LBV200
2
FOV-Full FOE
Operators Manual
DOCS-054
Rev A
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 Australia Pty Ltd.8A Sparks Road, Henderson, WA 6166, Australia +61 (0)8 9437-5400
Table of Contents
Section 1. Introduction ........................................................................................................................7
1.1
1.2
1.3
1.3.1
1.3.2
1.3.3
1.3.4
1.4
1.4.1
1.4.2
1.4.3
1.4.3.1
1.4.3.2
1.4.3.3
1.4.3.4
1.5
1.6
1.7
1.8
Unpacking System ....................................................................................................... 7
Power Requirements .................................................................................................. 8
Setting up System ........................................................................................................ 9
ROV ............................................................................................................................... 9
Integrated Control Console ...................................................................................... 11
LBV200 FOE/FOV: .................................................................................................... 11
Computer Connections.............................................................................................. 12
Pre-Dive Inspection and System Test ..................................................................... 13
Inspection ..................................................................................................................... 13
Powering up system ................................................................................................... 15
Testing system ............................................................................................................ 15
Thrusters ...................................................................................................................... 15
Camera(s) .................................................................................................................... 15
Video Overlay .............................................................................................................. 16
Accessories .................................................................................................................. 16
Post Dive Inspection .................................................................................................. 16
Storage of System ...................................................................................................... 16
Trimming ROV ............................................................................................................. 17
Calibrating Compass .................................................................................................. 18
Section 2. LBV Controls ........................................................................................................ 19
2.1
2.1.1
2.1.2
2.1.3
2.1.3.1
2.1.3.2
2.1.3.3
2.1.3.4
2.1.4
2.1.4.1
2.1.4.2
2.1.5
2.1.5.1
2.1.5.2
2.1.5.3
2.1.7
2.1.8
2.1.8
2.1.9
2.1.9.1
2.1.9.2
2.1.10
Operator Control Unit (OCU)..................................................................................... 19
Joystick ......................................................................................................................... 19
Proportional Vertical Thruster Control Knob ........................................................... 19
Camera Control ........................................................................................................... 20
Camera ......................................................................................................................... 20
Tilt .................................................................................................................................. 20
Focus ............................................................................................................................ 20
Internal Light ................................................................................................................ 20
Accessories .................................................................................................................. 20
Select ............................................................................................................................ 20
Arrow Keys ................................................................................................................... 21
Auto Functions............................................................................................................. 21
Trim ............................................................................................................................... 21
Head .............................................................................................................................. 21
Depth............................................................................................................................. 21
Power ............................................................................................................................ 21
Auxiliary ........................................................................................................................ 22
Position ......................................................................................................................... 22
Thruster Gain ............................................................................................................... 22
Vertical Thruster Gain ................................................................................................ 22
Horizontal Thruster Gain ............................................................................................ 22
Keypad .......................................................................................................................... 22
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2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
2.3
2.3.1
2.3.2
2.3.3
2.3.3.1
2.3.3.2
2.3.3.3
2.3.3.4
2.3.3.5
2.3.4
2.3.4.1
2.3.4.2
2.3.4.3
2.3.4.4
2.3.4.5
2.3.5
2.3.5.1
2.3.5.2
2.3.5.3
2.3.5.4
2.3.6
2.3.6.1
2.3.6.2
2.3.6.3
2.3.6.4
Video Overlay .............................................................................................................. 23
User Text ...................................................................................................................... 23
Gain Control, Trim and Light Level Indicator .......................................................... 23
Depth and Heading ..................................................................................................... 24
Camera Angle and Temperature .............................................................................. 24
Time and Date ............................................................................................................. 24
Menus ........................................................................................................................... 24
Quick Access Menu .................................................................................................... 25
Main Menu ................................................................................................................... 26
Setup Menu .................................................................................................................. 26
Date/Time ..................................................................................................................... 26
Units/Water Type ........................................................................................................ 27
Display Type ................................................................................................................ 27
User Text ...................................................................................................................... 27
Reset to Defaults......................................................................................................... 28
Calibrate Menu ............................................................................................................ 28
Tilt Indicator................................................................................................................... 28
Temperature ................................................................................................................. 28
Depth .............................................................................................................................. 28
Compass ....................................................................................................................... 29
Monitor ........................................................................................................................... 29
System ........................................................................................................................... 29
Thruster Motors: ........................................................................................................... 29
Software Version .......................................................................................................... 29
Hours Run ..................................................................................................................... 29
Display Ext. Temp ........................................................................................................ 30
Options Menu ............................................................................................................... 30
Camera Rotate ............................................................................................................. 30
Audio Channel .............................................................................................................. 30
Camera Tilt .................................................................................................................... 30
Vertical Thruster ........................................................................................................... 30
Section 3. Operating the LBV............................................................................................... 32
3.1
3.2
3.3
3.4
3.5
3.5.1
3.5.2
3.6
3.7
3.8
3.9
3.9.1
Operating Environment ............................................................................................... 32
Deployment ................................................................................................................... 32
Tether ............................................................................................................................. 33
Piloting ........................................................................................................................... 33
Practice .......................................................................................................................... 34
Watching LBV ............................................................................................................... 34
Watching Monitor ......................................................................................................... 34
Controlling The LBV..................................................................................................... 35
Thruster Gain Control .................................................................................................. 35
Trim ................................................................................................................................ 35
Auto Functions .............................................................................................................. 35
Auto Depth .................................................................................................................... 36
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3.9.2
3.10
Auto Heading ................................................................................................................ 36
Limitations ..................................................................................................................... 36
Section 4. Maintenance........................................................................................................... 36
4.1
4.1.1
4.2
4.3
4.4
4.5
4.6
4.7
After each use............................................................................................................... 36
After each use – dirty water conditions..................................................................... 37
Every 50 hours ............................................................................................................. 39
Every 500 hours ........................................................................................................... 41
Long term ...................................................................................................................... 41
Repairs........................................................................................................................... 41
Software......................................................................................................................... 42
Optional Components .................................................................................................. 42
Section 5. Troubleshooting ................................................................................................... 42
5.1
5.2
5.3
5.4
5.5
5.6
Introduction ................................................................................................................... 42
Brief Theory of Operation ........................................................................................... 42
Troubleshooting Aids ................................................................................................... 43
Proper Operating Conditions ...................................................................................... 45
Common Operator Errors ........................................................................................... 45
Failure Modes
46
Glossary of Abbreviations ..................................................................................................... 49
Warranty...................................................................................................................................... 52
Shipping Charges..................................................................................................................... 52
Return Policy ............................................................................................................................. 52
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IMPORTANT…
Read this manual prior to operation.
