WHOI APH-22– Page 1

WHOI APH-22 UAS DESCRIPTION, OPERATIONAL PROCEDURES

Prepared by: 

Michael Moore – WHOI

Table of Contents

Background 2

UAS Description 4

Operational Procedures 6

APPENDIX 11
WHOI APH-22– Page 2

Background Information

Project Goal: WHOI primary objective is to use the APH-22 hexacopter unmanned aircraft 

system (UAS) equipped with a high resolution digital camera for marine mammal

photogrammetry and survey. Aerial images will be captured by the UAS of individual whales 

when they surface, and of seal haulouts. Measurements will be made using calibration images of 

the vessel and of a calibration target. Using this same small UAS, the National Marine Mammal 

Laboratory (NMML) and NOAA Southwest Fisheries Science Center have successfully 

conducted with Steller Sea Lions and killer whales in the Queen Charlotte Islands, British 

Columbia (see 

http://www.fisheries.noaa.gov/podcasts/2014/10/aerial_vehicle_killer_whale.html#.VIcXxjHF_T

o). The same safety measures, mission protocols, and restrictions will be adhered to as were 

implemented in these surveys.

Project Description:

The images collected by the UAS will be used to measure the overall length, and length width 

ratios at every 10% of length from rostrum to fluke notch. These data will be compared with boat 

based health assessments (Pettis et al., 2004), and other aerial images obtained (Miller et al., 

2012) to compare the measurements collected in hand. Images of seal haul outs will be used to 

assess population size and fishing gear entanglement prevalence. Images of marine mammal 

stranding events will also be acquired.

Aircraft Operations: All missions will be flown under in Class G airspace under Class E VFR 

weather conditions. Pertinent marine mammal research permits from NOAA Office of Protected 

Resources will be in hand. Additionally, for any missions flown within the boundaries of the 

NOAA Stellwagen Bank National Marine Sanctuary, any necessary authorization/permits with 

be obtained. 

The aircraft will be operated by at least a 2 person team. One individual will fulfill the role of 

Pilot in Command (PIC). This person will lead the flight and operate the UAS with the RC unit 

and monitor the video feed, battery status, altitude and orientation and relate to the PIC. The 

second individual will be the Visual Observer (VO) and will observe the UAS and surrounding 

airspace throughout each flight and provide the PIC information on the UAS’s flight path and 

proximity to all aviation hazards necessary to prevent collision.

To accomplish our whale photogrammetry objective, photographic surveys will be flown above 

the targeted animals at an altitude above 75 feet ASL and the UAS will not be flown over 200 

feet ASL. All surveys will be flown in manual control. The PIC will pilot the UAS over targeted 

animals based on their view of the UAS and what is shown on the video downlink at the Ground 

Control Station (GCS) relayed by the ground station observer.

Another objective will be to obtain exhalate samples. For this, brief descents to no less than 10 

feet ASL will be undertaken. An inverted standard skirtless 96 well plate (12 x 7 x 2 cm, 

weighing 13.7 gm) will be securely attached to the underside of the multicopter, behind the 
WHOI APH-22– Page 3

camera. Bench trials suggest that 4-6 mls of exhalate could be collected, with surface tension 

holding the samples in the wells of the inverted plate until the plate can be retrieved from the 

UAS and processed appropriately.

Flights to survey seal haulouts and cetacean stranding events will be piloted from an adjacent 

beach, at least 500 feet from non participating persons.

Flights to assess entangled animals will enable documentation of entanglement configurations 

from 15 to 100 feet ASL.

Other at sea projects that may arise will follow the above general parameters.

Flights will only be conducted in the following conditions:

● Daylight hours

● Visibility 3 statute miles or greater

● UAS able to operate at least 500 feet below clouds and 2,000 feet horizontally from 

clouds. 

● Wind less than 20 knots.

● Rain less than 0.25 inches per hour

The PIC will not operate the UAS beyond line of sight and under no circumstances will the UAS 

be operated beyond visual range or 0.5 nm, whichever is less. Each flight operation will be 

preceded and followed by working through the appropriate check lists (see pre-flight checklist 

below). UA will not be operated within 5 nautical miles (NM) of an airport having an 

operational control tower, or 3 NM of an airport with a published instrument flight 

procedure but not an operational control tower, or 2 NM of an airport without a published 

instrument flight procedure or operational control tower, or 2 NM of a heliport with a 

published instrument flight procedure.

UAS Description

The APH-22 hexacopter is designed and built by Aerial Imaging Solutions, Old Lyme, CT. The 

APH-22 is a small vertical takeoff and landing (VTOL) UAS that will be used to collect digital

photographs with its Olympus OLEPM2S camera payload. The aircraft is powered by a 4 cell 

Lithium polymer battery that drives 6 brushless electric motors. It weighs approximately 4 

pounds and measures 32 inches from propeller to propeller. Depending on payload and 

environmental conditions the aircraft can achieve flight durations of up to 35 minutes. The 

UAS’s attitude, altitude, and heading are stabilized by an electronic control system that 

incorporates 3 gyros, 3 accelerometers, a magnetic compass, a barometric pressure sensor, a GPS 

receiver, and 8 microprocessors. The radial arms and core of the aircraft are aluminum, the 

electronic support chassis and landing struts are carbon fiber, and the landing support struts are 

ABS. Foam landing pads are attached to the skids to dampen the impact of landing and increase 

surface area in contact with the ground. These landing pads also provide floatation to the UAS in 

the unlikely event of a water landing. 
WHOI APH-22– Page 4

Figure 1. APH-22 system.

Specifications:

Manufacturer: Aerial Imaging Solutions

Model: APH-22

Diameter: 32.4 inches from prop tip to prop tip

Height: 11.3 inches

Empty weight: 3.8 pounds

Max Take-off weight: 4.5 pounds

Engine type: 6 x flat core brushless motors

Engine Power: 48.2 N

Battery: Custom 4 cell Lithium Polymer

Battery Capacity: 16.8 volts / 6200 mAH

Performance:

Max Cruise Speed: 30 knots

Min Cruise Speed: Hover

Max Range: 1 nautical mile

Endurance: 25 – 35 minutes

Max Altitude: 200 feet

Communication System Description: There are three transmitter/receiver pairs used in the 

operation of the APH-22: one pair is used for Radio Control (RC) of the aircraft, one pair is used 

for the video downlink, and one pair is for the telemetry downlink. 

