MagDroneR3 Manual EN V0115

Manual
MagDrone R3 (from Rev. 3.03)
SENSYS +49 33631 59 650

Sensorik & Systemtechnologie GmbH info@sensys.de
Rabenfelde 5 www.sensys.de
15526 Bad Saarow
GERMANY
Content
1 General Remarks 4
2 General Security Advice 6
2.1 Cleaning the Device 6
2.2 Maintenance 6
2.3 Technical Problems 6
2.4 Measure in the Event of an Error 7
2.5 Hints for battery operated devices 7
3 System description 8
3.1 Areas of Application 9
3.2 Components 9
3.3 Final Assembling Steps 10
3.4 Device Modes 11
3.4.1 Switched Off 11
3.4.2 Standby Mode 11
3.4.3 USB Mode 12
3.4.4 Logging Mode 12
3.5 Meaning of the Status LED 13
3.6 Start/Stop button and LED Display 14
3.7 System Info File 15
4 Using the system 16
4.1 Preparation 16
4.2 Starting and Stopping the measurement 16
4.3 Transferring the data 17
4.4 Further Data Processing 17
5 MagDrone DataTool 18
5.1 Installing the Tool 18
5.2 Userinterface and settings 19
5.3 Using the Tool 20
6 Live Data and Telemetry Interface 28
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info@sensys.de MagDrone R3 (from Rev. 3.03)
w w w .sensys.de Version 1.15
6.1 Commands 29
6.2 Output Sentences 29
6.2.1 Status Information 29
6.2.2 GPS Information 30
6.2.3 Magnetic Data Information 31
6.2.4 Heading Information (MagBase only) 31
7 Using an External GPS 32
8 SENSYS Remote App 33
8.1 Installation 33
8.2 Bluetooth connection settings 33
8.3 First start of the SENSYS Remote App 34
8.4 Using the SENSYS Remote App 35
9 Appendix 36
9.1 Technical Data 37
9.2 CSV-file format description 40
9.3 ASC-file format description 43
9.4 ASC-file (raw track) format description 44
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1 General Remarks
MagDrone R3 (from Rev. 3.03)
Copyright ©, SENSYS 2022
All rights reserved.
Version: 1.15
SENSYS
Sensorik & Systemtechnologie GmbH
Rabenfelde 5
15526 Bad Saarow OT Neu Golm
Germany
Telephone: +49 (33 631) 5 96 50

Fax: +49 (33 631) 5 96 52
email: info@sensys.de
Internet: www.sensys.de
No part of this manual may be reproduced, copied or otherwise duplicated without written
permit from SENSYS.
All information contained in this manual may be subject to changes without prior notice.
SENSYS will not inform third parties of changes.
All technical information contained in this manual has been compiled with the greatest care.
The manual has been double-checked by the customer support team of SENSYS.
Nevertheless, it may contain errors. SENSYS does not guarantee that this manual is free of
errors and does not grant warranty or liability on damages resulting from errors in this manual.
Nevertheless the author would be grateful for information about errors in this manual at any
time.
MAGNETO® is a registered trade mark of Dr. Andreas Fischer

Windows® is a registered trade mark of the Microsoft Corp.
When using lwip with SENSYS products, then it is used under the following license conditions:
lwIP is licensed under the BSD license:

Copyright (c) 2001-2004 Swedish Institute of Computer Science.
All rights reserved. Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions
and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of
conditions and the following disclaimer in the documentation and/or other materials provided
with the distribution.
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3. The name of the author may not be used to endorse or promote products derived from this
software without specific prior written permission.
This software is provided by the author as is and any express or implied warranties, including,
but not limited to, the implied warranties of merchantability and fitness for a particular purpose
are disclaimed. In no event shall the author be liable for any direct, indirect, incidental,
special,exemplary, or consequential damages (including, but not limited to, procurement of
substitute goods or services; loss of use, data, or profits, or business interruption) however
caused and on any theory of liability, whether in contract, strict liability, or tort (including
negligence or otherwise) arising in any way out of the use of this software, even if advised of
the possibility of such damage.
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2 General Security Advice
Important: Please read and observe the following safety notes before you start to
use the device.
Please read this manual carefully before assembling and starting to operate. Pay
attention to the operating instructions in this manual. SENSYS and its partners assume
no liability for damages due to actions that are not mentioned in this manual.
2.1 Cleaning the Device

Use a moist and soft cloth for cleaning the device. If necessary, dismantle the device,
clean the system components with water and let them dry afterward. When cleaning the
system, make sure no water enters into electronic components or in the plugs and sockets.
Damaged system components and cables are not to be cleaned with water.
Place all system components in the transport case after cleaning. If the case got wet inside,
make sure to dry it first before storing the system components in it.
Attention. Do not use chemicals or mechanical means for cleaning. This

might damage the device.
2.2 Maintenance
The device does not need any particular maintenance or calibration. Nevertheless we
recommend to send the device to SENSYS for checking the calibration of the sensors.
While this is not an obligation, you should send in the device every 4 years at least.
The GNSS receiver contains a support battery for memorizing the Almanach and the
configuration.
2.3 Technical Problems

Do not use damaged system components. This might cause injuries or electric shocks! When
repair work is needed, send in the device to SENSYS to prevent damages on system
components. Do not do any maintenance work unless they are mentioned in this manual or
unless you have been taught by the manufacturer in a special training.
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2.4 Measure in the Event of an Error
Errors are indicated with the red LED. In the event of an error condition, cut the device from
power supply and reconnect it after a delay of about 20 seconds. If the error persists, contact
the SENSYS support team.
2.5 Hints for battery operated devices

Warning - Batteries may explode when used inappropriately!
Please pay attention to the following hints:

· Only use batteries that were specified by the manufacturer of the device.
· Pay attention to the correct polarity when inserting the batteries.
· Do not expose batteries to high temperatures or to fire.
· Keep the battery terminal dry and keep it away from contact with conductive materials
· Remove the batteries in case the device is not being used for a longer period of
time.
Damages caused by the inappropriate use of the batteries (short-circuit, drain,

mechanical damages) and consequential loss are not covered by the warranty
and invalidate the right to claim under guarantee.
Advice – For battery disposal use only appropriate disposal facilities or

other places designed for this purpose.
All batteries have to be loaded and checked before starting the measurement.
This measurement system contains accumulators for power supply. When charging the
batteries please take notice of the following hints:
· Do only use chargers suitable for the particular accumulator.
· Do only use chargers with charge retention mode to prevent accumulator from overloading.
· Charge the accumulator after every full survey day (depending on the charger and the
battery allow appropriate time to load).
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· Charge the accumulator if stored unused for 14 days or keep it connected to a charger in
charge retention mode.
· Consult the operation manual of the charger.
3 System description
The MagDrone R3 system consists of a data logger and two FGM3D/75 Fluxgate
magnetometers. The magnetometers are tri-axial fluxgates measuring all three components of
the Earth' magnetic field. The sensors have a measurement range of 75,000nT. The sensors
are laying horizontal and are aligned to each other. The distance between the sensors center
points is 1,000mm.
A GPS receiver is also part of the kit. The relative GPS offset to the sensors is given in the
Technical Data. The device comes with it's own power supply consisting of one 11.1V, 1,950
mAh Li-Ion re-chargeable battery. Two of these batteries are coming with the device. A
appropriate charger is part of the delivery.
The overall weight of the survey kit is 5500g including case and accessories. The operational
weight when mounted to the UAV is 880g including the battery.
With the implemented power supply and the integrated GPS receiver, the survey kit is
autarkic and can be attached to any UAV.
All three axles of every sensor are sampled at 200Hz. Once the recording has been started,
data are recorded on an internal SD card. This card cannot be removed or changed. The
capacity of the SD card is 2GB . This capacity is enough for about 24 hours of
uninterrupted recording.
The recording will contain the raw measurement data, the GPS data and a time stamp that is
assigned to the data. In the device, offset correction data such as temperature offset data are
stored. These data are applied to the data measured by the magnetometers.
In order to process the data they have to be copied from the device to a PC. When connecting
the device to a PC via a USB cable, the MagDrone device appears as a computer drive and
the data can be copied in a file explorer as usual. As mentioned earlier, the data are present
as binary raw data. In order to process them they need to be converted to a readable format.
This is achieved by the MagDrone Data Tool. The tool recognizes moving directions, tracks
and overlapping. It cleans the data and creates a preview of the data. A detailed description
of this tool can be found in section MagDrone DataTool 18 .
The MagDrone device revision 3.03 and higher provides a telemetry port that allows for live
data output and reception of start and stop commands. A detailed description of this feature
can be found in section Live Data and Telemetry Interface 28 .
As an option, the GPS signal can be fed from external. If this option is chosen, the telemetry
port is available via an internal Bluetooth module instead of the interface mentioned above.
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3.1 Areas of Application
The MagDrone system was developed by SENSYS to locate ferromagnetic objects and
certain geophysical structures in the ground. The conditions of measurement as well as the
physical limits of the device need to be considered when working with the system.
Connect only measurement equipment to the data logger that has been specified by
SENSYS for this device. Use the SENSYS data transfer software for data processing. Only
trained staff should work with the device.
Warning – When used for EOD purposes, the device may only be used by
especially qualified and trained staff. The national EOD regulations need to be
followed at any time when working with the device!
The results the survey kit is able to deliver are impacted by some factors typical for the
application together with UAV's. The most important impacts are:
· The Quality of GPS coordinate.
· The ability of the vehicle to follow a straight path.
· The ability of the vehicle to maintain a constant altitude.
· The altitude has to be chosen in accordance to the survey task. The smaller the objects to
be detected, the lower the flight level has to be.
3.2 Components
The system is delivered with the following components.
1. Data Logger with sensor bar

2. Battery charger
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3. USB Pen Drive with software and manual
4. USB cable Type B to Type A
5. Two 11.1V, 1,950 mAh batteries
6. Bag for accessories (2 delivered)
The data logger has a USB connector for data download (9) along with a port for live data
output stream (telemetry port 10) on one side while on the other side the On/Off and
Start/Stop button (7), the status LED (8) and the battery connector can be found.
Please note: As an option, your device can be built to have an external GPS
instead of a built-in one. In this case the connector (10) is the GPS input.
The telemetry port then is realized via an internal Bluetooth module.
3.3 Final Assembling Steps

Before you can mount The MagDrone to your vehicle, some final assembling steps
have to be made.
1. Ensure that all needed parts are 2. Mount the 4 studs to the MagDrone
available housing. Do not use tools, hand-tight
is enough.
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4. Attach the battery to the velcro
3. Mount the plate to the studs, use pads.
the delivered screws and washers.
3.4 Device Modes

3.4.1 Switched Off
The device remains switched off after the power supply has been connected. It can be
switched to standby mode by pressing the Start/Stop button. After the device has
been switched on it is initializing for about 3 seconds. During the initialization the LED is
showing a steady red light. In order to switch the device off press the Start/Stop
button for more than 5 seconds, the LED will flash red two times and then switched
off.
3.4.2 Standby Mode

After the initialization the device reaches the standby mode. In this mode the USB
port, the Start/Stop button and the GPS is permanently watched. If an active USB
connection is detected, the standby mode is interrupted for the USB mode. If the
Start/Stop button is pressed, the device is entering the logging mode. Whilst logging,
the USB mode is not available.
The LED is reflecting the device status. If LED is steady green the power supply is
sufficient, red flashes indicate the reception of valid GPS messages. If the power
supply gets lower, the LED shows a steady red light while green flashes indicate the
arrival of a valid GPS package. If the battery is too low, the LED is flashing red 3 times
in one second which ends the standby mode, also the logging mode cannot be
entered anymore.
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3.4.3 USB Mode
The USB mode can be reached from standby mode by establishing a connection to a
PC. The device cannot be switched off with the Start/Stop button while the USB mode
is enabled. The MagDrone device will show up as a drive on the PC and the recorded
data can be copied as usual. The name of the drive is containing the serial number of
the MagDrone that is connected, thus you could connect more than one MagDrone at
a time. You may change the name of the drive while it s connected, MagDrone will
reset the name every time you enter the USB mode.
The USB mode is indicated by the LED, it is flashing red and green continuously.
3.4.4 Logging Mode