Purpose
The purpose of this manual is to provide LBV operators with a clear
understanding of proper and safe operating procedures. It is a valuable
reference tool and should be thoroughly reviewed prior to 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.
with
or
NOTE: Information marked with this symbol is designed to help
the operation of LBV by providing additional useful operating tips
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 not 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 prior written consent from
SeaBotix Inc.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 5 of 53
Thruster Propellers
Keep 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 Surface Power Supply plug away from water.
Check all plugs for the presence of water prior to connecting.
If tether is cut, chafed, or otherwise damaged, do not operate LBV.
Do not open the LBV housing when power is on.
Testing
Each LBV system is carefully manufactured to ensure long-term safe operation.
Prior to shipment every system is tested for proper operation, including pressuretesting 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. or may alter any
or all documentation without notice.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 6 of 53
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
Blue View SONAR & Universal Tool Skid
CBA066 Reel-to-ICC Video Cable
Ethernet Interface Box
LBV2002
URS250-FOV-FOE
ICC
Ethernet
Interface
Box
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 7 of 53
Note: When unpacking the LBV after shipping, inspect system for damage.
It is strongly recommended that vacuum be verified before each use (see
section 1.41).
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 system.
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
symbol. This post should
will have a large, threaded post marked with a
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 may also result from 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 HPDC1500 Brush-Less DC Thrusters have a requirement
for 1,200 watts 100-130/200-250 VAC, 50/60 Hz.
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1.3 Setting up System
Select a suitable area from which LBV will be deployed and controlled. The area should
be dry and not in direct sunlight. Now the system is ready to set up.
The first step is to connect the tether to the LBV. Prior to connecting ensure the
Integrated Control Console/Surface Power Supply is OFF.
1.3.1 ROV
Step 1
Position the ROV so you can see the rear of the vehicle. Located
at the upper right next to the flotation is the fiber optic connector
for the Ethernet connection, and below that is the 8-contact male
connector for power and Video.
Step 2
Remove the protective cap from the fiber optic bulkhead connector
Step 3
Locate tether female connector and strain relief.
Step4
Open shackle completely. NOTE: there is an indent to allow the
locking rod to be flush with D portion of shackle.
Step 6
Slide shackle over the pad eye beneath the flotation module.
Twist locking rod to secure.
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Step 4
Insert the fiber optic connector into the receptacle on the fiber
optic bulkhead connector.
WARNING: The white tip is glass, so ensure that it is pushed
straight on. Failure to follow this caution could result in damage to
the LBV and the Tether.
Step 2
Put a small amount of silicone grease on finger. SeaBotix P/N
GLA001.
Step 3
Apply a small amount of grease to male pins on bulkhead
connector. Grease is simply for lubrication and not a sealant.
Step 7
Push female connector onto male bulkhead connector being
careful to align pins. On the 3-contact connectors, there is a
single small pin used for alignment.
Step 8
Tighten locking ring clockwise. Do not over-tighten.
Once the tether is connected to the vehicle 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.
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1.3.2 Integrated Control
Console
1) Ensure power switch is off
(down position).
2) Engage tether connector.
3) Plug 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 is
used to establish
communications from the ICC
to the LBV via the Ethernet
Interface Box.
1
1) Monitor
3
2) OCU (Operator
2
Control Unit)
3) LBV Power Switch
4) Main Power Switch
5) Red Power LED
5
6) Operate /Program
4
6
7) Amber Status LED
7
1.3.3 LBV200 FOE/FOV:
These systems come with Tether Reels that are designed for Fiber Optic Video. Video is
output at the Reel Hub. The Hub and the ICC must be connected by a coaxial video cable.
CBA066 (a 7M, BNC-BNC coaxial cable) must be connected from ‘Video-Out’ BNC jack on the
Reel Hub to ‘Video In’ BNC jack on the ICC.
CBA066 Video Cable
Reel Video Output Jack
ICC Video In & Video Out
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NOTE: Make sure there is no sign of water or debris on connectors prior to
connecting.
1
2
5
3
4
1.
2.
3.
4.
5.
Power Connector
Video In
Tether Whip Connection
Data & Control
(Interface Box Connection)
Video Out
1.3.4 Computer Connections
1.3.4.1 Connect the Ethernet cable from the MUX Hub
on the Universal Reel System to the Ethernet
input Connection on the Ethernet Interface Box
1.3.4.2 Connect the Ethernet cable from the interface
box to the Ethernet port on the computer. This
is the signal from the Blue View SONAR.
