YSI rQPOD Modular Remote Survey Boat

Introduction

Thank you for purchasing a YSI rQPOD Surface Vehicle. This manual covers the operation and functionality of the rQPOD.

The information contained in this manual is subject to change without notice. Effort has been made to make the information complete, accurate, and current. The manufacturer is not responsible for errors or omissions. Consult YSI.com for the most up-to-date version.

rQPOD Features:

• Lightweight design for single-person transport in a convenient backpack.
• Easy on-site setup, ready to run in 15 minutes or less.
• Marine-grade components for operation in tough environments.
• Ultimate flexibility in sensor payload.

Safety Information

Please read this entire manual before unpacking, setting up, or operating this equipment. Pay attention to all precautionary statements. Failure to do so could result in serious injury to the operator or damage to the equipment. Do not use or install this equipment in any manner other than that specified in this manual.

The manufacturer is not responsible for any damages due to misapplication or misuse of this product, including direct, incidental, and consequential damages. The user is solely responsible to identify critical application risks and install appropriate mechanisms to protect processes during a possible equipment malfunction.

Product Components

Carefully unpack the instrument and accessories and inspect for damage. If any parts or materials are damaged, contact YSI at 937-767-7241 or any authorized YSI distributor.

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rQPOD in Action

The rQPOD is a versatile remote survey boat used in various aquatic environments.

1. rQPOD Packages

The Torrent Boards are optimized for the rQPOD module and Xylem's industry-leading sensors from YSI and SonTek. Choose the DUO for multiple sensors, the standard TB for one sensor, or the specialized TBX for the SonTek RS5 ADCP.

DUO

• Length: 1.39 m (4.56 ft)
• Width: 0.78 m (2.56 ft)
• Weight: 6.80 kg (15 lb)

Associated Packages:

• The RiverScanner: Duo Board, SonTek M9, On-board PC, High Resolution Side Scan Sonar, GNSS GPS
• The EXO Surveyor: Duo Board, Sontek M9, EXO Whale Mount, YSI EXO Sonde, On-board PC with radio link, GNSS GPS

TB (Standard)

• Length: 1.14 m (3.74 ft)
• Width: 0.72 m (2.36 ft)
• Weight: 5.90 kg (13 lb)

Associated Packages:

• The RiverSurveyor M9: Standard TB Board, SonTek M9, GNSS GPS
• The EXO: Standard TB Board, EXO Whale Mount, YSI EXO Sonde, On-board PC with radio link, GNSS GPS

TBX (Specialized)

• Length: 0.86 m (2.82 ft)
• Width: 0.54 m (1.77 ft)
• Weight: 4.54 kg (10 lb)

Associated Packages:

• The RiverSurveyor RS5: TBX Board, SonTek RS5, No GNSS GPS (Discharge only)

2. Components

The rQPOD package includes:

• Skid Guard Vertical Port (red) / Starboard (green)
• Skid Guard Horizontal Port (red) / Starboard (green)
• Main Pod Body
• RADIOMASTER TX16S transmitter
• Spare props (2 counterclockwise)
• Mk 2 Thrusters assembly with FCS mounts
• TORX driver and screws
• FCS key
• Magnetic Pen
• 2 Batteries - Phantom LIPO 3
• Charger
• Transmitter cover
• LiPo safe charging bag
• Spare 20 A fuses
• O-ring grease
• rQPOD mounting plate
• 2 x 18650 batteries

3. Setup

3.1 First Time Setup

Torrent Board Preparation:

1. Stick Prop Guard warning safety labels on the board.
2. Insert 6 TORX self-tapping screws into the holes supplied in the miscellaneous box.

General Assembly:

1. Remove plugs from the torrent board V7 on the top and bottom of the board using a coin or similar size object.

1. Insert the thruster assembly into the FCS fin slots as shown. The thrusters are interchangeable and work on either side of the board.

NOTE: Only use the FCS key to secure the thruster assembly to the board and do not overtighten.

3. Fit the skid guards, ensuring they are paired and match the color of the skid guard to the color of the dot on the board. Use the TORX driver to tighten the top bolt, being careful not to overtighten. Place the skid guard on the correct side of the board, matching the skid guard color to the colored dot on the underside. Slide the mounts over the TORX screws in the bottom of the board. Tighten the TORX screws approximately 1½ turn to secure. Turn the board over once complete.

NOTE: If TORX screws are not fitted, they will need to be fitted first.

NOTE: When viewed from behind in the normal operating position on the water, the red skid guard should be on the left (PORT) and the green skid guard on the right (STARBOARD) side of the board. Pass the cables through the holes of the board and ensure the coned plugs fit firmly to prevent air from being sucked down through the board.