To control the UAS, the pilot uses a 2.4 GHz, 10 channel radio control transmitter with the 

corresponding receiver integrated into the UAS. Similarly, to broadcast video and telemetry 
WHOI APH-22– Page 5

information the transmitters are integrated into the UAS and the corresponding receivers are 

integrated into the ground station. 

The video downlink provides the PIC with real time video for situational awareness and target 

acquisition. 

The telemetry downlink provides real time information such as attitude, altitude, location, 

distance from ‘home,’ flight time, and battery life. Frequencies used for each data type follow:

2.4 GHz for radio control - transmitter at GCS

5.8 GHz for video downlink - transmitter on UAS

910 MHz for telemetry downlink - transmitter on UAS

Ground Control Station Description: The GCS consists of a handheld controller and a realtime data display mounted on an eye level tripod. The PIC controls the UAS at the GCS using a 

handheld Futaba 10-Channel Radio Control System with the data display as a reference. 

The data display is composed of a small video monitor and a digital LED display unit that are 

mounted on front pack worn by the PIC. The video monitor receives analogue video output from 

the camera mounted on the UAS. The digital LED display shows the telemetry data downlink 

from the aircraft, which includes altitude, attitude, orientation, battery output, elapsed time since 

start of engines, distance from ‘home,’ and position. By mounting this system on frontpack it is 

always visible the PIC. The GCS data display is powered by the same Lithium Polymer batteries 

that are used to power the UAS. The full unmanned aircraft system (UAS and GCS consisting of 

handheld controller and data display) is shown below in Figure 2 with a flight team.
WHOI APH-22– Page 6

Figure 2. Hand launch of the APH-22 prior to imaging a blue whale in Chile.

Operational Procedures

UAS equipment deployments from the Research Vessel: Procedures will be discussed before each 

deployment and if there are any objections by any member of the team, the mission will be 

postponed until deemed safe by all members or cancelled due to unfavorable conditions (i.e., 

inclement weather such as high seas or winds).

Weather Considerations: Missions will not be deployed unless all involved and the Research 

Vessel crew deem it safe. This means sea swell is not excessively high and will remain favorable 

throughout the day.

Deployment/Recovery: APH-22 will be safely secured in a pelican case while still on board the 

Research Vessel. For launching, the research vessel will be held stationary, head to wind. The 

PIC will stand on the aft deck, immediately behind the VO who will stand on the level platform 

at the aft end of the vessel. The VO will be standing behind a waist high safety rail.

Routine Procedures:

Gyro will be calibrated on land before boarding the vessel. This UAS now retains gyro 

calibration for sustained periods, even after shut down. Land calibration will be repeated 

whenever opportunity arises.
WHOI APH-22– Page 7

Launch—Prior to the first flight of the day a briefing will be held on the research vessel with the 

ship’s captain, chief scientist, and flight crew (PIC and VO), present. Prior to beginning any 

UAS flight the operation will be briefed with a minimum of the flight crew present. Briefing 

topics will include: 

● A review of the previous relevant UAS missions (within or outside of the current 

project) 

● Safety concerns regarding the previous or upcoming UAS operation 

● UAS status 

● Mission objectives 

● Weather conditions and forecast

● Identification of roles 

● Scheduled launch time 

● Launch procedures 

● Recovery procedures 

● Limiting airspace factors 

● Emergency procedures 

Following the pre-flight briefing the flight crew will complete the pre-flight checklist:

● Conduct visual inspection of arms, rotor blades, motors and landing gear

● Check charge level in lithium polymer batteries (charge as required)

● Turn on RC unit / verify all switches forward (off position) on RC unit

● Install battery in aircraft – verify proper UAS self-check (one beep followed by 4 

beeps)

● Check for communication with RC unit

● Install fresh battery in ground station

● Check battery integrity, check voltage of UAS battery as indicated on ground station 

display

● Turn on camera

● Verify GPS lock

● Calibrate magnetic compass (only required if location differs from previous flight –

see Appendix B)

● Check for SD card

● Check camera settings

● Menu > Image Quality > “Large (5184x3456)

● Menu > Aspect Ratio > 4:3

● Menu > Power Saving > Disable ‘Camera Auto Off’ and set LCD 

Auto Off to ’30 min.’

● Focus

o Automatic

● Exposure settings

o Aperture Priority (Av)

o F/5.6-F/8

o ISO 800

● Remove lens cap

● Plug in camera/Tx Connector
WHOI APH-22– Page 8

● Sync up time output on camera and hexacopter

● Check video output at ground station

● Start motors (see Appendix C)

● Conduct hand test of pitch, roll and heading control and responses in VO’s hands

● The standard method of launch will be conducted by hand – the VO will lightly hold 

the UAS above their head. Proper PPE will be worn including long sleeves, Kevlar 

gloves, glasses, and hat

● The VO will notify the PIC they are ready for launch

● The PIC will power up the UAS motors and take-off from the VO’s hands

● Once airborne the VO will begin monitoring the surrounding airspace

● Once airborne, activate altitude hold and ensure that altitude hold is operational

● Confirm hexacopter is responding appropriately by testing all directional controls. 

Trim if necessary

● Briefly ensure that ‘return to home’ is working as expected

● Begin mission 

Recovery—

● At the conclusion of the flight mission the PIC will manually pilot the UAS home, or 

may initiate the ‘automatic return home’ procedure. The UAS has capacity to be 

programmed to return to the current location of the vessel if the vessel has moved 

from the the laucnch location.

● Following instruction from the PIC, the VO will position themselves for hand 

recovery of the UAS. Proper PPE will be worn including, long sleeves, Kevlar 

gloves, glasses, and hat

● The PIC will slowly bring the UAS down and the VO will reach up and grab the 

landing skids

● The PIC will immediately power off the motors and the flight team will begin the 

post-flight checklist: 

1. Disconnect hexacopter battery

2. In the event of a hard landing on the previous flight, disconnect battery 

and then reconnect to initiate system checks.

3. Check motor and battery temperatures

4. Turn off camera

5. Turn off RC unit

6. Turn off ground station

7. Unplug camera/Tx Connector

8. Replace lens cap

9. Conduct visual inspection of arms, rotor blades, motors and landing gear

Emergency Procedures: The most likely emergency situation to develop during the operation of 

the APH-22 is a rapid loss of battery power. A fully charged APH-22 Lithium Polymer battery 

has a charge of 16.8 volts and a capacity of 6200 mAH. During flight operation the voltage of 

the battery progressively declines. The UAS has integrated low voltage alarms to audibly notify 

the flight crew of low voltage. When the voltage of the UAS battery measures 14.2 volts an 
WHOI APH-22– Page 9

alarm sounds at the GCS. When the voltage of the UAS battery reaches 13.2 volts another alarm 

will sound on the UAS and the PIC will immediately land the UAS. 