1.3.4.3 Configure the Ethernet port on the Laptop per
the Blue View users’ manual.
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1.3.4.4 Connect the USB to Serial Convertor to
the DE-9 from the Ethernet Interface Box.
1.3.4.5 Connect the USB to Serial Convertor to a USB
Port on the Computer. This is for the Radiation
Detector Data.
1.3.4.6 Use the Auto Configuration settings on the
computer for the RAD Watch software to detect
and connect to the sensor inside the LBV.
1.3.4.7 The laptop with all Ethernet Interface Box
Connections made up.
1.4
Pre-Dive Inspection and System Test
Before placing the vehicle in the water it is important to ensure all systems 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 system over for obvious damage. Note of the condition of the
view port, seals, thrusters etc.
2. Check tether for damage.
3. Check thrusters for objects that may get caught in propellers.
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4. Check system vacuum before every dive.
5. The following outlines the procedure for performing a vacuum seal check on
the primary LBV housing.
Step 1
Place vehicle on table with vacuum check valve facing you.
Step 2
Remove Phillips pan head seal screw from vacuum valve.
Step 3
Connect vacuum hose and ensure fitting is tight.
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 vacuum tube.
Step 6
Insert and tighten Phillips pan head seal screw into check
valve.
Do not over tighten it will damage the seal.
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1.4.2 Powering up system
1. Turn on Integrated Control Console power.
a. RED LED should illuminate.
b. Wait two seconds for amber (status) LED to illuminate.
2. Press POWER button on OCU.
a. The RED LED above POWER button should illuminate on the OCU.
b. The AMBER LED on Surface Power Supply will begin to strobe two
seconds on/off.
c. Camera video should come up on monitor with Video Overlay.
1.4.3 Testing system
NOTE: Do not run 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 joystick forward and backwards checking to see that both forward
thrusters move and cycle through speed range.
2. Push joystick left then right to ensure lateral thruster operates correctly.
3. Rotate joystick left then right to ensure forward thrusters operate correctly.
4. Rotate vertical thruster knob (on left side) to ensure vertical thruster operates
correctly.
5. Press and hold VERT key while selecting 1-0 on keypad to adjust gain
control. Value will change on Video Overlay.
6. Press HORZ key while selecting 1-0 on keypad to adjust horizontal thruster
gain control. Value will appear on Video Overlay.
1.4.3.2 Camera(s)
NOTE: Do not leave internal or external lighting on for more than a few seconds
when vehicle is out of the water. Leaving light on may cause damage to the
view port and/or lighting modules.
1. Press TILT + and TILT – to rotate camera chassis.
2. Press FOCUS + and FOCUS – to focus camera.
3. Press CAMERA to switch between optional second camera (if fitted).
a. Test FOCUS + and FOCUS – on second camera if fitted.
4. Press LIGHT key to turn light on.
5. Press + and – to vary intensity
a. Repeat with second camera if fitted with light.
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1.4.3.3 Video Overlay
1. Check that Date and Time are set correctly (section 2.3).
2. Calibrate heading (see calibrating heading, section 2.3)
3. Check that desired depth measurement and temperature measurement are
correct. Adjust if needed (section 2.3.).
4. Input desired User Text (section 2.3.).
1.4.3.4 Accessories
If fitted with accessories such as a grabber press the SELECT button to cycle through
installed accessories. The selected accessory will display on the video overlay in the
2nd line of text (see section 2.2 for additional information regarding the overlay.) Press
the ⊳ and keys to operate each accessory and verify that they function properly.
1.5
Post Dive Inspection
After each use of the LBV, take a moment to do a visual inspection on the system prior
to storage. It is good practice to submerge the vehicle in a container of fresh water or
rinse with a fresh water hose and wipe clean.
Check vehicle for damage.
Check thrusters for debris caught near or in propellers.
Quickly check system functions to ensure 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 excess water disconnect
shackle from pad eye and unplug all tether connectors.
Disconnect the Blue View SONAR and Grabber, install dummy
plugs on exposed cable ends from LBV.
Remove the Accessory Skid with the Blue View SONAR and
Grabber from the LBV.
Place the LBV in carrying/shipping case. Ensure that the LBV is
dry.
Disconnect all connectors from Integrated Control Console/Surface
Power Supply.
Coil up all cables and store.
Place OCU in carrying/shipping case.
Place tether in carrying/shipping case.
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Close and clamp cases for transport or storage.
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
seawater or alteration of system hardware will affect buoyancy. Should your system
require buoyancy adjustment follow the procedure below. Refer to MSDS sheets for
working with lead.
NOTE: If the LBV is positively or negatively buoyant, the vertical thruster and
auto depth function will not be as effective and/or may not work at all.
If trimmed for fresh water, the addition of 3 full strips of lead (supplied in the BSK) will
usually adjust the trim sufficient for operation in salt water. Brackish water will require
slightly less lead depending on salt levels. However; Each LBV has slightly different
ballasting characteristics. The operator may need to add, move or subtract weights on
the LBV for desired operation in various bodies of water.
Quick trim for Salt Operation for Fresh Water Trimmed LBV’s is to cut 1 lead strip in ½,
and place 1.5 strips on the lower bumper frame, centering the full length strips on the
LBV, and placing the ½ strips aligned with the forward edge.