In logging mode data from different sources are recorded and written into a binary file.
The logging mode is entered after the Start/Stop button has been pressed.
The status is indicated by a flashing LED while the colour is depending of the status of
the power supply. If the battery voltage is above 10.5V, the LED is flashing green, if it
is below that voltage, the LED is flashing red. If the voltage drops below 9.6V, logging
mode is terminated which is indicated by a fast red flashing LED.
The recording is stopped by pressing the Start/Stop button again. This will bring you
back to the standby mode. The recording also ends, if the data logger hasn't received
any data for more than 5 seconds.
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3.5 Meaning of the Status LED
LED Meaning Indicates ... Measure
Display
Steady Standby mode, no GPS, power -

green supply okay
Steady red Standby mode, no GPS, power Change battery soon

supply warning
Steady Standby mode, GPS signal -

green, red received, power supply okay
flashes
Steady red, Standby mode, GPS signal Change battery soon

green received, power supply warning
flashes
Flashing Measuring, data are recorded, -

green Power supply okay
Flashing Measuring, data are recorded, Change battery soon

red Power supply warning
3 flashes Power Supply alarm, no Change battery immediately

red recording possible
4 flashes Internal memory file system Connect the device to a PC and format
red error the drive
4 flashes Internal memory file system Disconnect the power supply, wait for
red per driver error 30 seconds and reconnect power
second
5 flashes USB subsystem error Disconnect the power supply, wait for
red 30 seconds and reconnect power
6 flashes GPS system error Disconnect the power supply, wait for
red 30 seconds and reconnect power
7 flashes Error when creating data file in Restart Logger mode, if this does not
red logging mode help connect the device to a PC and
format the drive
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3.6 Start/Stop button and LED Display
Initial Button Target LED Indicates ...
state Action state Display
Device off
Device off Press once #1 Device is in Power supply okay,

standby mode stead green
Power supply okay, receiving GPS data

primarily green with flashing red
Power supply warning,

primary red with flashing green
Power supply alert,

fast flashing red
Device in Press once #2 Device is in Power supply okay,

standby logging mode flashing green
mode
Power supply warning,
slowly flashing red
Power supply alert,

fast flashing red
Device in Press once #3 Device is in ... Check target #1

logging standby mode
mode
Device in Establish USB Device is in USB connection active
standby connection USB mode continuously flashing red and green
mode
Device in Disconnect Device is in ... Check target #1

USB mode USB standby mode
Device in Press for Device is
standby more than 5 switched off
mode seconds
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3.7 System Info File
In order to provide basic system information to the user, system is generating a
system info file. This file is generated in the root folder of the SD card and carries the
name SystemInfo.txt. This file is generated every time the system has been configured. The
system is supervising the file, if the system recognizes a foreign file of the same name, the file is
deleted and re-created to ensure the correct content. A sample system info file is given below:
System-Info:
#######################
System-Name: MagDroneR3 #0019

System-Rev.: 03.03
Mainboard .: MDDLM #0001

.Hardware .: 01_01/00
.Firmware .: 03.00-00/00
MDExt .....: #0101

.Hardware .: 01_01/00
ADC-System : MBS #0228

.Hardware .: 02_05/01
.Firmware .: 02.00-02/00
.SampleRate: 200Hz
.ACC-Sensor: LIS3DSH
GPS-System : u-blox SAM M8Q

GPS-Rate ..: 200ms
MagSensor 1: FGM3D/75 #1663

.Fullscale : 75000nT / 10V
.KorrMatrix:
+1.000196 / +0.000986 / -0.001097
+0.000000 / +1.000022 / +0.000795
+0.000000 / +0.000000 / +1.000582
.OffsetKorr:
-13.202 / +2.904 / +7.044
MagSensor 2: FGM3D/75 #1664

.Fullscale : 75000nT / 10V
.KorrMatrix:
+1.000914 / -0.009533 / -0.001177
+0.000000 / +1.000081 / -0.000663
+0.000000 / +0.000000 / +1.000387
.OffsetKorr:
-13.971 / -19.327 / -11.494
Datum/Zeit : 24.05.2018 / 13:35:16 (UTC)
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4 Using the system
4.1 Preparation
·
· Complete the Final Assembling Steps 10 .

· Mount the data logger in an appropriate manner to the vehicle. The distance between
sensor and vehicle should be as large as possible.
· Connect the battery with the power cable accordingly. The red wire is connected with +12V
and the black one with Ground. Use the Velcro to attach the battery to the housing
· Press the Start/Stop button (7) for less than 5 seconds to switch on the device.
· The LED (8) is supposed to light up in steady green. The device is now in stand by mode.
· If valid data are received from GPS, this is indicated by an alternating green and red LED
(8).
4.2 Starting and Stopping the measurement

To start the recording push the start/stop button (7). The LED is flashing green to indicate the
recording. If an error occurs, this will be indicated by the LED. Please see Meaning of the
Status LED 13 for more details. To stop the measurement, push the button again.
Every time the recording is started, a file ist written to the internal memory. Data are stored in
the data logger as binary raw data. These raw data are stored with a file name according to
this pattern:
YYYYMMDD_hhmmss_SystemName_Serial_number.mdd
Code Content
YYYYMMDD Date of recording in UTC
hhmmss Time of recording in UTC (start of recording)
System name Name of the measurement system:

- MD-R1 = MagDrone R1
- MD-R3 = MagDrone R3
Serial number Serial Number of the MagDrone device
If an error occurs during writing the data, MagDrone is closing the file and retrying to
write the data. This is repeated up to 5 times. The maximum file size is determined
prior to the recording. If the maximum file size is reached, the file is closed and the
recording is continued in a new file.
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The recording is stopped by pressing the Start/Stop button again for less than 5
seconds. this will bring you back to the standby mode. The recording also ends, if the
data logger hasn't received any data for more than 5 seconds.
4.3 Transferring the data

In order to process the data they need to be downloaded from the devicedownload the data
from the device follow this procedure:
· If you are not in stand by mode, bring the device to this state.
· Connect an USB cable to connect the MagDrone device to a computer. We recommend to

connect to the computer where the MagDrone DataTool 18 is installed. By establishing the
connection the device will enter the USB mode.
· Open the file manager of your choice.
· Find the drive with the name <System_name>_#<Serial_number> e.g. MD-R3_#0004
· Copy the file to a place of your choice.
4.4 Further Data Processing

The recorded data are raw data. For further data processing the MagDrone DataTool 18 is needed.
It does not have to be used to process the data necessarily, you can also just write a csv file in
order to process the data with 3rd party tools. The csv file is containing the magnetometer data as
3-axis data and the data will need some processing. We recommend to conduct the following:
· Calculation of Total Field
· Applying Frequency filters (e.g. 50Hz filter)
· Applying Noise filter. (e.g. Hodrick Prescott)
· Assignment of position data to sensor data
· Movement filter and track recognition
· Compensation (e.g. moving median, median...)
· Gridding
· Interpolation
However, you can also leave these steps to the MagDrone DataTool 18 while you are finalizing the
processing with your tools.
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5 MagDrone DataTool
The MagDrone DataTool was created for data processing (see Further Data Processing 17 ) of
MagDrone survey data. Furthermore it is a software interface to Magneto® and includes the
following features:
· track detection using scalable parameters

· filtering, compensation and calibration of survey data
· local referencing of survey data
· integration of MagBase data as reference
· integration of external GNSS data for position correction
· export of the processed survey data as Magneto®-compatible format and as ASCII file
· preview of the results
· export of raw data for customer specific data processing without using the tool features
CSV files as well as MagDrone raw data can be used as input format.
5.1 Installing the Tool

The tool is delivered as *.exe file. To install the tool please run the installation file
Setup_MagDrone_DataTool_0302xx00.exe. Please be patient, the installation procedure
may last a while. A wizard will lead you through the installation process.
A shortcut to the desktop can be enabled.