Unlike some multi-rotor drones, the APH-22 hexacopter has the ability to continue controlled 

flight, despite the loss of up to one engine. In the event of an engine failure, the PIC will be 

instructed to retrieve the UAS immediately, if possible, if not to ditch it. 

Loss of propulsion—The most likely cause of power loss to the UAS is depleting the UAS 

battery or the internal failure of one or more cells within the UAS Lithium Polymer battery. As 

such, the PIC will monitor the UAS battery voltage.

● While in flight the PIC will monitor the UAS battery voltage reading.

● The PIC will pilot the UAS home when battery voltage reaches 15.2V, reserving a 

considerable amount of battery capacity. 

● If at any time during a flight the battery voltage begins to drop rapidly and inexplicably 

the PIC will retrieve immediately. 

● If at any time during a flight a propulsion loss occurs (can lose one motor and still remain 

operational) the PIC will retrieve immediately if possible, or ditch it.

● The UAS has adequate buoyancy to remain afloat in the event of a water landing. If the 

UAS loses propulsion over water it will be recovered by the vessel or small boat.

● Following a malfunction of the UAS the cause will be identified and addressed before 

flying the next mission. 

Fire—

● The lithium polymer batteries may ignite under significant impact. Lithium polymer 

batteries will be handled using fire proof bags for charging, storage and transport. 

Aircraft Observed in Vicinity—

● If an aircraft is observed operating within the vicinity the VO will immediately alert the 

PIC. The PIC will immediately reduce altitude, return the hexacopter to the GCS, and 

land the UAS. When the area is clear of aircraft, UAS flight operations will resume. 

Lost Link—

● Prior to launch and during the startup procedures, the UAS logs its launch position and 

altitude using GPS and pressure sensor. This position and altitude is known as ‘home.’ 

The launch position will also be recorded by the vessel operator to enable return to that 

location if need be.

● If the link between the GCS and the UAS is lost for a specified period of time the UAS 

will automatically adjust altitude to a previously specified safe altitude for the mission 

(not to exceed 400’ AGL) and return to a point above its home position. If the link is not 
WHOI APH-22– Page 10

reestablished between the UAS and GCS, the UAS will autoland after reaching this 

position.

● The default period of time to initiate the ‘automatic return home’ procedure is 10 

seconds. The default ‘automatic return home’ altitude will be set to 50 feet above the 

highest point of the vessel, which is 70’above sea level.

All attempts will be made to re-establish link as UAS returns home and begins the descent to 

autoland. Realistically, the link should be reestablished as the UAS approaches the GCS and RC 

and the signal strength from the GCS and RC increases. 

Record Keeping: The flight crew will track flight information as follows:

● Number of flights conducted

● Operational time per flight

● GCS operational time in support of each flight

● Pilot duty time per flight

● Equipment malfunctions with the GCS or aircraft

● Operational/coordination issues

● The number and duration of lost link events per aircraft per flight. 

Incident/Accident Procedures: All incidents/accidents will be reported immediately to a 

designated contact at Woods Hole Oceanographic Institution Environmental Health and Safety 

Office. 

Additional Checklists: After shipment – out of the box check list

● Charge RC unit and all Lithium batteries

● Conduct visual inspection of arms, motors and landing gear

● Verify tight fit on all motor mounts

● Remove lid and check all connectors, solder connections and verify installation of SD 

card

● Confirm balance of propellers

● Secure propellers to arms

● Turn on transmitter, check battery voltage and verify settings

● Install battery in aircraft and conduct “self check” (1 beep system check ok; then 4 

beeps to indicate it detects a 4 cell battery)

● Put hexacopter on a level surface and calibrate accelerometers (see Appendix A)

● Rotate aircraft around three axis to calibrate magnetic compass (see Appendix B)

● Check for GPS lock and fix (requires 6 satellites) (blue light flashes)

● Conduct hand test to determine whether aircraft responds properly to movement (fore, 

aft, pitch and yaw)

● Set up camera 

APPENDIX A—Accelerometer Calibration
WHOI APH-22– Page 11

Calibrating the accelerometers establishes what the flight controller considers ‘level‘ attitude. 

Therefore, the bird must be leveled before calibration. This procedure needs to be performed 

only once, unless the flight control board is removed, or the firmware is updated.

1. Level the bird

2. Use the transmitter to initiate calibration 

Function Example

Throttle up + Yaw right

Listen for 3 beeps that confirm calibration
WHOI APH-22– Page 12

APPENDIX B—Compass Calibration

Step Function Example

Step 1

Initiate compass 

calibration

Pitch stick down

then

Throttle up + Yaw left

(1 beep)

Step 2

Start Calibration

Pitch stick down

(2 beeps and clicking begins)

Calibration of the XAxis (Pitch-Axis)

Point nose North or South.

Rotate the bird around the PitchAxis until the clicking stops.

Calibration of the YAxis (Roll-Axis)

Rotate the bird 90°

The clicking starts again.

Rotate the bird around the RollAxis until the clicking stops.

Step 3 & 4

Finish the 

calibration of the X 

and Y-Axis

Pitch stick down

(3 beeps. Do nothing.)

Pitch stick down

(4 beeps)

The clicking starts again.

Calibration of the ZAxis (Yaw-Axis)Rotate the bird around the RollAxis until the clicking stops.
WHOI APH-22– Page 13

Step 5

Finish calibrating 

the Z-Axis.

Pitch stick down

Listen for 2 beeps that confirm 

calibration.
WHOI APH-22– Page 14

Appendix C—Gyro Calibration, Startup and Shutdown

Function Example

Calibrating Gyros

(Before every start.)

Throttle up + Yaw left

(3 beeps)

Starting the motors

Throttle down + Yaw right 

Stopping the motors

Throttle down + Yaw left
WHOI APH-22– Page 15

Literature Cited

Miller, C. A., Best, P. B., Perryman, W. L., Baumgartner, M. F., and Moore, M. J. 2012. Body 

shape changes associated with reproductive status, nutritive condition and growth in right 

whales Eubalaena glacialis and E. australis. Mar Ecol Prog Ser, 459: 135-156.

Pettis, H., Rolland, R., Hamilton, P., Knowlton, A., Kraus, S., and Brault, S. 2004. Visual health 

assessment of North Atlantic right whales (Eubalaena glacialis) using photographs. Can. 