Step 1
Make sure 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. Holding the handle or bumper frame, move in all
directions to release trapped air.
Step 3
Place the lead weight strip found in the spares kit on the
bumper frame to achieve desired buoyancy. You may
have to cut strips to fine-adjust the trim. Make sure the
vehicle is level left to right and fore to aft.
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Step 4
Once the vehicle is neutral straighten the lead strips and
attach to lower portion of bumper frame using M5x10
button head screws. Be sure to place in the same relative
position to ensure vehicle is properly set up left to right and
fore to aft.
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 the heading sensor provides the most accurate
data proper calibration is critical.
Place the LBV either on a flat smooth surface or in still water. It is important that, during
calibration, that the LBV does not pitch up or down. Remain clear of ferrous materials
and high power electronics such as transformers as they will effect 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”. 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.
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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 become a proficient and
confident LBV operator.
2.1 Operator Control Unit (OCU)
Operation of the LBV is done through the 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 vehicle.
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 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 reverse.
Moving the joystick laterally moves the LBV in the respective direction laterally.
Rotating the upper portion of the joystick rotates the LBV Clockwise or Anti-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 top of the knob this will allow you to easily rotate the knob. Rotating
the knob forward causes the LBV to surface and, conversely, rotating the knob back
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 the vertical thruster is off prior to removing the LBV from the water.
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2.1.3 Camera Control
NOTE: Tilt, Focus and Internal Light controls are not enabled when a Rear-Facing
Camera is in use on LBVs so equipped.
2.1.3.1 Camera
The CAMERA button allows the user to select between two cameras fitted to
the LBV, if an optional second camera is fitted. 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.
2.1.3.2 Tilt
The TILT buttons allow the user to rotate the camera chassis up or down.
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. See Options Menu section.
2.1.3.3 Focus
The FOCUS buttons allow the user to focus the cameras. Pressing the
FOCUS + focuses the camera in closer and 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
SELECT
If fitted with accessories (such as Grabber, External Lighting, Scaling Laser or
Zoom Camera) push the SELECT button to cycle through installed accessories.
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2.1.4.2 Arrow Keys
Press the ⊳ and keys to operate accessories. In the instance of a
grabber, the ⊳ and keys open and close the jaws. For the External
⊳
Lighting System the ⊳ and keys turn the ELS on and off,
and increase or decrease their intensity.
2.1.5 Auto Functions
2.1.5.1 Trim
The Trim function enables the user to lock thruster settings without having to
manually hold a key or move the joystick. For example a user wishing to
TRIM
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 regain control. Vertical trim is accomplished with the vertical
thruster knob. 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 Auto Heading is on and an “*” 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 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 an “*” 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 underwater vehicle.
The red LED above this button will light when the vehicle is powered up.
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2.1.8 Auxiliary
TBD
AUX
2.1.8 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
POSITION
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 2.2
Video Overlay for more information.
2.1.9 Thruster Gain
2.1.9.1 Vertical Thruster Gain
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
VERT
from 1 to 0(10) on the keypad to select the desired amount of power
available.
2.1.9.2 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
HORIZ
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 VERT or 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.
2.1.10 Keypad
The KEYPAD offers a variety of functions. When adjusting the
gain control for the thrusters the numbers are used to select
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. See the Menus
section for more information.
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2.2 Video Overlay
The LBV is fitted with a Video Overlay. The Overlay is used to keep track of position
and orientation. The Overlay can be manipulated to display the information in a manner
that best suits the user.
2
3
8
9
4
5
10
6
7
11
12
Video Overlay
1.
2.
3.
4.
5.
6.
User Text ((Not Shown)Displays at Top)
Vertical thruster gain
Trim ON/OFF – Internal Light Level
Heading
Turns Counter
Camera Angle
7. Date
8. Horizontal thruster gain
9. Accessory Selected
10. Depth
11.Temperature
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.
2.2.2 Gain Control, Trim and Light Level Indicator
Items 2, 3 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 (2). 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.
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2.2.3 Depth and Heading
Heading is displayed at the top middle of the Overlay (4). The three digits illustrate the
360 degrees of a compass heading. To the right of Heading is a + or -, followed by a
numeric digit. This is the turns counter (5) which represents the number of turns the
vehicle makes in one direction of 360º. + indicates turns in the clockwise direction. –
indicates turns in the anti-clockwise direction. This is a valuable tool, which allows one
to keep track of the turns placed in the tether. The operator should reverse these turns
(at depth) before recovery 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 is displayed in Meters Sea Water
(msw), Meters Fresh Water (mfw), Feet Sea Water (fsw) and Feet Fresh Water (ffw).
To change display and calibrate, see Menu section. These units of measurement are
selectable by the operator in the Setup Menu.
An “*” 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 the camera is
facing 0º with respect to the horizon. A reading of +90 indicates the camera is pointing
straight up and one of –90 indicates the camera is pointing straight down. The value
displayed always represents the camera currently being used.
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 air.
This value can be displayed in either Centigrade or Fahrenheit. To change the setting
or calibrate the temperature, see Menu section.
2.2.5 Time and Date
At the right of the display are the date (7) and time (12). This information is preset at
the factory and can easily be changed to the time zone in which the vehicle is being
operated. Refer to Menu section for setting of time and date.
2.3 Menus
LBV has a variety of Menus to allow the user to configure the system, calibrate system
and run diagnostics. To enter the main Menu press the PRGM key on the membrane
keypad on the OCU.