In order to run the tool, the MATLAB runtime has to be installed, this will be installed automatically if
it cannot be found on your computer.
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5.2 Userinterface and settings
The user interface is structured as listed below:
A) Control window: import, calibration, track detection, filtering, offsets, MagBase and GNSS
integration accessible via various tabs (a)
B) Visualization window: GNSS data are displayed as trackplot whenever a file was loaded,
track detection results are also visualized for monitoring purposes, zooming and panning of
the plot can be done by using the toolbar in the upper right part of the window
C) Export settings: selection of required data format and options, data processing starts after
clicking on the “Export” button according to the selected parameters in area A), processed
data is being saved in the selected directory
D) Templates: settings from area A) and C) can be saved and reloaded here, default settings
can be reset by loading the "default" template
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5.3 Using the Tool
Data Import
For data import, select the corresponding tab (1) at the top of the
control window (A). Afterwards you can choose the desired data
format (2) and navigate to the required file. As soon as the file is
loaded, the file name is visible and the flight track is being displayed
in the visualization window (B). The imported file is shown in black if
no track detection was carried out so far for this file.
The calibration import (3) is optional. You can import just one file as
calibration data. To remove the calibration data press the "Remove
calibration data" button (4).
To perform a calibration record you need to fix the MagDrone to your UAV including the
battery set of your UAV, if you want to perform it on the ground. Ideally you takeoff with
the whole device and perform the calibration in some meters above the ground. In
general it is important to rotate around as many axes as possible to generate suitable calibration
data. A possible and practically feasible calibration scenario could be this:
· orientation to the north
· fast and short forward and backward flight to generate pitch movements
· yaw to the right by 90°, orientation to the east
· yaw to the right by 90°, orientation to the south
· yaw to the right by 90°, orientation to the west
· yaw to the left by 90°, orientation to the south
· yaw to the left by 90°, orientation to the east
· yaw to the left by 90°, orientation to the north
Track Detection
Straight parallel tracks are of major importance for data quality of magnetic measurements. In
contrast to survey systems for land and offshore application, the MagDrone system cannot stop
and start the data acquisition at any given time while being in the air. Thus it’s very important to
extract relevant data and to remove turning maneuvers or other unsuitable data from the survey
data for data processing. To access the track detection window choose the "Tracks" tab (5).
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There are four parameters available for track detection which are pre-set with standard values. The
"Maximum allowed deviation..." (6) indicates the limit in degrees which is acceptable for deviations
of the flight direction within a defined "...distance of" (7). These points are used to analyse direction
changes. "Minimum track length" (8) refers to the length of the flight tracks. All tracks which are
shorter than the set value will be deleted. For flight maneuvers in the beginning and the end or even
in between of the data acquisition it is possible to delete as many tracks as required - see (9). Thus
it’s no problem to delete the track to and from the landing site of the drone in case these were
recognized as tracks. The current track numbers are displayed at the beginning of each track (10).
Ranges of tracks must be separated with a "-". Whenever using the button “Detect” (11) a track
analysis is carried out using the parameters currently set (6-9). This step can be repeated as often
as required. The results are always displayed in the info box (12) and in the visualization window
(13). Identified tracks are shown in blue while deleted data is shown in red.
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Filters & compensation
The tab "Filters" contains additional settings for further data
processing:
§ "Smoothing filter" (14): low-pass smoothing filter for external
interferences (mainly from the drone), cut-off frequency freely
selectable (15)
§ "Compensation" (16): selection between "Moving median",
"Constant median" or "Overall median", used to compensate
the Earth’s magnetic field from the survey data in order to make
anomalies visible, the "Moving median" is location-based and
the corresponding “Window length” (17) is freely selectable
§ "Overlapping filter" (18): Survey results can be deteriorated by
overlapping or intersecting tracks. For airborne systems this is
also true for slight height fluctuations. Thus there is this feature
to remove such overlapping areas from the survey data.
§ Additionally the user can perform a "Frequency analysis" (19)
and a "Noise analysis" (20) of the raw data. These analysis can
help to identify possible interferences which effect the magnetic
survey.
§ Advanced users have also the possibility to apply various FIR
filters (21).
Offsets
The "Offsets" tab (22) enables the user to adapt position
offsets. As the MagDrone R3 is available with internal
GNSS or with an input for an external GNSS, the user has
to choose between these two versions (23) and adapt the
GNSS-antenna position accordingly.
Additionally a GNSS time offset (24) can be set up here to
compensate a potential track offset.
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Export
Data export can be started when track detection was successful and when the required settings
were applied. Click on "Browse" (25) and select the desired output directory (26), if it differs from
input directory or you want to change it in between. Also make sure to select the desired export
format below (27):
· UXO64 (Magneto import format): special format for data processing in Magneto®
Filename and header are containing information about filter settings. Examples:
no FIR filter
<filename>_noff_sf5_cm.<extension> smoothing filter ; cutoff frequency 5 Hz
constant median
FIR filter ; high-pass ; cutoff frequency 12 Hz
<filename>_ffHP12_nosf_mm15.<extension> no smoothing filter
moving median ; window length 15 m
no FIR filter
<filename>_noff_sf1_nm_cal.<extension> smoothing filter ; cutoff frequency 1 Hz
no compensation
calibration data included
FIR filter ; low-pass ; cutoff frequency 3 Hz
<filename>_ffLP3_nosf_om_ds20.<extension> no smoothing filter
overall median
downsampled to 20 Hz
· ASC (custom further processing): common format for customer specific data processing
(Columns: Timestamp;Sensor ID;Latitude;Longitude;Total field anomaly;Mag-X;Mag-
Y;Mag-Z divided by tabs)
Filters are applied to the total field only, but not to the single axes of the sensors.
· ASC (raw tracks): common format for customer specific data processing (Columns:
Timestamp;Track ID;Sensor ID;Latitude;Longitude;Total field;Mag-X;Mag-Y;Mag-
Z;Declination;Inclination divided by tabs)
Track-based raw data. Filters and compensation are ignored and no preview is
available. Additionally the magnetic declination and inclination values are stated.
· CSV (raw data output): raw data output for completely customer specific data processing (makes
raw data readable)
CSV output is pickable only, after MDD raw data were loaded. Settings from area A) are
ignored and no preview is available. The created data can be reloaded.
+49 33631 59 650 Manual 23 / 45

