Preparing for Deployment
Before deployment ensure the ballast is in the correct configuration, all data is offloaded so you have sufficient room for new data, and the batteries are charged. Begin charging the batteries to full capacity the day before the deployment. Make sure you remain near enough to the batteries during their charging to monitor their progress and so you can remove them from the charger once charging is complete. Instructions for these can be found as pages under the regular maintenance section and can be seen linked here:
For a deployment to go smoothly, collect everyone’s experiment plans and put together an agenda to ensure you have the time and manpower to accomplish everything. Best recommendation is to start planning this the week leading up to the trial, finalizing any remaining plans the day before the trial. The day before the trial, bench test everything you can as best as possible and verify you have all materials you will need for the trial. Charge the batteries for LoCO and put a freeze on the codebase after successful bench operations to minimize causing unexpected issues due to codebase problems.
On the day of the trial it is good to run at least one final bench test. Insert the batteries, apply necessary ballasting (keep in mind the type of water you are going to test in), and seal up the robot for transport to your trial location. Pack up any additional equipment you will need for your trial, keeping in mind what the robot will need and what you, a person, will need. Sample packing lists for the robot can be seen here.
- Attach battery beaks and check voltage warning (see here).
- Attach batteries to PDBs, via the XT90 parallel connectors, in both tubes.
- Check internal connections (last chance). Possibly boot and test connectivity and systems at this point.
- Attach and tighten all plugs and penetrators. Check any re-atttached plug or-rings for issues. If using tether, ensure tether penetrator is connected.
- Wipe down and check end gasket O-Ring seals. Re-grease if necessary.
- Slide MDFs into tubes, adding a desiccant packet beneath each MDF in front of first ballast block.
- Use the vacuum pump to evacuate all air from the tubes. Keep removing air until you achieve an internal pressure of
15mmHg (~0.3psi). Very quickly detach the vacuum tube from the penetrator and replace with vent plug.
- This may take some practice and may take you a couple of tries! If your plug gets caught on the inner lip on the way in or you were not able to place it immediately (if you heard a lot of air escape), remove the plug, re-evacuate air and try again. It’s very important to get a good seal and it’s worth taking the extra time to make sure this is done correctly.
- Connect thruster backbone to main structure.
- Power and check connectivity.