4. Connect the cables from the thrusters to the rQPOD. Do not overtighten the locking sleeves. Periodically grease the connectors with the supplied grease, especially if plugs are hard to insert.

5. Place the rQPOD on the board using the mounting plate. It should slide in from one side and then rotate down. Tighten the TORX screws to hold it in place, but do not overtighten.

6. Turn on the remote control transmitter. Ensure that switch F is in the lower position and the throttle stick is in the center neutral position.

NOTE: Ensure switch F is in the lower position for low speed; otherwise, a warning will be displayed.

CAUTION: If it is raining or damp, use the provided transmitter glove. The transmitter is not waterproof and may fail if it gets wet.

7. In a dry environment, undo the black handles and remove the clear battery cover. Insert the two batteries and push them home until they click. Turn the batteries on: a short press checks the battery level, and a long press activates them. Check the clear battery cover for dirt, clean if necessary, and re-grease. Replace the battery cover, ensuring the arrow points towards the sky; it is keyed and can only be installed one way. Lock the handles and visually check all seals through the clear battery cover.

NOTE: Only use batteries that have similar charge levels.

NOTE: Both batteries need to be installed.

NOTE: Check the O-Ring seals and re-grease if necessary.

NOTE: When activated, the battery will chime and LED lights will turn green.

8. Using the pen magnet, swipe over the ARM logo on the rQPOD. The navigation lights will illuminate, and the thrusters will make a sound. Quickly check that the thrusters are working using the transmitter. Disarm the rQPOD using the magnet.

NOTE: Do not operate the thrusters in the air for longer than 10 seconds, as they are water-lubricated.

9. Place the board in the water carefully and keep hold of it. Use the magnet and swipe over the ARM position. The navigation lights on the side of the rQPOD should illuminate, and the thrusters should make a sound. While holding the side of the Torrent board, perform a quick check of the thrusters using the transmitter before deploying.

NOTE: The batteries for the rQPOD have a power-save mode to prevent discharging when not in use. If the thrusters are not turning for 15 minutes, the batteries will enter power-saving mode and shut down. They will need to be manually turned back on.

NOTE: The batteries will need to be charged on a regular basis each month, even if they are not being used.

4. Transmitter Alarms & Tips

4.1 Steering and Turning

Use the left joystick to navigate the vehicle forward and backward. Use the right joystick to rotate the vehicle left and right.

4.2 Fast and Slow Speed Settings

Use the lower left-hand switch to control vehicle speed. Push it forward to go faster and pull it back to go slower. A warning will appear on the screen if the transmitter is turned on and Switch F is in the high rate position.

4.3 Signal Strength

The transmitter range varies according to line of sight and user elevation relative to the rQPOD. At approximately 1 m (3.28 ft) above ground level for both, the range is about 304.8 m (1000 ft), but this can increase with user elevation. A signal strength indicator is shown below. An audible warning will be given when the connection is getting weak.

NOTE: If the rQPOD goes out of range, it will not stop but will continue based on the last command received.

4.4 Telemetry and Servo Information

The telemetry information from the rQPOD is shown on the Radiomaster TX16s display as described below:

• VFAS: Voltage from the rQPOD batteries, varying with throttle. 17.4 V indicates fully charged batteries; 14.4 V indicates nearly empty when no throttle is applied. Voltage may drop when propellers are turning at high speed. An audible "Battery Critical" alarm sounds if voltage drops below 14.7 V and current is less than 2 A.
• Tmp1: Internal temperature of the rQPOD housing. Audible alarms trigger below 5°C (41°F) and above 40°C (104°F). Do not continue operation if temperature alarms are activated. Limits are based on LiPo battery warnings.
• Batt: Voltage of the handheld transmitter. The battery icon shows transmitter battery capacity and provides audible/visual warnings when low.

5. Propeller Servicing

Tools Needed:

• 2 mm Allen key
• Small Phillips or Cross head screwdriver

1. Disconnect the thruster from the rQPOD to ensure no power is supplied. Remove the 3 screws holding the main body of the thruster to the Kurt nozzle cowling. Gently pull the assembly apart.

1. Remove the 2 Allen screws using a 2 mm hex driver and remove the impeller. Ensure there is no debris in the back part of the assembly or under the stator. Replace the impeller with a new one if needed, ensuring it has the same rotation. Replace all screws. Do not overtighten.

6. Troubleshooting

This section provides an approach to establishing the cause of common malfunctions. If the problem cannot be resolved, please contact YSI Technical Support.

The rQPOD isn't turning on.

Solution: Check batteries, magnetic arm switch, and fuses. Fuses are located inside the battery chamber and can be removed using a long screwdriver. Replace with a 20 A fuse if blown. If it blows again, contact YSI. Fuse locations are indicated in orange on the diagram.