If "Create preview" (28) was selected, then an additional window opens up after data processing.
This window shows a preview of the calculated results as scatterplot (see picture below). By
clicking “Export” (29), the calculation process is being started. A progress bar displays the current
processing step or status. Once data processing is finished, this step can be repeated with other
settings and for a different export format.
If you use the MagDrone system for exploration purposes with a wide distance between the flight
tracks AND want to use Magneto® for gridding and interpolation of the data, you have to enable the
"Exploration mode" (30) before clicking "Export" (29). Because the maximum track distance for
interpolation in Magneto® is about six meters, a special gridding is carried out here, using an Inverse
Distance Weighted interpolation (IDW). For that you have to enter a suitable "Interpolation search
radius" (31). To close all gaps it should be at least the half track distance.
The interpolation search radius has a significant influence on the result. If it is too big,
your data will be corrupted.
+49 33631 59 650 Manual 24 / 45

The Exploration mode just works with "UXO64" export format.
Depending on the size of the area, the interpolation process can take a while.
To reduce the amount of data, which could be problematic for some customer specific processing
software, it is possible to downsample the output file by enabling "Downsampling" (32). The
resulting frequency is optional 50 Hz, 20 Hz or 10 Hz (33).
If you determine an interference with just one sensor and you don't want to repeat the whole
measurement, the disturbed sensor can be ignored by filling out the box "Removal of
sensor(s)" (34).
Templates
If you tap on "Templates" (D), you can save and reload settings which were
made in (A) and (C). To reset the tool to its default settings, simply load the
"default" template. By entering a template name and clicking "OK", the
template is being saved. By selecting a template name from the template
list (35) and clicking "OK", this template is being loaded.
MagBase integration
For correlating MagDrone with MagBase data as magnetic reference you can load a matching
MagBase file before doing the data export by clicking “Load data” (36) in the "MagBase" tab (37).
The file name of the MagBase data is then being displayed underneath the "Load data" icon. Only if
the field "Use MagBase data as reference" is enabled AND the recorded GPS times are matching
(38), the MagBase data will be integrated in data processing. An additional window opens up after
data processing then, showing the readings of the MagBase and the section of the MagDrone
record (see picture "MagBase Reference Information"). If you decide not to use the MagBase data,
you can click on "Remove data" (39).
A short tutorial of correlating MagDrone and MagBase data can be found on YouTube:
https://youtu.be/TCVPIBUub-Q
+49 33631 59 650 Manual 25 / 45

GNSS import
In some circumstances it is necessary to add external GNSS data for position correction of the
MagDrone. To do this you can load a matching file by clicking “Load GNSS data” (40) in the "GNSS
Import" tab (41).
An additional window opens up then, showing a preview of the file content (42). Make sure to enter
the correct header lines and column numbers (43) before clicking "Import" (44).
The GNSS file can be any ASCII based file. It has to contain Time [hh:mm:ss.sss],
Longitude [°] and Latitude [°].
After importing the data the table is filled (45) and the visualization window is updated (46). The
original data are shown in grey while imported correction data are shown in black. The track
detection has to be repeated.
If you decide to use the original data only, you can click on "Remove GNSS data" (47).
Because the synchronization of the data is done using the GNSS time, there could
occur a track offset. In this case you can apply a "GNSS time offset" (24).
+49 33631 59 650 Manual 26 / 45

+49 33631 59 650 Manual 27 / 45
6 Live Data and Telemetry Interface
In addition to the local recording of measurement data a live data output is available
for devices with Revision 3.03 and higher.
For a live data output during the flight and a simple command structure to start and stop the
recording remotely, a data interface is provided in devices with firmware versions starting from
03.00-01/00. The protocol is an ASCII format and is, for easy readability and implementation,
inspired by the well known NMEA protocol. Every data packet is carrying a type of data indicator and
the serial number of the sending system. Thus data from more than one device can be assigned
uniquely to the sending device. Every sentence is closed by a return and new line command: \r \n
The telemetry port can be realized either as a serial connection or with an internal BlueTooth
module. If your device is using an internal GPS receiver, the Fischer connector is forming the
telemetry port with the properties mentioned below.
The interface parameters are as follows:
Parameter Setting
Baudrate 38,400
Data bits 8
Parity None
Stop bits 1
Flow Control None
The pin out is depicted below. Mating connector is Fischer Connectors - S 103 A057-
130
+49 33631 59 650 Manual 28 / 45

Warning: Do not connect anything to pin 5 and 7 without consultation with
SENSYS support.
Please note: A Bluetooth dongle is available to convert the serial connector

into a Bluetooth connection. Please contact SENSYS support for details.
Please Note: A matching telemetry cable can be ordered from SENSYS.

Please contact SENSYS support and ask for cable S6140.
6.1 Commands
Command Meaning
$MDCMD,RECSTA! MagDrone CoMmanD, STArt recording
$MDCMD,RECEND! MagDrone CoMmanD, END recording
Please note the following:

· Commands have to be transmitted within one second, otherwise the reception is dismissed
· Every command is processed separately
· Repeatedly sending of a command is not initiating a repeated action.
· If a recording is in progress a RECSTA! command will be ignored.
6.2 Output Sentences

6.2.1 Status Information
Field Content Description/possible
values
$MDSTA Talker ID and data type MagDrone STAtus
R3 System Type R1 = MagDrone One
R3 = MagDrone R3
MB = MagBase
9998 serial number 4 digit integer
13:32:50 Time (UTC) HH:MM:SS
1 Recording state 0= off, no recording
1 = on, recording in
progress
12.0 Battery voltage in Volt Voltage of external battery.
Floating number, one
decimal
+49 33631 59 650 Manual 29 / 45

32.8 Temeprature in degree Temperature of
Celcius Microcontroller, Floating
number,
one decimal
Example:
$MDSTA,R3,9998,13:32:50,1,12.0,32.8
6.2.2 GPS Information

values
$MDGPS Talker ID and data type MagDrone GPS information
R3 = MagDrone R3
MB = MagBase
52.314243 Position Latitude in decimal Floating number, 6 decimals
degree
14.086909 Position Longitude in Floating number, 6 decimals
decimal degree
11 GPS quality indicator First digit:
0 = no PPS received
1 = PPS received
Second digit:
1 = 2D/3D
2 = DGPS
4 = fixed RTK
5 = floating RTK
6 = dead reckoning
second digit:
0 = no PPS received
>/=1 = PPS received
Integer, two digits
5 Satellite count Numer of tracked satellites,
Integer
Example:
$MDGPS,R3,9998,13:33:00,52.314243,14.086909,5,5
no PPS received, GPS quality RTK float
+49 33631 59 650 Manual 30 / 45