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2.3.1 Quick Access Menu
Note: Accessories will appear when present. Scaling Laser is used here as an example.
1. Acc. Not Found
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
Pressing the 2 key will enable the Accessory + and – keys to operate an
optional accessory. Same as 1.
3. Acc. Not Found
Pressing the 3 key will enable the Accessory + and – keys to operate an
optional accessory. Same as 1. and 2.
4. Acc. Not Found
Pressing the 3 key will enable the Accessory + and – keys to operate an
optional accessory. Same as 1. and 2.
Note: An “*” will appear next to the accessory that is currently in use and its
abbreviation will be listed in the accessory indicator.
GR=Grabber
EL=External Lighting
LS=Laser Scaling
MO=Variable Speed Motor
ZM=Zoom Camera
5. Main Menu
Pressing the 5 key will take you to the Main Menu.
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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
Pressing the 1 key will take you to the Setup Main Menu.
2. Calibrate
Pressing the 2 key will take you to the Calibrate Main Menu.
3. Diagnostics
Pressing the 3 key will take you to the Diagnostics Main Menu.
4. Options
Pressing the 4 key will take you to the Options Main Menu.
2.3.3 Setup Menu
2.3.3.1 Date/Time
Pressing the 1 key will take you to the adjusting of the date and time on the video
overlay.
To adjust the date and time follow the instructions on the screen.
1. Select day of month using keypad.
2. Press ENT
3. Select month of year by pressing the number corresponding to the
month on the keypad.
For example – if the month is March press 0 then 3.
4. Press ENT
5. Select the year using the keypad.
6. Press ENT
7. Enter the hour of the day in 24 hour time.
8. Press ENT
9. Enter the minute of the hour.
10. Press ENT
11. Enter the second of the minute.
12. Press ENT
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2.3.3.2 Units/Water Type
Pressing the 2 key will allow you to adjust the type of measurement being used.
To adjust units and water type select from the four options. The LBV will
calculate depth depending on which unit of measurement is selected. Operating
in unselected water type will result in inaccurate Depth information.
1.
2.
3.
4.
Metric/Seawater
Imp./Seawater
Metric/Freshwater
Imp./Freshwater
2.3.3.3 Display Type
This menu is used to set the display type used with the LBV.
1.
2.
3.
4.
NTSC/PAL M/N
PAL B/G
PAL I
PAL D/K
2.3.3.4 User Text
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 letter is shown on
screen, press the ENT key to move to the next character. Repeat this process
until all 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, press 4 to start entering user text.
Then press the # key followed by the * key.
Example: To enter LBV 150 as user text
1.
2.
3.
4.
5.
6.
7.
8.
9.
Press 5 three (3) times until L is shown.
Press ENT
Press 2 twice (2) until the B is shown.
Press ENT
Press 8 three (3) times until the V is shown.
Press 0 two (2) times.
Press ENT
Press 1 one (1) time.
Press ENT
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10. Press 5 four (4) times.
11. Press ENT
12. Press 0 one (1) time.
13. Press *
2.3.3.5 Reset to Defaults
Pressing the 5 key will reset the entire system to factory settings.
NOTE: Resetting to Defaults will erase any stored data and can result in
inaccurate sensor indications. Please contact SeaBotix prior to (or upon)
selecting this option.
2.3.4 Calibrate Menu
2.3.4.1 Tilt Indicator
Pressing the 1 key will calibrate the Camera Angle indicator on the Video
Overlay. Once pressed the system will automatically rotate the camera to 90º position, and then back to 0º.
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
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 value
2.3.4.3 Depth
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
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Press key 2 to decrease the value
Press key 3 to set to zero
Press key 4 to reset to default
Press key 5 to set slope
2.3.4.4 Compass
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
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
LBV150BE and LBV150S systems. 2.3.5 Diagnostics Menu
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 vehicle.
1.
1.
2.
3.
4.
Port
Starboard
Lateral
Vertical
TBD
2.3.5.2 Software Version
Pressing the 2 key will allow you to view the current software versions. This
information is important when technical assistance is required.
CC
ROV
BL
TMC
SB
VPS
–
–
–
–
–
–
Operator Control Unit (OCU)
Flash in LBV (Operational Program)
Boot Loader
Thruster Motor Controller
Sensor Board
Vehicle Power Supply
2.3.5.3 Hours Run
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Pressing the 3 key will allow you to view the total number of hours 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 external temperature.
2.3.6 Options Menu
2.3.6.1 Camera Rotate
Pressing the 1 key will allow you to turn Camera Rotate on and off.
Camera Rotate allows the user to select how the camera rotatation 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
This function is not available on Fiber Optic Video Systems.
2.3.6.3 Camera Tilt
Pressing the 3 key will allow the user to reverse the operation of the camera
tilt keys.
NOTE: For calibration of tilt function camera rotation must be returned to
“normal” for the correct operation of the tilt function.
2.3.6.4 Vertical Thruster
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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This page contains a menu flowchart.
Video Overlay
#
PGRM
Quick Menu
1
2
3
4
5
Acc 1
Acc 2
Acc 3
Acc 4
Main Menu
(Keypad)
See section 2.3.3.1
Units/Water Type
1
4
See section 2.3.3.2
3
Display Type
1
4
See section 2.3.3.3
4
User Text
(Keypad)
See section 2.3.3.4
5
Reset To Default
1
Tilt Indicator
1
Date/Time
2
1
Setup
2
Calibrate
3
2
Temperature
1
3
See section 2.3.4.2
3
Depth
1
5
See section 2.3.4.3
4
Compass
5
Monitor
1
System
Diagnostics
3
Options
See section 1.8
1
3
1
2
2
4
Always returns to
the previous menu
unless otherwise
stated
Software Version
1
4
Thruster Motors
TBD
See section 2.3.5.1
Hours Run
4
Display Internal Temp
1
Camera Rotate
2
See section 2.3.4.5
Audio Channel
3
Camera Tilt
4
Vert.