J. Zoo., 82: 8-19.
WHOI Mariner Manual – Page 1

WHOI MARINER UAS DESCRIPTION, OPERATIONAL PROCEDURES

Prepared by: 

Michael Moore – WHOI

Table of Contents

Background 2

UAS Description 3

Operational Procedures 5

APPENDIX 9
WHOI Mariner Manual – Page 2

Background Information

Project Goal: WHOI’s primary objective is to use the Mariner hexacopter unmanned aircraft 

system (UAS) to collect breath samples from large whales. Breath samples of whale individuals 

will be captured by the UAS when they surface. Using a slightly larger UAS, the APH-22, the 

National Marine Mammal Laboratory (NMML) and NOAA Southwest Fisheries Science Center 

have successfully conducted UAS surveys with Steller Sea Lions and killer whales in the Queen 

Charlotte Islands, British Columbia (see 

http://www.fisheries.noaa.gov/podcasts/2014/10/aerial_vehicle_killer_whale.html#.VIcXxjHF_T

o). The same safety measures, mission protocols, and restrictions listed below will be adhered to 

as were implemented in these surveys. Recently in Chilean airspace we have successfully 

collected breath from a blue whale in Chile (Figure 1).

Figure 1 – Frame shot of video during breath sampling of a blue whale in Chile. Note the calf on 

the left of the mother. 

Project Description: Acquisition of breath samples has great value for studying stress response, 

endocrinology and microbiology in large whales. These disciplines will be uniquely served by 

such samples.

Aircraft Operations: All missions will be flown under in Class G airspace under Class E VFR 

weather conditions. Pertinent marine mammal research permits from NOAA Office of Protected 

Resources will be in hand. Additionally, for any missions flown within the boundaries of the 

NOAA Stellwagen Bank National Marine Sanctuary, any necessary authorization/permits with 

be obtained. 

The aircraft will be operated by at least a 2 person team. One individual will fulfill the role of 

Pilot in Command (PIC). This person will lead the flight and operate the UAS with the RC unit 

and monitor the video feed, battery status, altitude and orientation and relate to the PIC. The 

second individual will be the Visual Observer (VO) and will observe the UAS and surrounding 

airspace throughout each flight and provide the PIC information on the UAS’s flight path and 

proximity to all aviation hazards necessary to prevent collision.
WHOI Mariner Manual – Page 3

The UAS will be flown as low as 10 feet above the animal (and not more than 200 feet) 

during a surfacing and exhalation in order to collect the exhalate on sterile collection plates

located on the underside of the UAS. If there is an immediate behavioral response to the 

approach, i.e. increased avoidance through evasive maneuvering, approaches on the animal 

will cease for the day and a new animal will be targeted. Additionally, the flight crew will 

reassess the protocols and increase the altitude above the animal if necessary during 

subsequent approaches to minimize the negative response from the animal, while still 

attempting to collect the animal’s exhalate. All surveys will be flown in manual control. The 

PIC will pilot the UAS over targeted animals based on their view of the UAS and what is shown 

on the video downlink at the Ground Control Station (GCS) (Figure 1) relayed by the ground 

station observer. All video will be saved to disc for later review of any subtle behavioral 

changes.

An inverted sterile standard skirtless 96 well plate (12 x 7 x 2 cm, weighing 13.7 gm) will be 

securely attached to the underside of the multicopter, behind the camera (Figure 2). Bench trials 

suggest that 4-6 mls of exhalate could be collected, with surface tension holding the samples in 

the wells of the inverted plate until the plate can be retrieved from the UAS and processed 

appropriately.

Additionally the Mariner may also be flown to document large whale entanglement cases. For 

this low altitude flights will be combined with the UAS landing on the water beside the whale 

with an underwater video camera to fully document the entanglement. 

Flights will only be conducted in the following conditions:

● Daylight hours

● Visibility 3 statute miles or greater

● UAS able to operate at least 500 feet below clouds and 2,000 feet horizontally from 

clouds. 

● Wind less than 20 knots.

● Rain less than 0.25 inches per hour

The PIC will not operate the UAS beyond line of sight and under no circumstances will the UAS 

be operated beyond visual range or 0.5 nm, whichever is less. Each flight operation will be 

preceded and followed by working through the appropriate check lists (see pre-flight checklist 

below). Flights (Figure 3) will not be operated within 5 miles of any airport (such as 

Provincetown or Chatham, and not within National Park Service land or beach areas. A common 

right whale area in Cape Cod Bay is Wood End, 5 miles south of Provincetown airport. We will 

only operate outside of that range to the airport. Thus we will not operate near Herring Cove 

Beach, which is another common location for right whales.

UAS Description

The Mariner quadcopter is designed and built by fpvfactory.com. It is a small vertical takeoff 

and landing (VTOL) UAS that is designed for high humidity operations, including landing on the 

water to acquire underwater surface video. The aircraft is powered by a 4 cell Lithium polymer 
WHOI Mariner Manual – Page 4

battery that drives 4 brushless electric motors. It weighs approximately 3.6 pounds and measures 

20 inches from propeller to propeller. Depending on battery configuration and payload the flight 

duration can be up to 30 minutes. The UAS’s attitude, altitude, and heading are stabilized by an 

electronic control system that incorporates 3 gyros, 3 accelerometers, a magnetic compass, a 

barometric pressure sensor, a GPS receiver, and 8 microprocessors. The buoyant body of the 

aircraft is rugged plastic and the landing support struts are impact resistant nylon tubing.

Figure 1 – Mariner Base Control Station

Figure 2. Mariner Quadcopter.

a. Top side, b. Front view showing exhalate collection plate, c. Side showing camera.

Note camera should be shifted fore or aft to balance overall payload. Be sure to 

secure video cable with hook and loop straps to keep it flush with body in midline to 

avoid rotating propellers

a b c
WHOI Mariner Manual – Page 5

Specifications:

Manufacturer: pfvfactory.com

Model: Mariner

Diameter: 20 inches from prop hub to prop hub

Height: 9 inches

Unloaded weight: 3.8 pounds

Max Take-off weight: 4.4 pounds

Engine type: 4 x flat core brushless motors

Engine Power: 64 N

Battery: 4 cell Lithium Polymer

Battery Capacity: 14.8 volts / 4200 mAH

Performance:

Max Cruise Speed: 30 knots

Min Cruise Speed: Hover

Max Range: 1000 yards

Endurance: Up to 30 minutes

Max Altitude: 200 feet

Communication System Description: There are two transmitter/receiver pairs used in the 

operation of the Mariner: one pair is used for radio control of the aircraft (2.4 GHz) and one pair 

is used for the video downlink (5.8 GHz). 

