressed, the image on the monitor will switch
to the other camera and the camera chassis will rotate 90 degrees to provide the
same viewing angle if “camera rotate” is on (section 2.3.6.1). Also, switching
cameras switches the focus controls for the viewing camera. If a light accompanies the
optional second camera, the light controls will also switch.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 18 of 52
TRIM
SELECT
2.1.3.2 Tilt
The TILT buttons allow the user to rotate the camera chassis up or down.
The maximum rotation is 180 degrees per camera giving a total of 270
degrees if an optional second camera is fitted. As the camera chassis
rotates, the angle is displayed on the Video Overlay.
Note: In the Options menu the keys can be reversed for desired preference.
(section 2.3.6.)
2.1.3.3 Focus
The FOCUS buttons allow the user to focus the cameras. Pressing the
FOCUS + focuses the camera in closer and pressing the FOCUS – focuses
the camera farther away. When the CAMERA button is pressed switching
cameras, the FOCUS controls also switch to the active camera.
2.1.3.4 Internal Light
To turn the light on and off, press the LIGHT button. Pressing the + or – buttons
varies the intensity of the lamp; + being brighter and – being dimmer. The intensity of
the light will be displayed on the Video Overlay L1 to L10.
2.1.4 Accessories
2.1.4.1 Select
If fitted with accessories (such as grabber, external lighting, scaling laser or zoom
camera) push the SELECT button to cycle through the installed accessories.
2.1.4.2 Arrow Keys
Press the and keys to operate the accessories. For the grabber, the
button closes and the button opens the jaws. For the external lighting
system the button turns the external lighting system (ELS) on and
increases the brightness, the button decreases brightness, and turns off the lights. To
turn off the ELS, the button is pressed until the lights are off.
2.1.5 Auto Functions
2.1.5.1 Trim
The Trim function enables the user to lock the thruster settings without having to
manually hold a key or move the joystick. For example, a user wishing to maintain
a certain direction of thrust and speed need only hold the joystick producing the
desired vector while pressing the TRIM button. Press the TRIM button again to
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 19 of 52
POSITION
AUX
regain control. Vertical trim is accomplished with the vertical thruster knob. The TRIM
on/off status is displayed on the Video Overlay.
2.1.5.2 Head
The HEAD button allows the user to maintain a desired heading without input
from the OCU. Once the LBV is stable on the desired heading, press the HEAD
button and the LBV will maintain the heading, overriding outside influences such
as obstacles, mild currents and curious marine life. The LED above the button
will illuminate when the Auto Heading is on and a “*” next to the heading value on the Video
Overlay will appear. In this mode, new headings can be manually input from the operator by
rotating to the next desired heading and maintaining this heading for a few moments. To
turn Auto Heading off, simply press the HEAD button.
2.1.5.3 Depth
The DEPTH button allows the user to maintain a desired depth without input from
the OCU. Once the desired depth is achieved, press the DEPTH button and the
LBV will maintain the depth. The LED above this button will light when Auto
Depth is on and a “*” will appear next to the heading value on the Video Overlay.
Unlike Auto Heading, both manual input and outside influences will be overridden in this
mode. To turn Auto Depth off, simply press the DEPTH button.
2.1.7 Power
The POWER button allows the user to power up the LBV. The red LED above
this button will light when the LBV is powered up.
2.1.8 Auxiliary
This button is utilized along with the 1 button to set the auto focus feature of the
zoom camera if installed.
2.1.9 Position
The POSITION button allows the user to change the position of the overlay data.
Pressing the POSITION button once will move the overlay data from the bottom
of the screen to the top of the screen and if pressed again the overlay will
remove it from the monitor screen. Pressing the button again will turn the
overlay on with the data at the bottom of the screen. (see section 2.2 Video Overlay for
more information).
2.1.10 Thruster Gain
2.1.10.1 Vertical Thruster Gain
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 20 of 52
VERT
HORIZ
2 8 3 4 5
6
9
10
11
12
7
Pressing the VERT thruster gain button allows the user to select the amount of
power available to the vertical thruster. Hold down VERT and a number from 1 to
0 (10) on the keypad to select the desired amount of power available.
2.1.10.2 Horizontal Thruster Gain
Pressing the HORIZ thruster gain button allows the user to select the amount of
power available to the port, starboard and lateral thrusters. Hold down HORIZ
and a number from 1 to 0 (10) on the keypad to select the desired amount of
power available.
Note: While pressing either the VERT or the HORIZ button and selecting 1 to 0
will adjust thruster gain control; 1=10%, 2=20%, 3=30%….0=100%. The settings
are displayed on the Video Overlay.
2.1.11 Keypad
The KEYPAD offers a variety of functions. When adjusting the gain
control for the thrusters, the numbers are used to select the
percentage of power available. The keypad is used to input
alphanumeric data on the user programmable annotation on the Video
Overlay. Also, the keypad is used to manipulate the menu screens.
Pressing the PRGM key will access the menu screens. Use the
numbers to select the desired option. (Menus section 2.3 for more
information).
2.2 Video Overlay
The LBV is fitted with a Video Overlay. The Video Overlay is used to keep track of position
and orientation. The Video Overlay can be manipulated to display the information in a
manner that best suits the user.
1. User Text (Displays at Top) 7. Date
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 21 of 52
Video Overlay
2. Vertical thruster gain 8. Horizontal thruster gain
3. Trim ON/OFF – Internal Light Level 9. Accessory Selected
4. Heading 10.Depth
5. Turns Counter 11.Temperature
6. Camera Angle 12.Time
2.2.1 User Text
There can be up to 28 characters displayed at the top of the screen (1). To input the
characters refer to the Menu section 2.3.
2.2.2 Gain Control, Trim and Light Level Indicator
Items 2 and 8 represent the thruster gain control settings. V (2) indicates the Vertical thrust
setting 1=10%, 2=20%, 3=30%…0=100%. H (8) indicates the Horizontal thrust setting.
Next to the vertical gain setting is the indicator for the Trim function and light level indicator
(3). If nothing is displayed, the Trim is off and the light is off. When Trim is on, the display
will read TRM. If the light is on and trim is not on, the light level indicator will display the
intensity of the light. L1 being 10% up to L10 which is 100%. If both Trim and the light are
on, the display will alternate between the two.