6.2.3 Magnetic Data Information
values
$MDBM1 Talker ID and data type MDBM1 = B (flux density)
data from sensor M1
MDBM2 = B (flux density)
data from sensor M2
R3 = MagDrone R3
MB = MagBase
-6.4 X vector flux density in nT* Floating number, 1 decimal,
-10,000...+10,000
-1.4 Y vector flux density in nT* Floating number, 1 decimal,
-10,000...+10,000
-6.3 Z vector flux density in nT* Floating number, 1 decimal,
-10,000...+10,000
5 Satellite count Numer of tracked satellites,
Integer
* Temperature compensation applied.
Example:
$MDBM1,R3,9998,13:33:25,-6.4,-1.4,-6.3
6.2.4 Heading Information (MagBase only)

values
$MBHEAD Talker ID and data type MagBase HEADing
information
0.5 Pitch angle in degree Floating number, 1 decimal
0.2 Roll angle in degree Floating number, 1 decimal
Example:
$MBHEAD, 9998,13:33:25,0.5,0.2
+49 33631 59 650 Manual 31 / 45

7 Using an External GPS
The MagDrone can be delivered without an internal GPS. In this case an external GPS
needs to be connected. As a consequence, the Fischer connector that is usually used
as a telemetry port becomes the GPS input. The telemetry port is not getting lost,
though. Instead it is realized via a Bluetooth module that is now implemented into the
MagDrone device.
The external GPS receiver must provide NMEA-0183 strings GGA and ZDA. All other
output streams should be disabled.
The external GPS is connected to the Fischer connector, the interface is described
below.
The interface parameters are as follows:
Parameter Setting
Baudrate 57,600
Data bits 8
Parity None
Stop bits 1
Flow Control None
The pin out is depicted below. Mating connector is Fischer Connectors - S 103 A057-
130
Please Note: A cable can be ordered from SENSYS. Please contact SENSYS
support and ask for cable S6150.
+49 33631 59 650 Manual 32 / 45

8 SENSYS Remote App
8.1 Installation
In order to use the SENSYS Remote App for Android devices with your MagDroneR3 device, you
either install the .apk file directly or download the App from the Google PlayStore.
Note – Maybe you need to allow App installation from foreign sources (to be set in
phone settings).
After successful installation, you might want to drag the SENSYS Remote App onto the start screen
for faster access.
8.2 Bluetooth connection settings

After installation of the SENSYS Remote App, you need to establish a connection to the
MagDroneR3 via the Smartphone Bluetooth connection settings. In order to do so, navigate to the
Bluetooth connection setting and search for new Bluetooth devices. Tab on the found MagDroneR3
device and do the pairing to the detected MagDroneR3 device within your SENSYS Remote App
later on.
+49 33631 59 650 Manual 33 / 45

8.3 First start of the SENSYS Remote App
Now, you can start the SENSYS Remote App.
Attention - Make sure to allow the SENSYS Remote App both media and
location access. Otherwise the App might not be able to work properly.
Note – The SENSYS Remote App will not share any location information or media, but
needs to make sure it is in close proximity to the Bluetooth device and is able to write
the measurement data into a folder on your Android device.
+49 33631 59 650 Manual 34 / 45

8.4 Using the SENSYS Remote App
After you started the SENSYS Remote App, the setup wizard will search for active Bluetooth
devices that you have paired upfront via your Smartphone Bluetooth connection settings. Paired
SENSYS devices (either MagWalk, MagDrone or MagBase) should show up within some seconds.
Otherwise, press the "Re-Do" button in the upper right corner again.
As soon as your device got listed up, tab on it and confirm by pressing "Connect".
Afterward, you will be directed to the setup tab of the App to provide an overview of your
parameters, to which device your are connected to and a quick guide of the standard GPS quality
levels. Furthermore, you can go back to the orientation wizard, enable data recording and define the
data output folder.
The "Values" and "Graph" tab shows the live data from all single axes as well the system status and
allows to initiate recordings on the MagWalk device via the recording button in the left lower corner.
+49 33631 59 650 Manual 35 / 45

You can go back to the The Graph tab is splitted The Values tab shows the
wizzard to change into 2 graphs - one for each readings in numbers as well
orientation (1), as well as triaxial sensor. Every graph as give a system status and
define whether the live data shows up to 4 lines for x, y, GPS quality.
shall be logged (2) and z and the total field. The
where to store the data (3). lens icon (1) will allow a
zoom in to the graph.
The lens feature allows to zoom into the recent data from one or the other graph.
Lens / zoom in feature in landscape Zoom into the graph to analyse a certain
orientation to allow zoom in and out the part of the amplitude.
graph.
9 Appendix
+49 33631 59 650 Manual 36 / 45

9.1 Technical Data
General Technical Data
Power Supply 12 V
Operating Temperature -20°C to +50°C
Operating Weight (survey kit) 894 g incl. battery

4.3 kg incl. bag, charger, two batteries,
cable and adapter
Overall power consumption 400 mA
Rush in Current 2000 mA
Data Logger
Power input Battery 11.1V, 1950 mAh
Sensor input internal analogue
User Interface Start/Stop button; status LED
Survey mode Start before lift off, stopp after landing
Sampling rate 200 Hz
Internal memory 2 GB, good for 24 hours of uninterrupted

recording
Dimensions see drawing below
FGM3D/75 Fluxgate
Maximum ambient field ±75,000 nT
Specified measurement range ±75,000 nT
Resolution <0.3 nT
Noise
Temperature drift <0.3 nT/K
Dimensions Ø35 x 365 mm
+49 33631 59 650 Manual 37 / 45

GNSS
Model u-blox SAM-M8Q
Receiver Type 72-channel GPS/QZSS L1 C/A, GLONASS
L1OF, Galileo E1B/C, SBAS: WAAS,
EGNOS, MSAS
Navigation rate 5 Hz
Accuracy Position: 2.5 m circular error probable
SBAS: 2.0 m circular error probable
Acquisition Cold start: 26 s
Aided starts: 2 s
Reacquisition: 1 s
Dimensions
+49 33631 59 650 Manual 38 / 45

GPS offsets
+49 33631 59 650 Manual 39 / 45

9.2 CSV-file format description
Header description
· Header and data are separated by one empty line.
· Line 1 contains the file name of the csv-file.
· Line 3 and 4 are containing date and time of the moment the recording was started.
· Line 5 lists the serial number of the system.
· Line 6 lists the number of samples contained in this file.
· Sensor information like firmware, temperature, measurement frequency and supplied

voltages are following.
· Correction information are transferred in the next lines. Values do not have a dimension.
· The data logger's firmware, temperature and power supply is given in the next lines.
· A description of the columns is closing the header part of the file.