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Section 3. Operating the LBV
3.1
Operating Environment
As simple as the LBV is to operate there are several points to keep track of. To help
focus on the task a comfortable operating environment will help greatly. Find a suitable
area where you can stay relaxed. Take the time to route the cabling in a way as to stay
untangled and out of the danger of tripping someone. Place the monitor 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 paying out
tether. If the LBV is fitted with 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 to using the tether. Connect the
tether normally and lower the vehicle using a hand over hand action. Do not let the
tether slide through your hands while lowering the vehicle. Sliding will damage the
outer jacket and compromise the system.
The tether can easily support the weight of the LBV but it is imperative that you grab the
tether above the hotdog splice.
Danger!
Hot Dog
Splice
Safe to Grab
NOTE: When deploying the LBV ensure there is a clear path for the tether to
pay out.
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3.3
Tether
A key feature to 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.
3.4
The tether is neutrally buoyant in fresh water and slightly positive in sea water.
Coil the tether in a figure eight pattern. Doing this will help with deployment and
recovery.
Pay attention to the turns counter on the video overlay to keep the tether as
straight as possible.
Prior to connecting underwater connector to vehicle put a small amount of grease
on your fingers and place on male pins. This will help with installation, protection
from water and corrosion.
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
operation can be. Listed below are some features of the LBV and how they aid
operation.
Powerful thrusters
Small diameter tether
Variable thruster gain
Lateral thruster
Trim
Auto depth
Auto heading
Video Overlay
Enable LBV to operate in up to 1.5
knot current and pull long lengths
of tether.
Reduces drag allowing LBV to
operate in stronger current and with
longer lengths in water.
Allows user to adjust thruster
output from 10% to 100% of
maximum power. This feature
works well when inspecting up
close and needing fine control.
Enables lateral movement of LBV
for inspection.
Like cruise control on an
automobile. Use this for
maintaining forward speed.
LBV maintains desired depth
without constant input from user.
LBV maintains desired heading
without constant input from user.
Quick and easy display of valuable
information. Keep track of heading,
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Turns counter
270 Degree field of vision
Rotating light
User text
depth, gain control, time, date,
temperature and more.
Keep track of how many turns in
your tether to avoid entanglement.
Allows operator to look straight up
or straight down.
Illuminates where camera is
looking.
Used to keep track of information
for review at later date.
3.5 Practice
Before using LBV in a work environment, it is recommended 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 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 intuitively know how
the LBV responds when you can not 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 in keeping track of the LBV.
3.5.2 Watching 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 skills to practice:
•
•
•
•
•
•
•
•
•
•
•
Forward, reverse, lateral, rotate, dive and surface
Gain control of thrusters
Trim
Heading
Depth
Camera rotate
Auto functions
Overlay position
Turns counter
Tether management
Operating options fitted
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3.6 Controlling The LBV
Hold the OCU in a manner 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 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. Amount of power available can be anywhere from 10% to the full
100%. Reducing the amount of available power to the thrusters gives the user more
control of the LBV.
When LBV is powered up the default thruster gain is 50% showing a 5 for
VERT and HORIZ.
3.8 Trim
The Trim function holds 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, and 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.
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.
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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 an “*” 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
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 vehicle as possible and place the LBV in its protective
carrying case. Wash the tether with fresh water. Coil tether for storage.
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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.
Step 1
Place the LBV on its side.
Step 2
Remove the 4 M6 x 20 button head screws securing the
bumper frame to the shell.
Step 3
Remove the 2 M5 x 12 button head screws securing the
crossbar to the bumper frame.
Step 4
Lift off bumper frame side.
Step 5
Turn vehicle over to opposite side.
Step 6
Remove the 4 M6 x 20 button head screws securing the
bumper frame to the shell.
Step 7
Remove the bumper frame with crossbar still attached. If a
grabber is installed disconnect connector at this time.
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Step 8
Remove the M6 Nyloc nut securing the front of the shell to
the camera housing end cap.
Step 9
Remove the M4 x 50 Phillips head screw securing the rear
portion of the shell to the float.
Step 10
Remove the 2 M4 x 20 Phillips head screws securing the
shell to the float.
Step 11
Remove the shell side.
Step 12
Turn LBV over. Remove the M6 Nyloc nut securing the
front of the shell to the camera housing end cap.
Step 13
Remove the M4 x 10 Phillips head screw securing the rear
portion of the shell to the float.
Step 14
Remove the 2 M4 x 20 Phillips head screws securing the
shell to the float.
Step 15
Remove the shell.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 38 of 53
Step 16
At this point either soak the LBV in a bucket of fresh water
or use a hose to rinse thoroughly.
Reassemble
Follow the steps in reverse to put the LBV back together.
4.2 Every 50 hours
Every 50 hours of operation require you to push new grease into the grease gallery on
each of the four (4) thrusters. The procedure is very simple and will only take
approximately 25 minutes to complete.
Step 1
Follow procedure 4.1.1 removing the bumper frame and
shell. Steps 1 to 17.
Step 2
Place vehicle upside down.