To control the UAS, the PIC uses a 2.4 GHz, 7 channel radio control transmitter with the 

corresponding receiver integrated into the UAS. Similarly, to broadcast video information in 

real-time, the transmitter is integrated into the UAS and the corresponding receiver integrated 

into the GCS.

The video downlink provides the PIC with real time video for situational awareness and target 

acquisition. 

Frequencies used for each data type follow:

2.4 GHz for radio control - transmitter at GCS

5.8 GHz for video downlink - transmitter on UAS

Ground Control Station Description: The GCS consists of a handheld controller and a realtime video display mounted on the controller. The PIC controls the UAS at the GCS using a 

handheld DeVo 7-Channel Radio Control System with the video as a reference. 

The video monitor receives analogue video output from the camera mounted on the UAS. The 

GCS video display is powered by an internal Lithium Polymer battery. 
WHOI Mariner Manual – Page 6

Operational Procedures

UAS equipment deployments from the Research Vessel: Procedures will be discussed with all 

members of the flight crew before each deployment and if there are any objections by any 

member of the team, the mission will be postponed until deemed safe by all members or 

cancelled due to unfavorable conditions (i.e., inclement weather such as high seas or winds).

Weather Considerations: Missions will not be deployed unless all involved and the Research 

Vessel crew deem it safe. This means sea swell is not excessively high and will remain favorable 

throughout the duration of the flight. 

Deployment/Recovery: The Mariner will be safely secured in a pelican case while still on board 

the research vessel. For launching, the research vessel will be held stationary, head to wind. The 

PIC will stand on the aft deck, immediately behind the VO who will stand on the level platform 

at the aft end of the vessel. The VO will be standing behind a waist high safety rail.

Routine Procedures:

Launch—Prior to the first flight of the day a briefing will be held on the research vessel with the 

ship’s captain, chief scientist, and flight crew (PIC and VO), present. Prior to beginning any 

UAS flight the operation will be briefed with a minimum of the flight crew present. Briefing 

topics will include: 

● A review of the previous relevant UAS missions (within or outside of the current 

project) 

● Safety concerns regarding the previous or upcoming UAS operation 

● UAS status 

● Mission objectives 

● Weather conditions and forecast

● Identification of roles 

● Scheduled launch time 

● Launch procedures 

● Recovery procedures 

● Limiting airspace factors 

● Emergency procedures 

Following the pre-flight briefing the flight crew will complete the pre-flight checklist:

● Conduct visual inspection of arms, rotor blades, motors and landing gear

● Check charge level in lithium polymer batteries (charge as required)

● Turn on RC unit / verify GPS/ATTI switch in forward position on RC unit

● Verify Intelligent Orientation Control is in the off position (switch in back position on 

RC unit).

● Install battery in aircraft – verify proper UAS self-check (one beep followed by 4 

beeps)

● Check for communication with RC unit

● Check battery status in ground station
WHOI Mariner Manual – Page 7

● Check battery integrity, check voltage of UAS battery as indicated by UAS arm

LED’s not flashing

● Verify GPS lock (flashing green belly LED on UAS when in GPS/ATTI mode)

● Calibrate magnetic compass (only required if location differs from previous flight –

see Appendix B)

● Turn on camera

● The PIC will power up the UAS motors and perform the hand check of pitch, roll and 

heading control and responses in VO’s hands

● The standard method of launch will be conducted by hand – the VO will lightly hold 

the UAS above their head. Proper PPE will be worn including long sleeves, Kevlar 

gloves, glasses, and hat

● The VO will notify the PIC they are ready for launch

● Record Latitude and longitude of launch position

● The PIC will take-off from the VO’s hands

● Once airborne, the VO will begin monitoring the surrounding airspace

● Once airborne, activate altitude hold and ensure that altitude hold is operational

● Confirm aircraft is responding appropriately by testing all directional controls. Trim if 

necessary

● Briefly ensure that ‘return to home’ is working as expected

● Begin mission 

Recovery—

● At the conclusion of the flight mission the PIC will manually pilot the UAS home, or 

may initiate the ‘automatic return home’ procedure. Given the ability of the Mariner 

to land on water, if it comes home to the launch position, the vessel can return to that 

position to retrieve it in such an eventuality.

● Following instruction from the PIC, the VO will position themselves for hand 

recovery of the UAS. Proper Personal Protective Equipment (PPE) will be worn 

including, long sleeves, Kevlar gloves, glasses, and hat

● The PIC will slowly bring the UAS down and the VO will reach up and grab the 

landing skids

● The PIC will immediately power off the motors and the flight team will begin the 

post-flight checklist: 

1. Disconnect aircraft battery

2. In the event of a hard landing on the previous flight, disconnect battery 

and then reconnect to initiate system checks.

3. Check motor and battery temperatures

4. Turn off camera

5. Turn off RC unit

6. Turn off ground control station

7. Unplug camera connector

8. Conduct visual inspection of arms, rotor blades, motors and landing gear
WHOI Mariner Manual – Page 8

Emergency Procedures: The most likely emergency situation to develop during the operation of 

the Mariner is a rapid loss of battery power. A fully charged Mariner Lithium Polymer battery 

has a charge of 14.8 volts and a capacity of 4200 mAH. During flight operation the voltage of 

the battery progressively declines. The UAS has an integrated low voltage LED alarm to visually

notify the flight crew of low voltage by flashing the four arm LED’s. The PIC will immediately 

land the UAS. 

Loss of propulsion—The most likely cause of power loss to the UAS is depleting the UAS 

battery or the internal failure of one or more cells within the UAS’s Lithium Polymer battery. 

● While in flight the PIC will monitor the UAS LED alarm.

● The UAS has adequate buoyancy to remain afloat in the event of a water landing. If the 

UAS loses propulsion over water it will be recovered by the research vessel or small boat.

● Following a malfunction of the UAS the cause will be identified and addressed before 

flying the next mission. 

Fire—

● The lithium polymer batteries may ignite under significant impact. Lithium polymer 

batteries will be handled using fire proof bags for charging, storage and transport. 

Aircraft Observed in Vicinity—

● If an aircraft is observed operating within the vicinity the VO will immediately alert the 

PIC. The PIC will immediately reduce altitude, return the UAS to the GCS, and land. 

When the area is clear of aircraft, UAS flight operations will resume. 