2.2.3 Depth and Heading
Heading is displayed at the top middle of the Video Overlay (4). The three digits illustrate
the 360 degrees of a compass heading. To the right of heading is a + or a -, followed by a
numerical digit. This is the turns counter (5) which represents the number of turns the LBV
makes in one direction of 360º. + indicates turns in the clockwise direction. – indicates
turns in the counter clockwise direction. This is a valuable tool which allows the operator to
keep track of the turns placed in the tether. The operator should reverse these turns (at
depth) before recovery of the LBV in order to facilitate coiling of the tether and to prevent
damage to the fiber optic line.
Below the heading information is depth (10). Depth can be displayed in meters sea water
(msw), meters fresh water (mfw), feet sea water (fsw) or feet fresh water (ffw). To change
the display and calibrate, see the Menu section 2.3. These units of measurement are
selectable by the operator in the Setup Menu (section 2.3.3).
A “*” will appear next to the heading or depth if the corresponding Auto function is on.
2.2.4 Camera Angle and Temperature
To the right of heading is the camera angle Indicator (6). 0 indicates that the camera is
facing 0º with respect to the horizon. A reading of +90 indicates that the camera is pointing
straight up and one of –90 indicates that the camera is pointing straight down. The value
displayed always represents the camera currently being used.
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Below the camera angle indicator is the temperature display (11). This reading gives the
external temperature. The temperature sensor works both in the water and in the air. This
value can be displayed in either centigrade or Fahrenheit. To change the setting or
calibrate the temperature, see the Menu section 2.3.3.2.
2.2.5 Time and Date
At the right of the display are the date (7) and the time (12). This information is preset at the
factory and can easily be changed to the time zone in which the LBV is being operated.
Refer to section 2.3.3.1 for setting of the date and the time.
2.3 Menus
The LBV has a variety of menus to allow the user to configure the LBV, calibrate the LBV
and run diagnostics. To enter the main Menu, press the PRGM key on the membrane
keypad on the OCU.
2.3.1 Quick Access Menu
Note: Accessories will appear when present. The scaling laser is used here as an example.
1. Acc. Not Found
a. Pressing the 1 key will enable the Accessory + and – keys to operate an
optional accessory. When fitted, the accessory title will appear in
placement of Acc. Not Found.
2. Acc. Not Found
a. Pressing the 2 key will enable the Accessory + and – keys to operate an
optional accessory. Same as 1.
3. Acc. Not Found
a. Pressing the 3 key will enable the Accessory + and – keys to operate an
optional accessory. Same as 1. and 2.
4. Acc. Not Found
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 23 of 52
a. Pressing the 4 key will enable the Accessory + and – keys to operate an
optional accessory. Same as 1. and 2.
5. Acc. Not Found
a. Pressing the 5 key will take you to the Main Menu.
Note: A “
be listed in the accessory indicator on the Overlay.
LS=Laser Scaling
ZM=Zoom Camera
EL=External Lighting
MO=Variable Speed Motor
” will appear next to the accessory that is currently in use and its abbreviation will
*
GR=Grabber
6. Main Menu
Pressing the 5 key will take you to the Main Menu.
2.3.2 Main Menu
The Main Menu is the starting point for customizing the LBV to each user, calibrating
sensors, viewing diagnostics and adjusting any installed accessories.
1. Setup
a. Pressing the 1 key will take you to the Setup Main Menu.
2. Calibrate
a. Pressing the 2 key will take you to the Calibrate Main Menu.
3. Diagnostics
a. Pressing the 3 key will take you to the Diagnostics Main Menu.
4. Options
a. Pressing the 4 key will take you to the Options Main Menu.
2.3.3 Setup Menu
2.3.3.1 Date/Time
a. Pressing the 1 key will take you to the adjusting of the date and the time on
the Video Overlay.
To adjust the date and the time follow the instructions on the screen.
1. Select the day of the month by using the keypad.
2. Press ENT
3. Select the month of the year by pressing the number corresponding to
the month by using the keypad. For example, if the month is March
press 0 then 3.
4. Press ENT
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 24 of 52
5. Select the year by using the keypad.
6. Press ENT
7. Enter the hour of the day in 24 hour time by using the keypad.
8. Press ENT
9. Enter the minute of the hour by using the keypad.
10. Press ENT
11. Enter the second of the minute by using the keypad.
12. Press ENT
2.3.3.2 Units/Water Type
a. Pressing the 2 key will allow you to adjust the type of measurement being
used. To adjust the units and water type, select from the four options. The
LBV will calculate the depth depending upon which unit of measurement is
selected. Operating in an unselected water type will result in inaccurate depth
information.
1. Metric/Seawater
2. Feet/Seawater
3. Metric/Freshwater
4. Feet/Freshwater
2.3.3.3 Display Type
a. This menu is used to set the display type used with the LBV.
1. NTSC/PAL M/N
2. PAL B/G
3. PAL I
4. PAL D/K
2.3.3.4 User Text
a. Pressing the 4 key will take you to the next screen for inputting user text.
To input user text, simply press the appropriate key on the keypad to cycle
through the letters until you find the first letter desired. Once the letter is
shown on the screen, press the ENT key to move to the next character.
Repeat this process until all the characters are displayed as desired.
Pressing the “0” key twice plus ENT will insert a space. Note the space will
not be apparent until you enter the next character. Press the * when
finished.
To clear the user text from the Setup Menu (see section 2.3.3), press 4 to
start entering user text. Then press the # key followed by the * key.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 25 of 52
Example: To enter LBV 150 as user text
1. Press 5 three (3) times until the L is shown.
2. Press ENT
3. Press 2 twice (2) until the B is shown.
4. Press ENT
5. Press 8 three (3) times until the V is shown.
6. Press 0 two (2) times.
7. Press ENT
8. Press 1 one (1) time.
9. Press ENT
10. Press 5 four (4) times.
11. Press ENT
12. Press 0 one (1) time.
13. Press *
2.3.3.5 Reset to Defaults
a. Pressing the 5 key will reset the entire LBV to factory settings.