Step 3
Remove the trim tab.
Step 4
Remove the 2 M4 x 10 Phillips head screws securing the
Thruster Mounting tabs and the rear of the float to the back
plane.
Step 5
Remove the 2 M4 x 10 Phillips head screws securing the
middle of the float to the back plane.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 39 of 53
Step 6
Remove the 2 M6 x 16 button head screws securing the
front of the float to the back plane.
Step 7
Remove the float.
Step 8
Install backplane securing screw to prevent damage to
conduit. Use 1ea M6 x 16 Socket Cap Screw removed in
Step 6 above with 1 ea M6 Nyloc Nut removed in Step 8 of
4.1.1
Step 9
Remove the six (4) Phillips head screws securing the
forward Kort nozzles to the forward thruster assemblies and
remove Kort nozzles.
Step 10
Remove the three (3) Phillips head screws securing the
lateral Kort nozzle to the lateral thruster and remove 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 BSK. Push the
syringe into the hole exposed from the removal of the
plastic screw.
Step 13
Push grease into the gallery until the expelled grease at the
opposite end of the propeller end cap is clean white grease.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 40 of 53
Step 14
Repeat steps 11 and 12 for each thruster.
Step 15
Reinstall the black nylon screws into each thruster propeller
end cap being careful not to over tighten.
Step 16
Wipe away excess grease from each thruster.
Reassemble
Reverse steps 1-9 in this procedure as well as steps 1-15 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 vehicle including the thrusters. Contact SeaBotix Inc. or your nearest
authorized repair distributor.
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.
4.5 Repairs
Should LBV require service or repair contact SeaBotix or an authorized repair facility for
information. If you choose to repair LBV on your own there are a variety of procedures
manuals on www.seabotix.com.
Note: if you choose to repair LBV on your own then SeaBotix will not be held
liable for damage as a result of incorrect procedures.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 41 of 53
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, an Tether (50, 75, 100 150 or 175 Meters
in length) a 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. Systems that include an Integrated Control Console
are an exception to this rule, and troubleshooting for these systems (where they differ)
is covered later in this guide. Furthermore, some systems 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 system is configured for the end-user’s local requirements. The
primary considerations: Power available for the system (120VAC or 240VAC) and
desired video format (PAL or NTSC). Please be aware of your available power, since
plugging into the wrong supply could damage your system. 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 systems (PAL or NTSC), the
video output is composite video. Which is then converted to fiber optic data inside the
splice in the tether.
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 360VDC for
transmission via the Tether to the LBV. At the LBV, the 360VDC is converted to 28VDC
inside the Vehicle Power Supply (VPS).
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There, two distinct 28VDC bus lines have been created. One 28VDC 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 28VDC ‘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 360VDC 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 360VDC power lines, and
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.
Motherboard Communications LEDs
(Normally Flashing Green)
Motherboard 12VDC & 5VDC Power
LEDS
(Normally Solid Red)
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 43 of 53
Surface Power Supply the ICC
From Left: 10Amp Input Breaker,
Main Power Switch, Red Power LED,
Amber Status LED.
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.
Tether, LBV-End
Note Pins 1, 2 & 3
Fiber Optic
Ethernet Connector
LBV Wet Mateable
Connector
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 44 of 53
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 system 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 system does not
output video.
-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, 1500)”, 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 read777.7), and the Temperature reading
is stable (not -9 deg C). These conditions indicate a loss of internal communications
between the Mother Board, and the Sensor Board
-The LBV shows the following indications: The Green Motherboard Communication
LEDs are flashing @ 2 Hz, The Motherboard Red 12 and 5VDC 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
Common operator errors
No Video: Ensure that the Video Cable, (CBA066) is properly connected from the Universal
Reel System to “Video In” on the Integrated Control Console. Failure to connect, or connecting
to the Video Out, will result in no video displayed.
Video present, No Control of LBV: This is caused when the “OPERATE/PROGRAM” Switch
on the Integrated Control Console is in the incorrect position. When this switch is in the
PROGRAM position, the Operator Control Unit is disabled.
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5.6 Failure 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.
Failure: SPS is not supplying 360VDC.
Cause: GFI has been tripped due to an insulation failure in the SPS, Tether or
LBV. The SPS Amber LED flashes 1 long pulse and two short pulses. All
Motherboard LEDs are unlit.
Fault Isolation: Unplug Tether from LBV and energize system as normal. Check
for 360VDC between pins 1-3 & 2-3 at LBV-end of Tether. If 360 VDC is present,
the fault is in the LBV (See “LBV Power Failure Section’). If it is absent, and the
SPS Amber LED is still flashing the ‘1 long, 2 short’ error code, unplug Tether
from SPS and energize system as normal. If SPS Amber LED is still flashing the
above error code, the fault is in the SPS (See ‘SPS Power Failure Section’). If
Amber LED is in the proper operating condition, the fault is in the Tether (See
‘Tether Failure Section’).
Cause: SPS 360VDC turn-on circuit is not operating. DC Voltage readings at the
LBV-end of the Tether (between pins 1 & 3) are more than 0, but less than
300VDC. LBV Motherboard Power LEDs are continuously unlit.
Fault Isolation: SPS Board (inside SPS) is faulty (See ‘SPS Power Failure
Section’).
Cause: SPS is configured for 240VAC operation, but is plugged into a 120VAC
supply. Reconfigure as per Procedures Manual.
Cause: SPS is configured for 120VAC operation, but is plugged into a 240VAC
supply. SPS Board power input section is damaged, and must be returned to
factory for replacement or repair.