Lost Link—

● Prior to launch and during the startup procedures, the UAS logs its launch position and 

altitude using GPS and pressure sensors. This position and altitude is known as ‘home.’ 

The launch position will also be recorded by the vessel operator to enable return to that 

location if need be.

● If the link between the GCS and the UAS is lost for a specified period of time the UAS 

will automatically adjust altitude to a previously specified safe altitude for the mission 

(not to exceed 400’ AGL) and return to a point above its home position. If the link is not 

reestablished between the UAS and GCS, the UAS will autoland after reaching this 

position.

● The default period of time to initiate the ‘automatic return home’ procedure is 10 

seconds. The default ‘automatic return home’ altitude will be set to 50 feet above the 

highest point of the vessel, which is 70’above sea level.
WHOI Mariner Manual – Page 9

All attempts will be made to re-establish link as the UAS returns home and begins the descent to 

autoland. Realistically, the link should be reestablished as the UAS approaches the GCS and RC 

and the signal strength from the GCS and RC increases. 

Record Keeping: The flight crew will track flight information as follows:

● Number of flights conducted

● Operational time per flight

● GCS operational time in support of each flight

● Pilot duty time per flight

● Equipment malfunctions with the GCS or aircraft

● Operational/coordination issues

● The number and duration of lost link events per aircraft per flight. 

Incident/Accident Procedures: All incidents/accidents will be reported immediately to a 

designated contact at Woods Hole Oceanographic Institution Environmental Health and Safety 

Office. 

Additional Checklists: After shipment – out of the box check list

● Charge RC unit and all Lithium batteries

● Conduct visual inspection of arms, motors and landing gear

● Verify tight fit on all motor mounts

● Remove lid and check all connectors, solder connections and verify installation of SD

memory card

● Confirm balance of propellers

● Secure propellers to arms

● Turn on radio transmitter, check battery voltage and verify settings

● Install battery in aircraft and conduct “self check” (1 beep system check ok; then 4 

beeps to indicate it detects a 4 cell battery)

● Put aircraft on a level surface and enable start up (see Appendix C)

● Rotate aircraft around three axis to calibrate magnetic compass (see Appendix B)

● Check for GPS lock and fix (requires 6 satellites) (blue light flashes)

● Conduct hand test to determine whether aircraft responds properly to movement (fore, 

aft, pitch and yaw)

● Set up camera 
WHOI Mariner Manual – Page 10

APPENDIX A—
WHOI Mariner Manual – Page 11

APPENDIX B—Compass Calibration
WHOI Mariner Manual – Page 12

Appendix C— Startup and Shutdown
WHOI Phantom Manual – Page 1

WHOI PHANTOM UAS DESCRIPTION, OPERATIONAL PROCEDURES

Prepared by: 

Michael Moore – WHOI 

Table of Contents

Background 2

UAS Description 3

Operational Procedures 5

APPENDICES 9
WHOI Phantom Manual – Page 2

Background Information

UAS Project Goals: WHOI’s primary objective is to use the DJI Phantom quadcopter 

unmanned aircraft system (UAS) to collect high resolution digital imagery and biological 

samples (Eg. exhalate or breath samples) from marine mammals. The primary target animals will 

be those that are in immediate need of assessment and documentation (Eg. entangled freeswimming animals; beached animals in inaccessible areas; injured animals; etc.) in order to 

facilitate a safe and effective response to maintain animal and general public safety. 

Acquisition of digital imagery by a fairly inexpensive UAS platform has great value in providing 

critical assessment images and video before first responders get in close to the animal for either 

closer examination or removal of entangling fishing gear (in the case of entangled whales). 

Collection of breath samples has great value for studying individual animal health through 

analyzing stress response, endocrinology and microbiology in large whales. These disciplines 

will be uniquely served by such samples.

Using UAS platforms, the National Marine Mammal Laboratory (NMML) and NOAA Fisheries 

Southwest Fisheries Science Center have successfully conducted UAS surveys with Steller Sea 

Lions and killer whales in the Queen Charlotte Islands, British Columbia (see 

http://www.fisheries.noaa.gov/podcasts/2014/10/aerial_vehicle_killer_whale.html#.VIcXxjHF_T

o). The same safety measures, mission protocols, and restrictions that were implemented in these 

surveys, and listed below will be adhered to for all UAS operations. 

Aircraft Operations: All missions will be flown under Class G airspace when possible and 

under Class E VFR weather conditions. If operation in other airspace is required, the relevant 

controlling agency will be notified at least 24 hours prior to the operation and, if required, any 

necessary permission obtained. All applicable marine mammal research and response permits 

from NOAA Fisheries Office of Protected Species will be acquired and in place for any UAS 

operations. Additionally, for any missions flown within the boundaries of a NOAA National 

Marine Sanctuary (Eg. Stellwagen Bank National Marine Sanctuary), any necessary 

authorization/permits with be obtained. 

The aircraft will be operated by at least a 2 person team. One individual will fulfill the role of 

Pilot in Command (PIC). This person will lead the flight and operate the UAS with the Radio 

Control (RC) unit and monitor the video feed, battery status, altitude and orientation and relate 

this information to the PIC. The second individual will be the Visual Observer (VO) and will 

observe the UAS and surrounding airspace throughout each flight and provide the PIC 

information on the UAS’s flight path and proximity to all aviation hazards necessary to prevent 

collision.

The UAS will typically be flown approximately at 50 feet AGL1 above the animal for digital 

imagery and assessment, and as low as 10 feet above the animal (and not more than 300 

 

1 All measurements in manual are in feet and listed as absolute altitude or AGL 
WHOI Phantom Manual – Page 3

feet) for biological sampling. Exact protocols may differ slightly based on if the animal is 

stationary on the beach or in the water free-swimming. All appropriate sampling 

methodologies will be implemented in order to collect the biological sample (i.e. exhalate 

collection on sterile collection plates located on the underside of the UAS). 

For free-swimming animals that are the focus of research, if there is an immediate 

behavioral response to the approach, i.e. increased avoidance through evasive 

maneuvering, approaches on that animal will cease for the day and a new animal will be 

targeted. Additionally, the flight crew will reassess the protocols and increase the altitude 

above the animal if necessary during subsequent approaches to minimize the negative 

response from the animal, while still attempting to collect the data on the target animal. 

All surveys will be flown in manual control. The PIC will pilot the UAS over targeted animals 

based on their view of the UAS and what is shown on the video downlink at the Ground Control 

Station (GCS) relayed by the ground station observer. All digital imagery (i.e. images or video) 

will be saved to disc for later review of any subtle behavioral changes or thorough visual 

assessment.