NOTE: Resetting to defaults will erase any stored data and can result in
inaccurate sensor indications. Please contact SeaBotix Inc. prior to (or upon)
selecting this option.
2.3.4 Calibrate Menu
2.3.4.1 Tilt Indicator
a. Pressing the 1 key will calibrate the camera angle indicator on the Video
Overlay. Once pressed, the LBV will automatically rotate the camera to the
90º position and then back to the 0º position.
NOTE: Do not calibrate the tilt function while the tilt function is reversed. If
operating with camera tilt reversed, refer to section 2.3.6.3 to return it to normal
prior to calibration.
2.3.4.2 Temperature
a. Pressing the 2 key will allow you to calibrate the temperature display on the
Video Overlay.
To adjust the displayed value to the known external temperature:
Press key 1 to increase the value
Press key 2 to decrease the value
Press key 3 to reset the value
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2.3.4.3 Depth
a. Pressing the 3 key will allow you to calibrate the depth information on the
Video Overlay.
Note: The operator should only set depth to zero on the surface before each
deployment. Use of other depth functions during deployment could offset the
depth indication.
To adjust the depth value:
Press key 1 to increase the value
Press key 2 to decrease the value
Press key 3 to set to zero
Press key 4 to reset to the default
Press key 5 to set the slope
2.3.4.4 Compass
a. Pressing the 4 key will allow you to calibrate the compass heading
information on the Video Overlay.
To calibrate the compass, refer to section 1.8 “Compass Calibration” for more
information.
2.3.4.5 Monitor
a. This function does not apply to Fiber Optic Video equipped systems.
Pressing the 5 key will allow you to adjust the RF gain on the monitor on the
LBV150BE and LBV150S systems.
2.3.5 System
2.3.5.1 Thruster Motors
Pressing the 1 key will take you to the thruster motors diagnostic menu. From there you can
check the status of each thruster on the LBV.
1. Port
2. Starboard
3. Lateral
4. Vertical
5. TBD
2.3.5.2 Software Version
a. Pressing the 2 key will allow you to view the current software versions.
This information is important when technical assistance is required.
CC – Operator Control Unit (OCU)
ROV – Flash in LBV (Operational Program)
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BL – Boot Loader
TMC – Thruster Motor Controller
SB – Sensor Board
VPS – Vehicle Power Supply
2.3.5.3 Hours Run
a. Pressing the 3 key will allow you to view the total number of hours that the
LBV has been powered up.
2.3.5.4 Display Ext. Temp
Pressing the 4 key will display the internal temperature of the LBV where the external
temperature is normally displayed. When you exit the menu the temperature reading
resets to the external temperature.
2.3.6 Options Menu
2.3.6.1 Camera Rotate
a. Pressing the 1 key will allow you to turn camera rotate on and off.
Camera rotate allows the user to select how the camera rotation responds
when the CAMERA button is pushed on the OCU. Turn camera rotate on
when you wish to view the same perspective on each camera as you switch
between the two. Turn camera rotate off when you wish to use the first
camera to look straight ahead and the second to look down.
2.3.6.2 Audio Channel
a. This function is not available on the Fiber Optic Video Systems.
2.3.6.3 Camera Tilt
a. Pressing the 3 key will allow the user to reverse the operation of the camera
tilt keys.
NOTE: For calibration of the tilt function, the camera rotation must be returned to
normal for the correct operation of the tilt function.
2.3.6.4 Vertical Thruster
a. Pressing the 4 key will allow the user to reverse the operation of the vertical
thruster knob on the Operator Control Unit.
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Video Overlay
PGRM
Acc 1
Acc 2
Acc 3
Acc 4
Main Menu
# 1 2 3 4
5
Always returns to
the previous menu
unless otherwise
stated
1
Quick
Setup
2
Calibrate
3
4
Options
Diagnostic
1
2 3 4
5
Date/Time
Units/Water Type
Display Type
User Text
Reset To Default
2 3 4
5
Tilt Indicator
Temperature
Depth
Compass
Monitor
1
2 3 4
Software Version
Hours Run
Display Internal Temp
1 2 3
Camera
Audio Channel
Camera Tilt
(Keypad)
14
See section 2.3.3.2
See section 2.3.3.3
See section 2.3.3.4
14
(Keypad)
13
15
See section 1.8
13
See section 2.3.4.5
1
2
TBD
Thruster Motors
See section 2.3.5.1
14
4
Vert.
This page contains a menu flowchart.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 29 of 52
Hot Dog
Splice
Danger!
Safe to Grab
Section 3. Operating the LBV
3.1 Operating Environment
As simple as the LBV is to operate, there are several points to consider. To help focus on
the task, a comfortable operating environment will help. Find a suitable area where you can
stay relaxed. Take the time to route the cabling in a way as to have it stay untangled and
out of the danger of tripping someone. Place the monitor, on a stable level top, at eye level
when possible aiding in reduced neck fatigue. Find a comfortable place to sit. Stay relaxed.
3.2 Deployment
The LBV can be deployed in several ways. The convenient handle located at the top of the
LBV is the obvious way. Simply lift the LBV into the water and begin deploying out the
tether. If the LBV is fitted with an optional protective bumper frame, use any portion of the
frame as a handle. Do not drop the LBV into the water from heights greater than one meter.
Another option for deploying the LBV is to lower it by using the tether. Connect the tether
normally and lower the LBV using a hand over hand action. Do not let the tether slide
through your hands while lowering the LBV. Sliding will damage the outer jacket of the
tether and compromise the LBV.
The tether can easily support the weight of the LBV but it is imperative that you grab the
tether above the hotdog splice.
NOTE: When deploying the LBV, ensure that there is a clear path for the tether to
deploy out.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 30 of 52
Powerful thrusters
Enables the LBV to operate in up to
a 1.5 knot current and pull long
lengths of tether.
Small diameter tether
Reduces drag allowing the LBV to
operate in stronger current and with
longer lengths in the water.