The rQPOD does not steer straight.

Solution: First, check for debris in the thrusters, especially in the rear cone. This may require removing the assembly. If clear, check that the trim switches are all set to zero on the transmitter. If it still doesn't steer straight and no wind or currents are affecting the board, the sub trim can be adjusted on the transmitter.

NOTE: A copy of the Transmitter manual is included with the shipment.

NOTE: It is best to adjust the sub trim out of the water, just after it has been submerged, to ensure the bearings are lubricated. Do not run the thrusters excessively in the air.

7. Spare Parts and Accessories

The following spare parts and accessories are available:

• 910214: MK 2 Complete Thruster Assembly
• 911232: MK 2 Prop
• 911231: Skid Guard
• 911219: Batteries
• 911228: Battery Charger
• 911226: Battery Cover
• 910208: Transmitter
• 911230: Waterproof Glove
• 910233: Side Scan Sonar
• 911204: Water Quality Mount for EXO2 and EXO3

Also supported: SonTek & YSI Instrumentation, HYPACK Software.

8. Autonomous Vehicle Services

Your Vehicle to Better Data!

A Vehicle Platform with sensors is a significant commitment. YSI offers services to help you get the most out of your technology. Please contact YSI if any of the following services need to be booked with your order:

• Factory training when you purchase a vehicle.
• Refresher training or training for new users.
• Maintenance contracts for all of your sensors.
• Full service packages where experts run the technology for you.

YSI.com/Let-YSI-Drive

YSI.com/Services

9. DJI Phantom 3 Battery Information

APPENDIX 1

NOTE: The precautions and battery information below are taken from the DJI Phantom 3 Intelligent Battery Safety Instructions version 1.0.2015.8. All instructions and collateral documents are subject to change at the sole discretion of SZ DJI TECHNOLOGY CO. LTD. For up-to-date product information, visit dji.com and click on the product page.

Glossary

The following terms indicate levels of potential harm when operating this product:

• NOTICE: Procedures, which if not properly followed, create a possibility of physical property damage AND a little or no possibility of injury.
• CAUTION: Procedures, which if not properly followed, create the possibility of physical property damage AND a possibility of serious injury.
• WARNING: Procedures, which if not properly followed, create the probability of property damage, collateral damage, and serious injury OR create a high probability of superficial injury.

WARNING: Read the entire Phantom 3 user manual to become familiar with the features of this product before operating. Failure to operate the product correctly can result in damage to the product or personal property and cause serious injury.

This is a sophisticated product. It must be operated with caution and common sense and requires basic mechanic ability. Failure to operate this product safely and responsibly could result in injury or damage. This product is not intended for use by children without direct adult supervision. Do not use incompatible components or alter this product outside of the provided documents by SZ DJI TECHNOLOGY CO. LTD. These safety guidelines contain instructions for safety, operation, and maintenance. It is essential to read and follow all instructions and warnings in the Phantom 3 user manual prior to assembly, setup, or use.

Intelligent Battery Safety Guidelines

WARNING: To avoid fire, serious injury, and property damage, observe the following safety guidelines when using, charging, or storing your batteries.

Battery Use:

1. Do NOT allow batteries to contact liquid. Do NOT leave batteries in rain or near moisture. Do NOT drop the battery into water. Contact with water may cause chemical decomposition, leading to fire or explosion.
2. Never use non-DJI batteries.
3. Never use or charge swollen, leaky, or damaged batteries. Contact DJI or an authorized dealer for assistance if batteries are abnormal.
4. Never install or remove the battery from the rQPOD when it is turned on. Do NOT insert or remove batteries if the plastic cover is torn or compromised.
5. Use the battery in temperatures from -10°C to 40°C. Use above 50°C can lead to fire or explosion. Use below -10°C can lead to permanent damage.
6. Do NOT use the battery in strong electrostatic or electromagnetic environments, as this may cause the battery control board to malfunction.
7. Never disassemble or pierce the battery; it may leak, catch fire, or explode.
8. Electrolytes are corrosive. If contact occurs with skin or eyes, wash immediately with running water for at least 15 minutes and see a doctor.
9. Do NOT use the battery if it was involved in a crash or heavy impact.
10. If the battery falls into water with the rQPOD during a mission, take it out immediately and place it in a safe, open area. Maintain a safe distance until dry. Never use the battery again. Dispose of it properly. Do NOT heat batteries. Extinguish battery fires with sand or dry powder.
11. Do NOT put batteries in a microwave oven or pressurized container.
12. Do NOT place loose battery cells on conductive surfaces like a metal table.
13. Do NOT put loose cells in pockets, bags, or drawers where they may short-circuit or where terminals can be pressed together.
14. Do NOT drop or strike batteries. Do NOT place heavy objects on batteries or the charger.
15. Clean battery terminals with a clean, dry cloth.
16. Ensure batteries are fully charged before each mission.