Flights will only be conducted in the following conditions:

● Daylight hours

● Visibility 3 statute miles or greater

● UAS able to operate at least 500 feet below clouds and 2,000 feet horizontally from 

clouds. 

● Wind less than 20 knots.

● Rain less than 0.25 inches per hour

The PIC will not operate the UAS beyond line of sight and under no circumstances will the UAS 

be operated beyond visual range or 0.5 nm, whichever is less. Each flight operation will be 

preceded and followed by working through the appropriate checklists (see pre-flight checklist 

below). Flights will not be operated within 5 nautical miles (NM) of an airport having an 

operational control tower, or 3 NM of an airport with a published instrument flight procedure but 

not an operational control tower, or 2 NM of an airport without a published instrument flight 

procedure or operational control tower, or 2 NM of a heliport with a published instrument flight 

procedure. Flights will be operated in Class G airspace whenever possible. If operation in other 

airspace is required, the relevant controlling agency will be notified at least 24 hours prior to the 

operation and, if required, any necessary permission obtained. 

UAS Description

The Phantom quadcopter2is designed and built by DJI. It is a small vertical takeoff and landing 

(VTOL) rotorcraft UAS that is designed for high resolution aerial imaging and relative ease of 

use. The aircraft is powered by a 3 cell Lithium polymer battery that drives 4 brushless electric 

 

2 The DJI Phantom 2 Vision + is the model specifically discussed in this manual but may change based on the 

release of subsequent models that offer enhanced safety and operational features
WHOI Phantom Manual – Page 4

motors. It weighs approximately 2.7 pounds and measures 14 inches from propeller to propeller. 

Depending on battery configuration and payload the flight duration can be up to 25 minutes. The 

UAS’s attitude, altitude, and heading are stabilized by an electronic control system that 

incorporates 3 gyros, 3 accelerometers, a magnetic compass, a barometric pressure sensor, a GPS 

receiver, and 8 microprocessors. 

Specifications:

Manufacturer: DJI

Model: Phantom 2 Vision+

Class: SUAS - rotorcraft

Diameter: 14 inches from prop hub to prop hub

Height: 7 inches

Unloaded weight: 1.9 pounds

Take-off weight: 2.7 pounds

Engine type: 4 x flat core brushless motors

Engine Power: 64 N

Battery: 3 cell Lithium Polymer

Battery Capacity: 11.1 volts / 5200 mAH

Performance:

Max Cruise Speed: 30 knots

Min Cruise Speed: Hover

Max Range: 1000 yards

Endurance: Up to 25 minutes

Max Altitude: 200 feet

Communication System Description: There are two transmitter/receiver pairs used in the 

operation of the Phantom 2 Vision+: one pair is used for radio control of the aircraft and one pair 

is used for the video downlink via a local Wifi network connection that is created for connection 

to a DJI smartphone or tablet App. 

To control the UAS, the PIC uses a 5.728 - 5.85 GHz radio control transmitter with the 

corresponding receiver integrated into the UAS. Similarly, to broadcast video information in 

real-time, the transmitter is integrated into the UAS and the corresponding receiver integrated 

into the GCS with a range extender using 2.412 - 2.462 GHz. 

The video downlink provides the PIC with real time video and flight data for situational 

awareness and target acquisition. 

Frequencies used for each data type follow:

5.8 GHz for radio control - transmitter at GCS

2.4 GHz for video downlink - through range extender at GCS

Ground Control Station Description: The GCS consists of a handheld controller and either a 

smartphone or tablet with the DJI ground station App. The real-time video is broadcast to the 
WHOI Phantom Manual – Page 5

smartphone or tablet via a local Wifi network that the UAS creates. Control of the camera 

settings as well as starting or stopping image or video collection can be done on the App. The 

PIC controls the UAS at the GCS using a handheld Radio Control System with the video as a 

reference. 

Operational Procedures

UAS equipment deployments: Procedures will be discussed with all members of the flight crew 

before each deployment and if there are any objections by any member of the team, the mission 

will be postponed until deemed safe by all members or cancelled due to unfavorable conditions 

(i.e., inclement weather such as high seas or winds). All non-essential personnel and bystanders 

will be kept at a safe distance from the flight crew and UAS operations.

Weather Considerations: Missions will not be launched unless all involved deem it safe. For 

land-based missions, this encompasses wind and rain, as well as visibility. For on-water 

missions, in addition to wind, rain and visibility, sea swell also has to be taken into consideration 

and is not excessively high and will remain favorable throughout the duration of the flight. 

Deployment/Recovery: The Phantom 2 Vision+ will be safely secured in a pelican case while not 

in use or in transit. 

For launching from land, the flight team will be in close proximity to each other with open and 

clear views of the horizon with no obstructions to interfere with safe operation of the UAS (i.e. 

power lines, trees, etc.). The PIC will coordinate with the VO and when ready to launch the UAS 

will be hand launched by the VO. 

For launching from a vessel, the vessel will be held stationary, head to wind. The flight team will 

be in close proximity to each other with open and clear views of the horizon with no obstructions 

to interfere with safe operation of the UAS (i.e. vessel rigging). All appropriate safety measures 

(i.e. waist high safety railing, PFDs, etc.) should be implemented for safe operation of the UAS 

from a vessel. The PIC will coordinate with the VO and when ready to launch the UAS will be 

hand launched by the VO. 

Routine Procedures:

Launch—Prior to the first flight of the day a briefing will be held with all appropriate staff 

present (i.e. on a research vessel: the ship’s captain, chief scientist, and flight crew). Prior to 

beginning any UAS flight the operation will be briefed with a minimum of the flight crew 

present. Briefing topics will include: 

● A review of the previous relevant UAS missions (within or outside of the current 

project) 

● Safety concerns regarding the previous or upcoming UAS operation 

● UAS status 

● Mission objectives 

● Weather conditions and forecast

● Identification of roles 

● Scheduled launch time 
WHOI Phantom Manual – Page 6

● Launch procedures 

● Recovery procedures 

● Limiting airspace factors 

● Emergency procedures 

Following the pre-flight briefing the flight crew will complete the pre-flight checklist (a PDF 

preflight checklist has been created and is to be used in the field, this document is listed as 

Appendix B):

● Conduct visual inspection of arms, rotor blades, motors and landing gear

● Check charge level in lithium polymer batteries by pushing button on battery (charge 

as required)