Variable thruster gain
Allows the user to adjust thruster
output from 0.625% to 100% of
maximum power. This feature
works well for inspecting up close
and when fine control is needed.
Lateral thruster
Enables the lateral movement of
the LBV for inspection.
Trim
Like cruise control on an
automobile. Use this for
maintaining forward speed.
Auto depth
LBV maintains desired depth
without constant input from the
user.
Auto heading
LBV maintains desired heading
without constant input from the
3.3 Tether
A key feature of the LBV performance is the small diameter tether. By reducing the size of
the tether, drag is greatly reduced thus enabling the LBV to operate in strong currents or
with long lengths of cable in the water. Because of its small size and light weight, managing
the tether is simple.
The tether is neutrally buoyant in fresh water and slightly positively buoyant in sea
water.
Coil the tether in a figure eight pattern. Coiling the tether in a figure eight pattern will
help with deployment and recovery of the LBV.
Pay attention to the turns counter on the Video Overlay to keep the tether as straight
as possible.
Prior to connecting the underwater connector to the LBV, put a small amount of
grease (part GLA001 which is supplied with your purchase) on your fingers and place
the grease on the male pins. This will help with the installation as well as protection
from the water and corrosion.
3.4 Piloting
The LBV has been designed for simple operation. Once you have a basic understanding of
the OCU and features of the LBV, you will quickly discover how easy the operation of the
LBV can be. Listed below are some features of the LBV and how they aid operation.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 31 of 52
user.
Video Overlay
Quick and easy display of valuable
information. Keeps track of
heading, depth, gain control, time,
date, temperature and more.
Turns counter
Keeps track of how many turns in
the tether to avoid entanglement.
270 Degree field of vision
Allows the operator to view straight
up or straight down movement on
the Video Overlay.
Rotating light
Illuminates where the camera is
looking.
User text
Used to keep track of information
for review at a later date.
3.5 Practice
Before using the LBV in a work environment, it is recommended that you practice in still
clear water. A swimming pool is an ideal location for practice. The protected environment
allows you to focus on the training rather than keeping the LBV out of trouble.
3.5.1 Watching the LBV
Initially operate the LBV in the swimming pool where you can see it respond to your
commands. Spending time practicing in this manner will help you to intuitively know how the
LBV responds when you cannot see it. For example: You will have a better idea of how fast
the LBV is moving related to the position of the joystick at a certain gain setting. This
intuitive skill will aid you in keeping track of the LBV.
3.5.2 Watching the monitor
Once you are comfortable with the behavior of the LBV, turn to the monitor. Without looking
at the LBV, practice the same skills. If you have difficulty perhaps more practice while
watching the LBV is required.
Here are some skills to practice:
Forward, reverse, lateral, rotate, dive and surface
Gain control of thrusters
Trim
Heading
Depth
Camera rotate
Auto functions
Overlay position
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 32 of 52
Turns counter
Tether management
Operating options fitted
3.6 Controlling the LBV
Hold the OCU in a manner that is comfortable to you. The most common way found is with
the left hand supporting the left side of the controller with thumb on the vertical thruster
knob. Use your right hand to hold the right side with your fore finger and thumb holding the
top of the joystick.
Consider these points:
Move the joystick with a smooth motion
Do not over steer
Adjust thruster gain to suit conditions
o Operate at the minimum gain that allows
observable progress
Use the camera angle
Relax
3.7 Thruster Gain Control
The thrusters fitted to the LBV are very powerful. They enable operation in strong currents,
deep depths and with plenty of tether in the water. Due to the power of the thrusters, the
LBV is fitted with a variable gain control. There are two separate settings for gain control;
VERT and HORIZ. These correspond respectively to surfacing/diving and horizontal
controls. The amount of power available can be anywhere from 0.625% to the full 100%.
Reducing the amount of available power to the thrusters gives the user more control of the
LBV.
When the LBV is powered up the default thruster gain is 50% showing a 5 for
VERT and HORIZ.
3.8 Trim
The Trim function holds the thruster controls automatically. When the vertical thruster or
lateral thrusters are being operated, the trim key can be pressed to hold that input.
For example: If you are descending down to 50 meters, set the down thruster gain to 100%,
rotate the vertical thruster control knob to full dive. Press the trim key, then return the
vertical thruster control knob to the center/off position. The LBV will continue to dive until
the trim key is pressed again.
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3.9 Auto Functions
Auto Heading and Depth are just as they sound. By pressing either of the keys, the LBV will
hold depth or maintain heading. A green LED above each key will illuminate to show that
the auto function is on.
3.9.1 Auto Depth
When the LBV is stable at the desired depth, press the Auto Depth key and the LBV will
maintain that depth. The DEPTH button allows the user to maintain a desired
depth without user input. The LED above this button will light (green) when Auto
Depth is on and a “*” will appear next to the depth value on the Video Overlay. If
a momentary override of the set depth is desired, just rotate the vertical thruster
control knob to adjust and return to center once you have cleared the obstacle. To turn Auto
Depth off, simply press the DEPTH button.
NOTE: In order for Auto Depth to work properly, the LBV must be as close to
NEUTRALLY buoyant as possible.
3.9.2 Auto Heading
Enabling Auto Heading will make the LBV hold a compass heading. The LBV
must be stable on the desired course when the Auto Heading key is pressed.
Rotating the joystick will override the Auto Heading and pressing the Auto
Heading key a second time will turn the function off.
3.10 Limitations
The LBV is only as good as its pilot. Do not operate in conditions that are too complicated
or rough. Be aware of the following conditions:
Current
Position of surface vessel
Potential entanglement
Turbid or dirty water conditions
Prop fouling
Cutting of tether
Section 4. Maintenance
The LBV is constructed of durable materials and is designed to withstand harsh
environments. However, the prevention of unnecessary impacts will greatly increase the life
of the LBV and reduce maintenance. Performing the basic care as listed in this section will
provide you with years of use and enjoyment.
4.1 After each use
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Tools required:
3mm Ball Driver (TO090)
4mm Ball Driver (TO005)
10mm Socket Driver (TO012)
#2 Phillips Screwdriver (TO015)
Step 1
Remove frame mounted accessories (External Lighting.)