Measurement data lines
Measurement lines do contain:
· Time stamp in ms starting from the moment the recording has started
· Sensor M1 x-axis, compensated data in nT
· Sensor M1 y-axis, compensated data in nT
· Sensor M1 z-axis, compensated data in nT
· Sensor M2 x-axis, compensated data in nT
· Sensor M2 y-axis, compensated data in nT
· Sensor M2 z-axis, compensated data in nT
· Accelerator sensor x-axis, uncompensated data in g
· Accelerator sensor y-axis, uncompensated data in g
· Accelerator sensor z-axis, uncompensated data in g
· Coordinate Latitude in decimal degree
· Coordinate Longitude in decimal degree
· Height above the Geoid
· Number of satellites
· GPS Quality
· GPS Time
+49 33631 59 650 Manual 40 / 45

Example
20170306-18
Field-Nr.: 018
Date: 06.03.2017
Time: 12:32:56
MagDrone : 000001
Samples: 17979
###---Probe---###
3Achs Firmware: 02.00-00/00
Probe Temperature: 25.0 [C]
Meas Frequence: 200 [Hz]
Digital Probe Voltage: 6.992 [V]
Anlog Probe (positiv) Voltage: 14.927 [V]
Anlog Probe (negativ) Voltage: -15.025 [V]
Sensor 1: Calibration Matrix Mag [3x3]:
1.00000000; 0.00000000; 0.00000000;
0.00000000; 1.00000000; 0.00000000;
0.00000000; 0.00000000; 1.00000000;
Sensor 1: Offset Matrix [3x1]:
0.00000000; 0.00000000; 0.00000000;
Sensor 1: Rotation Matrix [3x1]:
0.00000000; 0.00000000; 0.00000000;
Sensor 2: Calibration Matrix Mag [3x3]:
1.00000000; 0.00000000; 0.00000000;
0.00000000; 1.00000000; 0.00000000;
0.00000000; 0.00000000; 1.00000000;
Sensor 2: Offset Matrix [3x1]:
0.00000000; 0.00000000; 0.00000000;
Sensor 2: Rotation Matrix [3x1]:
0.00000000; 0.00000000; 0.00000000;
###---DataLogger---###
DataLogger Firmware 01.00-02/00
Input Voltage: 11.364 [V]
Temperature: 13.2 [C]
###---GPS---###
GGA Information
GPS enabeld
GGA Quality: 0 = invalid 1 = GPS fix (SPS); 2 = DGPS fix; 3 = PPS fix; 4 = Real
Time Kinematic; 5 = Float RTK; 6 = estimated (dead reckoning) (2.3
feature); 7 = Manual input mode; 8 = Simulation mode
Timestamp [ms]; B1x [nT]; B1y [nT]; B1z [nT]; B2x [nT]; B2y [nT]; B2z [nT]; AccX
[g]; AccY [g]; AccZ [g]; Latitude [Decimal Degrees]; Longitude [Decimal
Degrees]; Altitude [m]; Satellites; Quality; GPSTime;
00000000; -20085.120; 1120.722; -44887.908; -13966.871; 1214.458; -47156.731;
0.019; 0.027; -1.039; 52.314211; 14.086505; 48.500; 8; 1; 113351.6;
00000005; -20098.724; 1121.198; -44883.811; -13980.367; 1215.204; -47155.392;
0.019; 0.027; -1.039; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000010; -20113.802; 1121.198; -44880.855; -13994.807; 1215.401; -47154.287;
0.014; 0.022; -1.033; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000015; -20141.225; 1121.117; -44865.382; -14023.227; 1214.934; -47143.235;
0.009; 0.024; -1.032; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
+49 33631 59 650 Manual 41 / 45

00000020; -20168.415; 1120.812; -44850.736; -14051.729; 1215.015; -47131.563;
0.009; 0.024; -1.032; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000025; -20184.660; 1121.144; -44845.857; -14068.136; 1215.186; -47129.047;
0.006; 0.026; -1.030; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000030; -20199.289; 1121.737; -44842.640; -14081.785; 1215.374; -47128.436;
0.006; 0.026; -1.030; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000035; -20218.464; 1120.677; -44831.013; -14103.036; 1214.602; -47119.154;
0.009; 0.036; -1.028; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000040; -20233.721; 1120.435; -44820.751; -14118.796; 1214.440; -47111.534;
0.009; 0.036; -1.028; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000045; -20232.292; 1121.189; -44823.770; -14116.747; 1214.458; -47114.535;
0.009; 0.044; -1.012; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000050; -20226.263; 1121.252; -44830.518; -14108.813; 1214.278; -47119.963;
0.009; 0.044; -1.012; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000055; -20225.975; 1120.462; -44827.311; -14109.191; 1213.200; -47117.123;
0.007; 0.043; -1.023; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000060; -20224.439; 1120.542; -44824.947; -14107.394; 1213.793; -47114.697;
0.007; 0.043; -1.023; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000065; -20211.823; 1121.459; -44832.989; -14093.502; 1214.188; -47121.418;
0.014; 0.034; -1.032; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000070; -20197.923; 1122.007; -44842.361; -14077.607; 1213.946; -47129.182;
0.014; 0.034; -1.032; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000075; -20192.747; 1120.569; -44841.921; -14072.665; 1213.460; -47128.310;
0.014; 0.017; -1.020; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000080; -20188.614; 1120.497; -44841.696; -14068.460; 1212.993; -47126.360;
0.014; 0.017; -1.020; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000085; -20175.954; 1120.893; -44849.873; -14054.586; 1213.335; -47133.710;
0.005; 0.026; -1.032; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
00000090; -20163.949; 1120.920; -44858.104; -14040.309; 1213.748; -47140.908;
0.005; 0.026; -1.032; 52.314211; 14.086505; 48.300; 8; 1; 113352.1;
00000095; -20161.748; 1120.228; -44856.666; -14038.143; 1214.000; -47138.931;
0.012; 0.025; -1.044; 0.000000; 0.000000; 0.000; 0; 0; 0.0;
+49 33631 59 650 Manual 42 / 45