Failure: LBV Vehicle Power Supply is shorted. Motherboard Power LEDs are
flashing.
Cause: Various (See “LBV Power Failure Section’).
Failure: Communications error inside LBV. Motherboard Power LEDs are
normal, but either one or both Communication LEDs are unlit, or lit but not
flashing.
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Cause: Various (See ‘LBV Communication Failure Section’).
Symptom: No Thruster, Grabber and/or ELS Control, but Video is Present and
Cameras are Controllable
Failure: 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 28VDC and
ground.
Fault Isolation: Following the Procedure Manual, remove one Backplane
component at a time, reenergizing LBV each time to test for normal operation of
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, say, 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, et al. 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, See Below) in ‘X’
direction, The Video image goes blank, lamps go out, and the startup message
‘SeaBotix LBV150(300, 1500) is displayed. Normal (or slightly corrupted) Overlay
Data is then shown.
Failure: Thruster is drawing excessive current when thrusting.
Cause: Motor controller is faulty.
Fault Isolation: In the case of Lateral and Vertical thrusters, simply thrust
only one thruster, in one direction at a time until symptom reoccurs. In the
case of 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 is thrusting 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.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 47 of 53
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-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 48 of 53
Glossary of Abbreviations
The following abbreviations are used when discussing the LBV and accessories.
BNC
Video Input and Output Connectors.
CC
Camera Chassis
Crawler Skid Assembly, a subassembly of the LBV150SE-5 system
CSA
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
Full Fiber Optic data and video. All data to and from the LBV and
FO
the Video Feed from the LBV is transferred via fiber optic transmission.
Fiber Optic Ethernet data. This designation is utilized for systems
FOE
requiring an Ethernet data link to transfer data from the LBV.
Fiber Over Video. This style is used for tethers over 150m in length.
The composite video signal from the LBV is converted to fiber optic
FOV
data in the tether, and made available as a composite signal at the
MUX Hub of the Tether Reel System.
Frequency Shift Keying. A method of data transmission utilizing 2.5
channels of RS232 format for command and control of the LBV, Data
FSK
transmission to an external RS232 device, with a remaining simplex
channel for data to a device attached to the LBV.
GAK
Grabber Attachment Kit
All hardware descriptions prefixed with the letter M (M5x15) indicates
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
Hardware
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
vacuume port is a 10-32 x 3/8, so a #10 Screw, 32 Threads per Inch,
and 3/8’s of an inch in length.
Horiz
Horizontal.
HPDC
High Performance Brushless Thruster
Integrated Control Console. This console is used for command and
control of the LBV, and video display only! It has external data
ICC
connections for exporting SONAR and Tracking to a separate display
device.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 49 of 53
INC
LBV
lwLARS
MB
MUX
NCC
OCU
OOK
PCA
PIC
POH
PSI
QRS
RF
RF Coupler
RF Demod
RF Mod
ROV
RS232
SB
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.
Little Benthic Vehicle
Light Weight Launch and Recovery System. A self contained
Tether management system, with operator controlled automated
payout and recovery of the Tether and LBV.
Mother Board
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.
Navigation Computer Console. A computer and display
console developed for display and control of SONAR and
Tracking systems.
Operator Control Unit.
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.
Printed Circuit Card Assembly
Programmable IC. Used extensively on the circuit boards to
pre-program them for functions as required.
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.
Power Supply Interface Circuit Board, part of the VPS
Quick Recovery System. A secondary manual system used to
ease recovery of the LBV by attaching to the tether, and allowing
the operator to recover the system without handling the tether
directly.
Radio Frequency
Radio Frequency Coupler Board. Used in non FO LBV’s to
couple and decouple data and video to the tether.
Radio Frequency De-Modulator. Used in non FO & FOV LBV’s
to convert the RF video signal to composite video for display.
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.
Remotely Operated Vehicle
Computer interface communications mode
Sensor Board. Used to convert the analog data signals from the
internal and external LBV sensors to digital format for display and
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SBT
SPS
SPS3000
TJG
TMS
uLARS
UMB
URS
Vert
VGA
VOB
VPS
utilization by the “Auto” modes of the LBV.
Standard Brushed Thruster
Surface Power Supply. Converts supply AC power to DC at
~360VDC for transfer to the LBV via the tether.
3000 Watt Surface Power Supply. Converts supply AC power
to DC at ~360VDC for transfer to the LBV via the tether used on
all 6 thruster LBV’s
Three Jaw Grabber
Tether Management System
Un-Manned Launch and Recovery System. A remotely
controllable launch and recovery system. Consisting of a tether
reel system, surface power supply, a power sheeve, and control
circuits for remote launch and recovery of the LBV system.
Tether
Tether Reel System
Vertical
Video Graphics Array
Video Overlay Board. Creates the characters for displaying the
video overlay information from the LBV onto the monitor.
Vehicle Power Supply. Converts the ~360VDC tether supply
voltage to the 28VDC required for LBV operation.
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Warranty
SeaBotix 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 500hour (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 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 of 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 the client is solely responsible for shipping to
and from an authorized SeaBotix warranty center. Warranty centers are
located around the world to help reduce transit time and distance required for
warranty repairs or service.
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 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 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.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 52 of 53
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 # must be 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 will promptly refund your purchase price.
DOCS-054 Manual, SeaBotix Users, 200 FOV-Full FOE– 29 Apr 09 - Rev A - Page 53 of 53
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