TO012 required.
Step 2
Remove all cable attachments from bumper frames.
TO090 required.
Step 3
Remove Sonar and Tracking if installed. This is
accomplished by disconnecting the data cables from the
head(s) and removing the LBV handle.
TO005 required.
Step 4
Place the LBV on its side.
When use of the LBV is complete, take a few minutes to inspect the LBV for any damage
that may have occurred during use. Wash the LBV thoroughly with fresh water. It is
recommended that LBV be submerged in a container filled with fresh water. Let as much
water drip off of the LBV as possible and place the LBV in its protective carrying case.
Wash the tether with fresh water. Coil the tether for storage.
4.1.1 After each use – dirty water conditions
If the LBV is operated in excessively muddy or turbid water, it is recommended that the
bumper frame and shell be removed to clean thoroughly. The procedure is very simple and
will only take a few minutes.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 35 of 52
Warning: When placing the LBV on it‟s side care and attention must
be paid to any cabling exiting the camera chassis. Placing stress on
these cables can damage the cable and or the water tight integrity of
the LBV itself.
Step 5
Remove the four M6 x button head screws securing the
bumper frame to the shell.
TO005 required.
Step 6
Fasteners removed:
1 ea Lead Trim Weight if installed.
2 ea M4 X 20 Button Head Screws
2 ea M4 X 25 Button Head Screws
Step 7
Remove the two M5 x 12 button head screws securing
the crossbar to the bumper frame.
Step 8
Lift off the bumper frame.
Step 9
Turn the LBV over to the opposite side.
Warning: When placing the LBV on it‟s side care and attention
must be paid to any cabling exiting the camera chassis. Placing
stress on these cables can damage the cable and or the water tight
integrity of the LBV itself.
Step 10
Remove the four M6 x 20 button head screws securing
the bumper frame to the shell.
TO005 Required.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 36 of 52
Step 11
Fasteners removed:
1 ea Lead Trim Weight if installed.
2 ea M4 X 20 Button Head Screws
2 ea M4 X 25 Button Head Screws
Step 12
If a grabber is installed, disconnect the grabber at this
time. Now remove the bumper frame with the crossbar
still attached.
Step 13
Remove the M6 Nyloc nut securing the front of the shell
to the camera housing end cap.
TO012 Required.
Step 14
Remove the M4 x 50 Phillips head screw securing the
rear portion of the shell to the float.
Note the grey standoff located between the shell and the
float.
TO015 Required.
Step 15
Recover the grey standoff as you remove the M4 x 50
Screw.
Step 16
Remove the two M4 x 20 Phillips head screws securing
the shell to the float.
TO015 Required.
Step 17
Remove the shell.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 37 of 52
Step 18
Fasteners removed:
2 ea M4 X 20 Pan Phillips
1 ea M4 X 50 Pan Phillips
1 ea 44.6mm Spacer
1 ea M6 Nylock Nut
Step 19
Turn the LBV over. Remove the M6 Nyloc nut securing
the front of the shell to the camera housing end cap.
TO012 Required.
Step 20
Remove the M4 x 10 Phillips head screw securing the
rear portion of the shell to the float.
TO015 Required.
Step 21
Remove the 2 M4 x 20 Phillips head screws securing the
shell to the float.
TO015 Required.
Step 22
Fasteners removed:
2 ea M4 X 20 Pan Phillips
1 ea M4 X 10 Pan Phillips
1 ea M6 Nylock Nut
Step 23
Remove the shell.
Step 24
Soak the LBV in a container of fresh water or, use a hose
with a low velocity nozzle to rinse the LBV thoroughly.
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Reassemble:
Follow the steps in reverse to reassemble the LBV.
Step 1
Follow procedure 4.1.1 for removing the bumper frame and
shell. Steps 1 to 17.
Step 2
Place the LBV upside down.
Step 3
Remove the trim tab.
Step 4
Remove the two M4 x 10 Phillips head screws securing the
thruster mounting tabs and the rear of the float to the
backplane.
Step 5
Remove the two M4 x 10 Phillips head screws securing the
middle of the float to the backplane.
Step 6
Remove the two M6 x 16 button head screws securing the
front of the float to the backplane.
4.2 Every 50 hours
Every 50 hours of operation require that you to push new grease (GLA003 supplied with
your order) into the grease galley on each of the four (4) thrusters. The procedure is very
simple and will only take approximately 25 minutes to complete.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 39 of 52
Step 7
Remove the float.
Step 8
Install the backplane securing screw to prevent damage to
the conduit. Use one each M6 x 16 socket cap screw
removed in step 6 above with one each M6 nyloc nut
removed in step 13 of 4.1.1
Step 9
Remove the four (4) Phillips head screws securing the
forward Kort nozzles to the forward thruster assemblies and
remove the Kort nozzles.
Step 10
Remove the three (3) Phillips head screws securing the
lateral Kort nozzle to the lateral thruster and remove the
Kort nozzle.
Step 11
Remove the black nylon Phillips head screw at the propeller
end of each thruster end cap. Four (4) total.
Step 12
Locate the GLA003 grease syringe in the basic spares kit
(BSK). Push the syringe into the hole exposed from the
removal of the plastic screw.
Step 13
Push the grease into the galley until the expelled grease at
the opposite end of the propeller end cap is clean white
grease.
Step 14
Repeat steps 11, 12 and 13 for each thruster.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 40 of 52
Step 15
Reinstall the black nylon screws into each thruster propeller
end cap being careful not to over tighten.
Step 16
Wipe away any excess grease from each thruster.
Reassemble
Reverse steps 1-9 in this procedure as well as steps 1-22 of
4.1.1 “Cleaning LBV”.
4.3 Every 500 hours
After operating the LBV for 500 hours, it is recommended that the seals be replaced
throughout the LBV, including the thrusters. Contact SeaBotix Inc. at 619-450-4000 Ext.
124 or email to: service@seabotix.com, or your nearest authorized service center,
information is available on the SeaBotix website www.seabotix.com.