9.3 ASC-file format description
The ASCII file generated by the MagDrone DataTool 18 contains the following
information:
· Time stamp in ms starting from the moment the data logger has been started.
· Sensor ID (1 or 2)
· Total field Anomaly in nT
· Sensor x-axis, compensated data in nT
· Sensor y-axis, compensated data in nT
· Sensor z-axis, compensated data in nT

Example:
Timestamp [ms] Sensor ID Latitude [°] Longitude [°] Total field
anomaly [nT] Mag-X [nT] Mag-Y [nT] Mag-Z [nT]
2554823 1 52.313433048267967 14.088113822924239 30.35 7589.35
-16822.08 45988.77
2554828 1 52.313433034409570 14.088113938880960 30.21 7626.74
-16887.44 45994.40
2554833 1 52.313433020551045 14.088114054839549 30.06 7583.60
-16827.33 45988.19
2554838 1 52.313433006692378 14.088114170800001 29.93 7574.64
-16905.68 45941.63
2554843 1 52.313432992833924 14.088114286757671 29.84 7576.72
-16851.11 45983.27
2554848 1 52.313432978975378 14.088114402716258 29.78 7567.79
-16905.60 46000.78
2554853 1 52.313432965116853 14.088114518674850 29.71 7562.60
-16892.30 45965.68
2554858 1 52.313432951258385 14.088114634632506 29.68 7506.93
-16901.00 45962.44
2554863 1 52.313432937399703 14.088114750592963 29.68 7541.55
-16923.87 45948.47
2554868 1 52.313432923541320 14.088114866549699 29.72 7507.80
-16905.15 46023.37
2554873 1 52.313432909682724 14.088114982509209 29.75 7535.28
-16973.21 45931.50
2554878 1 52.313432895824107 14.088115098468744 29.80 7513.93
-16958.53 45938.70
2554883 1 52.313432881965703 14.088115214425455 29.88 7514.70
-17017.70 45923.40
2554888 1 52.313432868107121 14.088115330384973 29.95 7546.75
-16976.44 45987.60
2554893 1 52.313432854248582 14.088115446343592 29.99 7497.32
-17027.83 45930.63
2554898 1 52.313432840390114 14.088115562301235 30.00 7519.78
-17027.41 45907.94
+49 33631 59 650 Manual 43 / 45

9.4 ASC-file (raw track) format description
The ASCII file generated by the MagDrone DataTool 18 contains the following
information:
· Time stamp in ms starting from the moment the data logger has been started.
· Track ID
· Sensor ID (1 or 2)
· Total field in nT
· Sensor x-axis, compensated data in nT
· Sensor y-axis, compensated data in nT
· Sensor z-axis, compensated data in nT
· Magnetic Declination in decimal degree
· Magnetic Inclination in decimal degree

Example:
Raw track data
Timestamp [ms] Track ID Sensor ID Latitude [°] Longitude [°]
Total field [nT] Mag-X [nT] Mag-Y [nT] Mag-Z [nT] Declination [°]
Inclination [°]
47787806 1 1 52.313553042671202 14.088308468296129 49566.84
-14536.34 -22044.26 41947.78 0.5 57.8
47787811 1 1 52.313553021005291 14.088308522440894 49613.15
-14416.17 -22128.07 41999.85 0.8 57.8
47787816 1 1 52.313552999340232 14.088308576583119 49596.79
-14300.17 -22199.79 41982.33 1.1 57.8
47787821 1 1 52.313552977674284 14.088308630727932 49550.92
-14188.47 -22264.23 41931.91 1.4 57.8
47787826 1 1 52.313552956008827 14.088308684871320 49567.31
-14080.57 -22334.54 41950.25 1.6 57.8
47787831 1 1 52.313552934343306 14.088308739014865 49612.52
-13976.49 -22404.54 42001.15 1.9 57.8
47787836 1 1 52.313552912678240 14.088308793157106 49597.16
-13875.73 -22465.75 41983.72 2.2 57.8
47787841 1 1 52.313552891012336 14.088308847301862 49551.24
-13777.28 -22521.05 41932.26 2.4 57.8
47787846 1 1 52.313552869347269 14.088308901444087 49566.86
-13680.24 -22582.50 41949.44 2.7 57.8
47787851 1 1 52.313552847681350 14.088308955588841 49612.47
-13584.07 -22647.86 41999.35 2.9 57.8
+49 33631 59 650 Manual 44 / 45

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MagDrone R3 (from Rev. 3.03)

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+49 33631 59 650 Manual 3 / 45

Telephone: +49 (33 631) 5 96 50

MAGNETO® is a registered trade mark of Dr. Andreas Fischer

lwIP is licensed under the BSD license:

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2.1 Cleaning the Device

Attention. Do not use chemicals or mechanical means for cleaning. This

2.3 Technical Problems

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2.5 Hints for battery operated devices

Please pay attention to the following hints:

· Pay attention to the correct polarity when inserting the batteries.

· Do not expose batteries to high temperatures or to fire.

Damages caused by the inappropriate use of the batteries (short-circuit, drain,

Advice – For battery disposal use only appropriate disposal facilities or

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· The ability of the vehicle to follow a straight path.

· The ability of the vehicle to maintain a constant altitude.

1. Data Logger with sensor bar

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3.3 Final Assembling Steps

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3.4 Device Modes

3.4.2 Standby Mode

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3.4.4 Logging Mode

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Steady Standby mode, no GPS, power -

Steady red Standby mode, no GPS, power Change battery soon

Steady Standby mode, GPS signal -

Steady red, Standby mode, GPS signal Change battery soon

Flashing Measuring, data are recorded, -

Flashing Measuring, data are recorded, Change battery soon

3 flashes Power Supply alarm, no Change battery immediately

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Device off Press once #1 Device is in Power supply okay,

Power supply okay, receiving GPS data

Power supply warning,

Power supply alert,

Device in Press once #2 Device is in Power supply okay,

Power supply alert,

Device in Press once #3 Device is in ... Check target #1

Device in Disconnect Device is in ... Check target #1

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System-Name: MagDroneR3 #0019

Mainboard .: MDDLM #0001

MDExt .....: #0101

ADC-System : MBS #0228

GPS-System : u-blox SAM M8Q

MagSensor 1: FGM3D/75 #1663

MagSensor 2: FGM3D/75 #1664

Datum/Zeit : 24.05.2018 / 13:35:16 (UTC)

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· Complete the Final Assembling Steps 10 .

4.2 Starting and Stopping the measurement

YYYYMMDD Date of recording in UTC

hhmmss Time of recording in UTC (start of recording)