It takes a while to get to your final destination… and auto pilot works fine here… in fact set her in the general direction (use a compass heading), and then go and make a coffee, and she’ll be fine when you return, just at a greater depth…

• Throttle = forward
• Roll= Left/right

Once you have set a heading, auto pilot works fine….

Arrive at the destination (try and find somewhere relatively flat, this can be at any depth. Testing has occurred at greater than 2000 ft below sea level).

Note: when descending, on steep declines the vehicle will go a little slower, but this is fine.

• Hit the brakes and then;
• AG2 - stop, and set up for deployment.
• AG3 - Extend winch for system 2
• AG4 - Winch magnet.
• Go to Camera 1 - ROV

Delpy ROV (AG2);
- Pitch = forward/backward
- Roll = left/right
- Trim = raise / lower
- AG1 magnet on/off

System 1: Load cradle: use ROV to collect debris and load. AG1 magnet to hook onto debris, and Trim up to raise the ROV arm.

System 2: Hook up winch cable: use ROV to take cable magnet to debris. (AG4 for magnet, remember to turn off AG1).

• Go to Camera 3 or 4 - cradle or cable view.
• AG5 - surface release (both systems)
• AG3 to wind in winch.
• Procedure complete.

Cameras:

Camera 1 - winch balloon
Camera 2 - rover
Camera 3 - cradle
Camera 4 - buoy

Summary Controls:

• Throttle = forward (used when using auto pilot)
• VTOL up/down = forward/reverse
• Roll = let/right
• AG1 rover magnet
• AG2 open transport doors.
• AG3 release winch
• AG4 winch magnet
• AG5 release both cradle and winch balloons
• AG6 emergency release of balloons (drop cargo)
• AG7 release trailers
• Countermeasures for buoy signal.

Note: Emergency systems and trailer release - remember; never leave a fellow scientist behind ‘- unless you really need too’.

ROV Deployed

ROV loading into the cradle

Winch hooked on and ready

Balloons released

Success