4.4 Long Term
There is little need for long term maintenance as long as the LBV is taken care of and the
500 hour maintenance is performed. There may be a need to replace the view port if it is
scratched excessively. Replacement of some fasteners may be required as they may
corrode with time.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 41 of 52
4.5 Repairs
Should the LBV require service or repair, contact SeaBotix Inc. or an authorized service
center for information. If you choose to repair the LBV on your own there are a variety of
procedures manuals on www.seabotix.com.
Note: If you choose to repair the LBV on your own then SeaBotix Inc. will not be
held liable for damage as a result of incorrect procedures that were used.
4.6 Software
LBV software is continually refined and updated. Updates are available on
www.seabotix.com including the correct procedure for updating the software.
4.7 Optional Components
If your LBV is fitted with optional equipment, refer to the supplemental manuals for each
one.
Section 5. Troubleshooting
5.1 Introduction
The typical LBV system consists of the LBV, a tether 100, 150, 175, or 250 meters in length,
an Operator Control Unit, and a Surface Power Supply to which the OCU, tether and video
cable connect. Typically, video monitoring and recording equipment is not included with the
LBV system. LBV‟s that include an Integrated Control Console are an exception to this rule
and troubleshooting for these LBV‟s (where they differ) is covered later in this guide.
Furthermore, some LBV‟s use fiber optics for the transmission of video and others use fiber
optics for the transmission of both video and communications.
5.2 Brief Theory of Operation
The LBV system is designed to operate within certain parameters. Though based on the
same design, each LBV is configured for the end user‟s requirements. The primary
considerations: Power available for the LBV (120 VAC or 240 VAC) and desired video
format (PAL or NTSC). Please be aware of your available power, since plugging into the
wrong supply could damage your LBV. Whenever the LBV system is used, the Surface
Power Supply must be plugged into a grounded outlet! Failure to use a grounded outlet will
disable the GFI circuitry, as well as cause possible communication and vehicle control
problems. On most LBV‟s (PAL or NTSC), the video output is composite video which is then
converted to fiber optic data inside the splice in the tether.
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There are three main areas of discussion with regards to troubleshooting the LBV:
Power Transmission, Communications Transmission and Video Transmission.
The LBV system works as follows:
Input power is rectified inside the Surface Power Supply, becoming 360 VDC for
transmission via the tether to the LBV. At the LBV, the 360 VDC is converted to 28 VDC
inside the Vehicle Power Supply (VPS).
There, two distinct 28 VDC bus lines have been created. One 28 VDC supply (Motherboard
power) runs directly to the Motherboard where it is used to service the internal electronics.
The other (backplane power) services the thrusters, grabber, external lighting and other
auxiliary equipment. The latter 28 VDC supply is monitored by an over current protection
circuit, which (in the event of a short in any of the external equipment) will remove supply
voltage from all external equipment. This feature prevents damage to the entire LBV system.
The high DC voltage from the surface allows for relatively low current on the tether, greatly
reducing its overall cross sectional diameter. Designed into the power system is GFI circuitry
that will de-energize the 360 VDC at the Surface Power Supply.
Communication (which takes place between the Operator Control Unit and the LBV through
the Surface Power Supply) is coupled onto the 360 VDC power lines and is transmitted to
and from the LBV. Within the LBV, communication is controlled by the Motherboard, which
effectively addresses each modular component (For example: port thruster, sensor board,
external light, tilt motor etc.).
5.3 Troubleshooting Aids
The following pictures show various components of the LBV system. Please refer to these
when troubleshooting. It will also be helpful to utilize a digital multimeter for some of the
checks required. Please remember that at no time should any component be plugged in or
unplugged while the SPS, ICC or LBV is energized during fault diagnosis.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 43 of 52
Motherboard Communications LEDs
(Normally flashing green)
Motherboard 12 VDC & 5 VDC Power
LEDS
(Normally solid red)
Surface Power Supply (SPS) or ICC
From left: Red power LED, 10
amp input breaker, amber LED, main
power switch, input power cable, flash &
Sonar/tracking port, video output
connector (covered), operator control
console port, tether connection.
Operator Control Unit (OCU)
Note the two LEDs above the Auto
Head and Depth Buttons, as well as the
LED above the red power button.
5.4 Proper Operating Conditions
Please note: Whenever the term „normal‟ is used in the Troubleshooting Guide, it
refers to the proper operating condition of that device or indicator.
After correctly connecting all the LBV components, indications of the normal operating
condition of the LBV system is as follows:
-Upon energizing the SPS main power switch, the SPS red and amber LEDs are
continuously lit and do not flash. The LBV is not energized and the LBV does not output
video.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 44 of 52
Tether, LBV-End
Note Pins 1, 2 & 3
-Upon pressing the OCU power button, a soft click can be heard from the SPS/ICC. The red
LED remains lit and the SPS amber LED begins a continuous cycle of being lit and unlit for
~2 seconds in each state. The OCU power LED is continuously lit and the OCU Auto Head
and Auto Depth LEDs remain unlit.
-A color video image appears on the monitor (from camera #1), and an overlay message,
“SeaBotix LBV 150(300, 600)”, briefly appears on screen. This message is replaced by the
standard overlay as described in the LBV user‟s manual.
-The overlay should appear so that the following conditions are met: Up, Down and
Horizontal Thruster Gains all display “5”. The heading display indicates a valid value (0360/does not read 777). The date/time stamp is correct and counting. The depth reading is
approximately 0 (+/-20MS does not read 777.7), and the temperature reading is stable (not 9 deg C). These conditions indicate a loss of internal communications between the
Motherboard and the sensor board
-The LBV shows the following indications: The green Motherboard communication LEDs are
flashing @ 2 Hz. The Motherboard red 12 VDC and 5 VDC power LEDs are continuously lit
(with no flicker).
-The user is able to operate all LBV functions, i.e.: Operate thrusters in all directions, tilt the
camera chassis, select and focus cameras, operate lamps, open/close grabber, etc.
5.5 Fault Modes
Symptom: No Video and No LBV Control
This mode is usually accompanied by alternate flashing of the CC Auto Head and Depth
LEDs. OCU Power LED is lit.
Fault: The SPS is not supplying 360 VDC.
