> For the complete documentation index, see [llms.txt](https://gryfn.gitbook.io/gryfn-hardware/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://gryfn.gitbook.io/gryfn-hardware/support/gobi-user-manual/embedded-software.md).

# Embedded Software

GOBI WebUI software for GOBI gives users the ability to fully configure GOBI sensors for optimal data collection needs.

* Header displays: 
  * UTC time (local time shown on hover)
  * Time since power on
  * System temperature
  * Disk space usage
  * Current status
  * Current altitude estimate (AMSL and AGL)

<figure><img src="https://1859480457-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F0x7fEbqbQH6LOaUlQlgY%2Fuploads%2FcZEIb7rNKsGlXVVeqc9m%2Fheader.PNG?alt=media&amp;token=0af7ab27-2e1d-4405-91b2-3cd98c30d9d0" alt=""><figcaption></figcaption></figure>

## Workflow

For an official workflow and fieldbook, see the Quick Start Guide printable PDF fieldbook. Steps below walk through the basic workflow using Gobi WebUI.

{% stepper %}
{% step %}

### Set mission name

Either by typing, using the automatic naming tool, or starting with the automating naming tool and editing as necessary
{% endstep %}

{% step %}

### Check antenna lever arm configuration

Double check/select correct antenna lever arm configuration for your specific integration
{% endstep %}

{% step %}

### Set VNIR frame period and exposure

Use flight calculator to get frame period, using forward oversample as necessary

Set exposure using exposure reference panel
{% endstep %}

{% step %}

### *Collect Dark*

Dark reference is technically not needed when exposure is less than 20ms as VNIR sensor grating is very stable under this exposure time
{% endstep %}

{% step %}

### Select capture polygon

Will always be used for VNIR
{% endstep %}

{% step %}

### Select capture method for LiDAR+RGB

Polygon is generally recommended for unified capture triggering
{% endstep %}

{% step %}

### Start Mission

Unless using altitude threshold triggering, or altitude-variable polygon triggering, Start Mission. If using an altitude-based method, ensure current altitude estimate has converged to true ground-level altitude.
{% endstep %}

{% step %}

### Conduct Mission

Perform Dynamic Alignment Procedure (1-2 figure 8s) after takeoff and prior to survey start, and after survey end prior to landing.
{% endstep %}

{% step %}

### Post-mission, Stop Mission

{% endstep %}

{% step %}

### Check data capture

Visit data tab, view data capture for mission.
{% endstep %}
{% endstepper %}