Battery Charging:

1. Use only a DJI approved adapter. DJI is not responsible for charging with non-DJI chargers.
2. Never leave the battery unattended during charging. Do NOT charge near flammable materials or surfaces.
3. Do NOT charge immediately after a mission if the battery is too hot. Wait until it cools to room temperature. Charging outside 0°C - 40°C may lead to leakage, overheating, or damage.
4. Disconnect the charger when not in use. Examine the charger regularly for damage. Do NOT clean the charger with flammable solvents. Never use a damaged charger.
5. The Intelligent Battery stops charging when full, but monitoring progress and disconnecting when fully charged is good practice.

Battery Storage:

1. Keep batteries out of reach of children and pets.
2. Do NOT leave batteries near heat sources or in vehicles on hot days. Ideal storage temperature is 22°C - 28°C.
3. Keep the battery dry. Never drop it into water.
4. Do NOT drop, strike, impale, or manually short-circuit the battery.
5. Keep batteries away from metal objects like glasses, watches, jewelry, and hairpins.
6. Never transport a damaged battery or one with a power level higher than 50%.
7. Discharge the battery to 40% - 65% if it will NOT be used for 10 days or more to extend battery life.
8. The battery automatically discharges below 65% when idle for more than 10 days to prevent swelling. Set discharging thresholds in the DJI GO app.
9. The battery enters hibernation mode if depleted and stored for a long period. In hibernation, the power LED is solid red, and battery level LEDs are off. You cannot manually turn off the power LED. Leave unattended for 5 minutes for the light to turn off. Recharge to exit hibernation.
10. Remove batteries from the aircraft when stored for an extended period.

Battery Disposal:

1. Dispose of batteries in specific recycling boxes only after complete discharge. Do NOT place in regular trash. Follow local regulations.
2. If the power button is disabled and the battery cannot be fully discharged, contact a professional battery disposal/recycling agent.

Battery Maintenance:

1. Never use the battery when the temperature is too high or too low.
2. Never store the battery in environments with temperatures higher than 60°C.
3. Never over-discharge, as this may lead to battery cell damage.
4. Battery life may be reduced if not used for a long time.

Travel Notice:

1. Before carrying the Intelligent Battery on an airline flight, it must be fully discharged. Discharge using the rQPOD until depleted, in a fireproof location.
2. Store Intelligent batteries in a ventilated location.

10. Warranty Statement

APPENDIX 2

The rQPOD is covered under a 12-month limited manufacturer's warranty on defects and workmanship. This warranty covers all parts and labor for malfunctions due to workmanship or manufacturing errors. It does not cover shortcomings due to design or incidental damage from misuse.

YSI will repair and/or replace, at its sole option, any defective product with a product of like type. Claims for labor costs and other charges resulting from the use of YSI goods and/or products are NOT covered by this limited warranty.

YSI disclaims all express warranties other than those contained above and all implied warranties, including but not limited to warranties of MERCHANTABILITY and/or FITNESS FOR A PARTICULAR PURPOSE. YSI will not be liable, under any circumstance, in contract, tort, or warranty, for any special, indirect, incidental, or consequential damages of any kind, including lost profits, business interruption losses, loss of goodwill, or loss of business or customer relationships. Some states may not allow the exclusion of implied warranties or limitation of liability for incidental or consequential damages, so the above exclusion may not apply to the buyer.

If your system is not functioning properly, first try to identify the source of the problem. If additional support is required, contact YSI immediately. YSI will work to resolve the problem as quickly as possible.

If a system needs to be shipped back to the factory, contact YSI for a Service Request (SR) number. Shipments without SR numbers may be refused. Systems must be shipped back in the original shipping container with original packing material. All delivery costs to YSI are covered by the customer (including taxes and duties). If returned without appropriate packaging, the customer will cover the cost of new packaging.

NOTE: The DJI Phantom 3 batteries, Futaba TX6 transmitter, and DJI charger are selected third-party supplier components. They are not covered by the YSI warranty but by the suppliers' own warranties, details of which can be obtained by contacting YSI.

About Xylem

Xylem is a leading global water technology company. They are a global team unified in creating advanced technology solutions to the world's water challenges, improving how water is used, conserved, and re-used. Xylem's products and services move, treat, analyze, monitor, and return water to the environment across public utility, industrial, residential, and commercial settings. They also offer smart metering, network technologies, and advanced analytics solutions for utilities.

For more information on how Xylem can help you, go to www.xylem.com.

© 2022 Xylem, Inc. XA00070 0622

YSI.com/rQPOD