Cause: The GFI has been tripped due to an insulation failure in the SPS, tether or LBV. The
SPS amber LED flashes one long pulse and two short pulses. All Motherboard LEDs are
unlit.
Fault Isolation: Unplug the tether from the LBV and energize the LBV as normal. Check for
360 VDC between pins 1-3 & 2-3 at the LBV end of the tether. If 360 VDC is present, the
fault is in the LBV (See “LBV Power Fault Section‟). If it is absent, and the SPS amber LED
is still flashing the „1 long, 2 short‟ error code, unplug the tether from the SPS and energize
the LBV as normal. If the SPS amber LED is still flashing the above error code, the fault is in
the SPS (See „SPS Power Fault Section‟). If the amber LED is in the proper operating
condition, the fault is in the tether (See „Tether Fault Section‟).
Cause: The SPS 360 VDC turn on circuit is not operating. The DC voltage readings at the
LBV end of the tether (between pins 1 & 3) are more than 0, but less than 300 VDC. The
LBV Motherboard power LEDs are continuously unlit.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 45 of 52
Fault Isolation: The SPS board (inside SPS) is faulty (See „SPS Power Fault Section‟).
Cause: The SPS is configured for 240 VAC operation but is plugged into a 120 VAC supply.
Reconfigure as per the Procedures Manual.
Cause: The SPS is configured for 120 VAC operation but is plugged into a 240 VAC supply.
The SPS board power input section is damaged and must be returned to the factory for
replacement or repair.
Fault: The LBV Vehicle Power Supply is shorted. The Motherboard power LEDs are
flashing.
Cause: Various (See “LBV Power Fault Section‟).
Fault: Communications error inside the LBV. The Motherboard power LEDs are normal but
either one or both communication LEDs are unlit, or lit but not flashing.
Cause: Various (See „LBV Communication Fault Section‟).
Symptom: No thruster, grabber and/or ELS Control, but video is present and cameras
are controllable
Fault: The Vehicle Power Supply has shut down power to the backplane. All LEDs are
normal.
Cause: One or more external LBV component has a short between 28 VDC and ground.
Fault Isolation: Following the procedure manual, remove one backplane component at a
time, reenergizing the LBV each time to test for normal operation of the remaining
components. Be advised that (though all thrusters are modular and interchangeable) the
port and starboard thrusters operate in concert. So, if no thrusters operate, and the port
thruster (which, for this example will „play-dead‟) is removed, the starboard thruster may
operate erratically. As long as the vertical thruster now acts normally, the problem was
indeed the port thruster. In this case the port thruster is to be replaced. The fault could have
been the grabber and others as well.
Cause: The VPS backplane over current protection circuit has otherwise failed (See „LBV
power failure section‟).
Symptom: When thrusting or operating auxiliary equipment in “X” direction, see
below, the video image goes blank, lamps go out, and the startup message „SeaBotix
LBV150 (300, 600) is displayed. Normal or slightly corrupted overlay data is then
shown.
Fault: The thruster is drawing excessive current when thrusting.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 46 of 52
Cause: The motor controller is faulty.
Fault Isolation: In the case of the lateral and vertical thrusters, simply thrust only one
thruster, in one direction, at a time until the symptom reoccurs. In the case of the port and
starboard thrusters (since they work together), first determine if the failure is in the forward
or aft direction. For example: If the failure occurred in the forward direction, you can
determine which thruster failed by utilizing the LBV‟s rotate function. Rotating the LBV
clockwise causes the port thruster to thrust forward while the starboard is thrusting aft. By
using this feature, the troubleshooter can run each thruster in one direction at a time. The
faulty thruster needs to be replaced.
Note: This failure can occur with grabbers and external lighting when these devices are
being operated, but the fault isolation would be the same.
For additional troubleshooting steps please refer to our website:
http://www.seabotix.com/support/troubleshooting.htm
For further support, please contact us either by phone or email at:
http://www.seabotix.com/support/service.htm
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 47 of 52
BNC
Video Input and Output Connectors.
CC
Camera Chassis
CSA
Crawler Skid Assembly: A sub-assembly of the LBV150SE-5
system that allows the operator to attach the LBV to any relatively flat
surface for stability while performing inspections.
DTA
Depth and Temperature Assembly
ELS
External Lighting System
Flash Program
Operational Program for the LBV
FO
Full Fiber Optic data and video: All data to and from the LBV and
the video feed from the LBV is transferred via fiber optic
transmission.
FOE
Fiber Optic Ethernet data. This designation is utilized for systems
requiring an Ethernet data link to transfer data from the LBV.
FOV
Fiber Over Video. This style is used for tether‟s over 150m in
length. The composite video signal from the LBV is converted to
fiber optic data in the tether and made available as a composite
signal at the MUX hub of the tether reel system.
FSK
Frequency Shift Keying. A method of data transmission utilizing
2.5 channels of RS232 format for command and control of the LBV.
Data transmission to an external RS232 device with a remaining
simplex channel for data to a device attached to the LBV.
GAK
Grabber Attachment Kit
Hardware
All hardware descriptions prefixed with the letter M (M5x15) indicates
that the fastener is a metric fastener. The 1st number is the diameter
in mm (millimeters,) and the 2nd number is the fastener length in mm.
Hardware listed at ¼-20 x 1.5 is an Imperial fastener. The 1st
number is the diameter, the 2nd number is threads per inch and the
final number is length. Smaller Imperial fasteners are numbered; for
example, the seal screw utilized on thrusters, grabbers and the
vacuum port is a 10-32 x 3/8; so a #10 screw is 32 threads per inch
and 3/8‟s of an inch in length.
Horiz
Horizontal.
HPDC
High Performance Brushless Thruster
ICC
Integrated Control Console. This console is used for command
and control of the LBV and video display only! It has external data
connections for exporting SONAR and tracking to a separate display
device.
Glossary of Abbreviations
The following abbreviations are used when discussing the LBV and accessories.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 48 of 52
INC
Integrated Navigational Console: A one unit solution for operators
of LBV‟s equipped with SONAR and or navigation systems. The
monitor displays both the LBV video and the SONAR/tracking
information on a single monitor. It is also equipped with a hard drive
and video recording equipment so the information can be recorded
into a single file on the hard drive.