● Turn on Range Extender

● Turn on RC unit / verify GPS/ATTI switch (S1 switch on right side of RC unit) in 

rear position on RC unit

● Verify Intelligent Orientation Control is in the on position with switch (S2 switch on 

left side of RC unit) in rear position on RC unit

● Install battery in aircraft and push and hold button on battery to power up aircraft–

verify proper UAS self-check 

● Open settings on iPhone or iPad, select Wifi and connect to Phantom_*** network

● Launch DJI Ground Station App on iPhone or iPad

● Verify battery status on ground station

● Verify number of GPS satellites acquired (Do NOT launch with less than 6 or more 

satellites acquired)

● Orient the range extender to right angle to flight direction

● Confirm SD card is in the camera and that the lens cap is off

● Calibrate compass by either operating S1 switch up and down 10 times or by 

selecting calibration in the DJI App options menu (Successful calibration is indicated 

by green lights on the underside of the Phantom’s arms)

● Orient the RC antenna to a vertical position

● The PIC will power up the UAS motors and perform the hand check of pitch, roll and 

heading control and responses in VO’s hands

● The standard method of launch will be conducted by hand – the VO will lightly hold 

the UAS above their head. Proper PPE will be worn including long sleeves, Kevlar 

gloves, glasses, and hat

● The VO will notify the PIC they are ready for launch

● Record Latitude and longitude of launch position

● The PIC will take-off from the VO’s hands

● Once airborne, the VO will begin monitoring the surrounding airspace

● Once airborne, activate altitude hold and ensure that altitude hold is operational

● Confirm aircraft is responding appropriately by testing all directional controls. Trim if 

necessary

● Briefly ensure that ‘return to home’ is working as expected

● Begin mission 

Recovery—
WHOI Phantom Manual – Page 7

● At the conclusion of the flight mission the PIC will manually pilot the UAS home, or 

may initiate the ‘automatic return home’ procedure. Given the ability of the Phantom 

2 Vision+ to update its home position every 2 seconds based on the iPhone or iPad’s 

GPS location

● Following instruction from the PIC, the VO will position themselves for hand 

recovery of the UAS. Proper Personal Protective Equipment (PPE) will be worn 

including, long sleeves, Kevlar gloves, glasses, and hat

● The PIC will slowly bring the UAS down and the VO will reach up and grab the 

landing skids

● The PIC will immediately and the flight team will begin the post-flight checklist: 

1. Power off the motors by moving the left stick to the lower right and the 

right stick to the lower left 

2. Push and hold button on aircraft battery to power down the aircraft

3. In the event of a hard landing on the previous flight, Inspect Phantom 2 

Vision+ for damage and if needed, cycle the power on the battery to 

initiate system checks.

4. Turn off Range Extender

5. Turn off RC unit

6. Turn off ground control station App

7. Conduct visual inspection of arms, rotor blades, motors, landing gear and 

body for damages

8. Remove battery from UAS

9. Pack away in Pelican case

Emergency Procedures: The most likely emergency situation to develop during the operation of 

the Phantom 2 Vision+ is a rapid loss of battery power. A fully charged Phantom 2 Vision+ 

Lithium Polymer battery has a charge of 11.1 volts and a capacity of 5200 mAH. During flight 

operation the voltage of the battery progressively declines. The UAS has an integrated low 

voltage LED alarm to visually notify the flight crew of low voltage by flashing the four arm 

LED’s. The PIC will immediately land the UAS. If the battery level gets too low the UAS will 

automatically return to home position. 

Loss of propulsion—The most likely cause of power loss to the UAS is depleting the UAS 

battery or the internal failure of one or more cells within the UAS’s Lithium Polymer battery. 

● While in flight the PIC will monitor the UAS LED alarm.

● The UAS has adequate buoyancy to remain afloat in the event of a water landing. If the 

UAS loses propulsion over water it will be recovered by the research vessel or small boat.

● Following a malfunction of the UAS the cause will be identified and addressed before 

flying the next mission. 

Fire—

● The lithium polymer batteries may ignite under significant impact. Lithium polymer 
WHOI Phantom Manual – Page 8

batteries will be handled In Accordance With (IAW) with best practices for handling (i.e. 

transport and charging in lithium polymer fire suppression bags. 

Aircraft Observed in Vicinity—

● If an aircraft is observed operating within the vicinity the VO will immediately alert the 

PIC. The PIC will immediately reduce altitude, return the UAS to the GCS, and land. 

When the area is clear of aircraft, UAS flight operations will resume. 

Lost Link—

● During the startup procedures and throughout the flight, the UAS logs its position and 

altitude using GPS and pressure sensors, as well as tracking the location of the GCS. The 

GCS position can be dynamically updated if necessary through the options menu in the 

GCS App and is known as the ‘home’ position. The initial launch position will also be 

recorded by the vessel operator. 

● If the link between the GCS and the UAS is lost for a specified period of time the UAS 

will automatically adjust altitude to a previously specified safe altitude for the mission 

(not to exceed 400’ AGL) and return to a point above its home position. If the link is not 

reestablished between the UAS and GCS, the UAS will autoland after reaching this 

position.

● The default period of time to initiate the ‘automatic return home’ procedure is 10 

seconds. The default ‘automatic return home’ altitude will be set to 50 feet. This value 

may be altered based on the operating platform, i.e. above the highest point of the vessel. 

All attempts will be made to re-establish link as the UAS returns home and begins the descent to 

autoland. Realistically, the link should be reestablished as the UAS approaches the GCS and RC 

and the signal strength from the GCS and RC increases. 

Record Keeping: The flight crew will track flight information as follows: 

● Number of flights conducted

● Operational time per flight

● GCS operational time in support of each flight

● Pilot duty time per flight

● Equipment malfunctions with the GCS or aircraft

● Operational/coordination issues

● The number and duration of lost link events per aircraft per flight. 

Incident/Accident Procedures: All incidents/accidents will be reported immediately to a 

designated contact at FAA immediately. 
WHOI Phantom Manual – Page 9

APPENDIX A - Figures

Figure 1 – Phantom 2 Vision+ Controller and Base Control Station via iPhone

Figure 2. Sample Screenshot of Phantom Ground Station App on iPad
WHOI Phantom Manual – Page 10

Figure 3. Sample Screenshot of Phantom Ground Station Camera Control App on iPad

Figure 4. Phantom 2 Vision+ showing camera 
WHOI Phantom Manual – Page 11

APPENDIX B— Field Card with Preflight, Postflight Checklists and Emergency 

Procedures
WHOI Phantom Manual – Page 12