LBV
Little Benthic Vehicle
lwLARS
Light Weight Launch and Recovery System. A self contained
tether management system with operator controlled automated
deployment and recovery of the tether and the LBV.
MB
Motherboard
MUX
Multiplexer. This function is contained in the POH and converts the
fiber data to electrical data prior to the slip ring assembly for use by
the operator.
NCC
Navigation Computer Console. A computer and display console
developed for display and control of SONAR and tracking systems.
OCU
Operator Control Unit.
OOK
On-Off Keying. The simplest method of command and control of
the LBV with no additional data channels. Utilizing RS232 duplex
from the OCU to the LBV via the Surface Power Supply.
PCA
Printed Circuit Card Assembly
PIC
Programmable IC. Used extensively on the circuit boards to preprogram them for functions as required.
POH
Pull Out (multiplexer) Hub. Part of the URS. It contains the MUX
as well as the termination point for the tether and the tether whip.
PSI
Power Supply Interface circuit board; part of the VPS
QRS
Quick Recovery System. A secondary manual system used to
ease the recovery of the LBV by attaching to the tether and allowing
the operator to recover the LBV without handling the tether directly.
RF
Radio Frequency
RF Coupler
Radio Frequency Coupler Board. Used in non FO LBV‟s to couple
and decouple data and video to the tether.
RF Demod
Radio Frequency De-Modulator. Used in non FO & FOV LBV‟s to
convert the RF video signal to composite video for display.
RF Mod
Radio Frequency Modulator. Used to up and down convert the
RS232 data from the OCU and the LBV to RF for data transmission
via the tether.
ROV
Remotely Operated Vehicle
RS232
Computer interface communications mode
SB
Sensor Board. Used to convert the analog data signals from the
internal and external LBV sensors to digital format for display and
utilization by the “Auto” modes of the LBV.
SBT
Standard Brushed Thruster
SPS
Surface Power Supply. Converts supply AC power to DC at ~360
VDC for transfer to the LBV via the tether.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 49 of 52
SPS3000
3000 Watt Surface Power Supply. Converts supply AC power to
DC at ~360 VDC for transfer to the LBV via the tether used on all 6
thruster LBV‟s
TJG
Three Jaw Grabber
TMS
Tether Management System
uLARS
Un-Manned Launch and Recovery System. A remotely
controllable launch and recovery system consisting of a tether reel
system, surface power supply, a power sheave, and control circuits
for remote launch and recovery of the LBV system.
UMB
Tether (Note): Historically the term umbilical was used, hence the
UMB in the reference to the part numbers. Going forward umbilical
is now referred to as “tether”. Example: In deep water applications
where the LBV is flown from another larger ROV or TMS (Tether
Management System), an umbilical is the line that leads from the
topside handling system to the larger ROV or TMS.
URS
Tether Reel System
Vert
Vertical
VGA
Video Graphics Array
VOB
Video Overlay Board. Creates the characters for displaying the
video overlay information from the LBV onto the monitor.
VPS
Vehicle Power Supply. Converts the ~360 VDC tether supply
voltage to the 28 VDC required for LBV operation.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 50 of 52
Warranty
SeaBotix Inc. is committed to the highest standard of quality in the production of
the LBV. Each LBV system is covered with a twenty four (24) month or 500 hour
(whichever comes first) limited warranty against defects in workmanship or
materials with the exception of those outlined in the Limitations and Exclusions
section contained herein. The purchaser of an LBV requesting warranty work or
repairs must supply to SeaBotix Inc., or an authorized representative, proof of
ownership along with the system. SeaBotix Inc. will, at its discretion, repair or
replace the defective components.
Limitations and Exclusions
The limited warranty does not cover damage caused by improper use,
poor maintenance or accidental damage to the LBV.
The limited warranty does not cover items subject to wear including but not
limited to, view ports, outer shells, o-rings, batteries, protective bumper frame,
tether and propellers unless found to be defective in workmanship and/or
materials.
The limited warranty does not cover any alterations or modifications made
to the LBV without prior authorization from SeaBotix Inc.
The limited warranty does not cover lamps.
The limited warranty does not cover components damaged due to incorrect
power connection.
Shipping Charges
All returns for warranty service must be authorized by SeaBotix Inc., and will be
assigned an RMA (Returned Materials Authorization) number which must be
clearly indicated on each item returned for service.
After 30 days following receipt of the LBV, the client is solely responsible for
shipping to and from an authorized SeaBotix Inc. warranty center. Warranty
centers are located around the world to help reduce transit time and distance
required for warranty repairs or service.
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Return Policy
SeaBotix Inc. is strongly committed to the highest quality production facilities and
customer satisfaction is our top priority. To achieve this goal, SeaBotix Inc. is
happy to offer a full refund on any of our standard products that are returned
within 30 days of the date the items were shipped. If for any reason you are not
satisfied with our products, simply notify us by calling (619) 450-4000 or email us
at: service@seabotix.com. SeaBotix Inc. will immediately issue a Return Material
Authorization (RMA) number. When requesting an RMA number please have the
following information ready: name of owner, name of distributor if any, product
being returned, and the last four digits of the product serial number.
Items being returned must be in “AS NEW condition”. “AS NEW Condition” means
that there are no scratches, marks, blemishes on the item; there are no signs of
wear on the product, or the cases, and the product has not been altered or
modified in any way. The following conditions must be met you for warranty
covered repairs:
Return the merchandise to us within 30 days of the date the items were
shipped.
The product must be returned in as new, resalable condition.
All packaging materials must be included and not be torn or damaged.
All manuals must be unmarked.
All return shipping charges must be prepaid.
The RMA number must be displayed prominently on the outside of the
shipping container to avoid delays in processing your return.
Upon receipt of the returned merchandise in good order, and in accordance with the above
provisions, SeaBotix Inc. will promptly refund your purchase price.
DOCS-010 Manual, SeaBotix Inc. Users, 200 Series – 18 Mar 09 - Rev B - Page 52 of 52
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